CN103357777B - For the Three-dimensional mechanical arm conveyer of pressing equipment - Google Patents

For the Three-dimensional mechanical arm conveyer of pressing equipment Download PDF

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Publication number
CN103357777B
CN103357777B CN201310338642.8A CN201310338642A CN103357777B CN 103357777 B CN103357777 B CN 103357777B CN 201310338642 A CN201310338642 A CN 201310338642A CN 103357777 B CN103357777 B CN 103357777B
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China
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arm
clip
drive
lifting
pressing equipment
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CN201310338642.8A
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Chinese (zh)
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CN103357777A (en
Inventor
张宇波
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东莞市井田自动化设备有限公司
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Publication of CN103357777A publication Critical patent/CN103357777A/en
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Publication of CN103357777B publication Critical patent/CN103357777B/en

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Abstract

The present invention relates to punching automation technical field, espespecially a kind of with pressing equipment with the use of Three-dimensional mechanical arm conveyer, comprise clip arm and transmission main body, transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm can be driven to move up and down and can drive support arm inside and outside movement drive folder transmission mechanism, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that clip arm can be driven to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame, the invention provides a kind of Three-dimensional mechanical arm conveyer for pressing equipment, can make lifting transmit strength more balanced, shorten the space that traversing translator unit takies, and can with large-scale pressing equipment with the use of.

Description

For the Three-dimensional mechanical arm conveyer of pressing equipment

Technical field

The present invention relates to punching automation technical field, espespecially a kind of with pressing equipment with the use of Three-dimensional mechanical arm conveyer.

Background technology

Diel is in Cold Press Working, material (metal or nonmetal) is processed into a kind of technological equipment of part (or semi-finished product), is called cold punching die (being commonly called as cold-punching mould).Punching press is at room temperature, utilizes the mould be arranged on forcing press to apply pressure to material, makes it produce separation or plastic deformation, thus obtains a kind of pressure processing method of required stamping parts.

The form of diel is a lot, according to process step combinations degree, diel comprises progressive die (also claiming the progressive die) and single die, wherein progressive die is on the feed direction of blank, there is two or more station, in the one stroke of forcing press, different stations successively completes the mould of twice or the above stamping procedure of twice, the production efficiency of this kind of mould is higher, can continuous seepage.Single die is in the one stroke of forcing press, only completes the mould of one stamping procedure, and the production efficiency of this kind of mould is lower.

For some stamping parts, the restriction due to self structure can only adopt multiple single die tool independently to produce, and also discloses the three axle transfer robots that some can transmit stamping parts in prior art, but the following defect of ubiquity:

(1) owing to being such as elevated the active force of transmission at the center of main equipment, and the end of drive disk assembly (load) is larger relative to the center size of main body, the imbalance of main body two ends transmission force can be caused, and when running part exists gap, the end of drive disk assembly can be caused to rock, unstable;

(2) existing traversing transmission is all separate transmission, and when causing traversing transmission step pitch larger, traversing running part size is comparatively large, need take very large installing space, and need bear larger the moment of inertia;

(3) appearance and size of large-scale pressing equipment is huge, and workpiece is laid particular stress on, and causes the aluminium section bar clip arm transmitted to install span greatly, the aluminium section bar clip arm of current commercial type, generally less than normal, is not too applicable to the transmission of large-scale stamping parts.

Summary of the invention

For solving above technical problem, the invention provides the Three-dimensional mechanical arm conveyer of a kind of innovative drive mechanism for pressing equipment, can make lifting and traversing transmission strength more balanced, greatly shorten the space that traversing translator unit takies, and can with large-scale pressing equipment with the use of.

For reaching above object, the Three-dimensional mechanical arm conveyer that the present invention is used for pressing equipment is main by the following technical solutions:

A kind of Three-dimensional mechanical arm conveyer for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm can be driven to move up and down and can drive support arm inside and outside movement drive folder transmission mechanism, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that clip arm can be driven to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame.

Preferably, the quantity of described transmission main body is two, two transmission main bodys symmetrical charging aperture and discharging opening being installed on pressing equipment respectively.

Preferably, described elevating drive mechanism comprises the first lifting drive lead screw, second being installed on frame and is elevated drive lead screw and can drives the lifting driving motor of the first lifting drive lead screw and the second lifting drive lead screw synchronous rotary, first lifting drive lead screw has been threaded the first lifting nut seat, second lifting drive lead screw has been threaded the second lifting nut seat, first lifting nut seat and the second lifting nut seat are all horizontally installed with the first line slideway, and two support arms are fixedly connected with the slide block of the first line slideway respectively.

Preferably, described elevating drive mechanism also comprises the some jacking load balance cylinders being installed on frame, and the piston rod of some jacking load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.

Preferably, described open folder transmission mechanism comprise be installed on frame left-handed screw mandrel, dextrorotation screw mandrel and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open folder driving motor, left-handed wire rod thread is connected with left-handedly opens folder nut seat, dextrorotation wire rod thread is connected with dextrorotation and opens folder nut seat, two support arms are all vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.

Preferably, described transverse moving left and right transmission mechanism comprises the synchronous pulley being installed on support arm and the traversing driving motor that synchronous pulley can be driven to rotate, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt engage each other, and the two ends of Timing Belt are fixedly connected with the two ends, left and right of clip arm respectively.

Preferably, described two clip arms are all horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.

Preferably, the described Three-dimensional mechanical arm conveyer for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, and fixed head is also provided with can the complete machine elevating drive mechanism that slides up and down along the 4th line slideway of drive chassis.

Preferably, described complete machine elevating drive mechanism comprises the worm and gear lift and complete machine lifting driving motor that are installed on fixed head, worm and gear lift comprises horizontal direction power shaft and vertical direction exports screw mandrel, the complete machine lifting motor shaft of driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, and the vertical direction of worm and gear lift exports screw mandrel and is fixedly connected with frame.

Preferably, described clip arm is provided with can interconnective first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with a through hole that can insert for locating piece, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidably connected, described Connection Block is provided with stopper slot, when the first clip arm is connected with the second clip arm, some limited blocks support stopper slot.

Brief description the present invention is used for the operation principle of the Three-dimensional mechanical arm conveyer of pressing equipment:

A kind of Three-dimensional mechanical arm conveyer for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm can be driven to move up and down and can drive support arm inside and outside movement drive folder transmission mechanism, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that clip arm can be driven to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame.Wherein, symmetrically arranged two support arms can drive two clip arms synchronously to move up and down respectively and inside and outside move, and two clip arms can synchronously move left and right along two support arms respectively under the drive of transverse moving left and right transmission mechanism.Concrete, the present invention is used for the feed inlet end that the Three-dimensional mechanical arm conveyer of pressing equipment is installed on pressing equipment, work top inside pressing equipment is provided with single operation (or multiple operation) mould, the slide block of pressing equipment drives single operation (or multiple operation) mould to carry out punch forming to material, in the one time punching molded process of single operation (or multiple operation) mould, the course of action that the present invention is used for the Three-dimensional mechanical arm conveyer of pressing equipment is as follows: 1, one time punching molded complete, and the slide block of pressing equipment drives single die tool to open; 2, driving folder transmission mechanism drives two support arms synchronously to move inward, and two support arms drive two clip arms also synchronously to move inward, and two clip arms are by symmetrically arranged clamp stamping parts on it; 3, elevating drive mechanism drives two support arms to drive two clip arms synchronously to move up, until stamping parts departs from single die tool; 4, transverse moving left and right transmission mechanism support arm arranged drives two clip arms synchronously to move right, and two clip arms drive fixture to move to the second stamping procedure position by the first stamping procedure position, and now stamping parts is positioned at the top position of the second stamping procedure; 5, elevating drive mechanism drives two support arms to drive two clip arms synchronously to move down, until stamping parts is positioned at the stamping position of single die tool; 6, drive folder transmission mechanism and drive the synchronously outwards movement of two support arms, two support arms drive two clip arms also synchronous outwards mobile, and on two clip arms, symmetrically arranged fixture unclamps stamping parts; 7, transverse moving left and right transmission mechanism drives two clip arms to be synchronously moved to the left, and two clip arms drive fixture by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment drives single die tool closed and carries out punching press to stamping parts, and the one action circulation of stamping parts terminates.

The beneficial effect that the present invention is used for the Three-dimensional mechanical arm conveyer of pressing equipment is: by the elevating drive mechanism arranged, drive folder transmission mechanism and transverse moving left and right transmission mechanism, two clip arms can be driven respectively upper and lower, inside and outside and move left and right, two clip arms can along X-axis, Y-axis and Z axis carry out space three-dimensional and move, achieve stamping parts follows pressing equipment crankshaft angles in pressing equipment synchronizing moving between each station die, full-automatic runs continuously, instead of manual feeding action, improve production efficiency, effectively prevent the generation of industrial accident, improve safe application performance of the present invention, in addition, adopt two support arms to drive clip arms up and down, inside and outside, move left and right, make whole drive mechanism stressed more reliably balanced in the process of lifting transmission, reduce stress raisers, drive clip arm to move left and right by arranging transverse moving left and right transmission mechanism on support arm, support arm need not move left and right with clip arm, reduces driven loads, shortens the space that transverse moving left and right transmission mechanism takies, and clip arm can with large-scale pressing equipment with the use of.

Accompanying drawing explanation

Fig. 1 is the Three-dimensional mechanical arm conveyer of the present invention for pressing equipment and the assembling schematic diagram of pressing equipment.

Fig. 2 is the perspective view of transmission main body of the present invention.

Fig. 3 is the plan structure schematic diagram of transmission main body of the present invention.

Fig. 4 is the structure for amplifying schematic diagram at the A place of Fig. 3.

Fig. 5 is the internal structure schematic diagram of transmission main body of the present invention.

Fig. 6 is the internal structure schematic diagram of another angle of transmission main body of the present invention.

Fig. 7 is the structure for amplifying schematic diagram at the B place of Fig. 6.

Fig. 8 is the structure for amplifying schematic diagram at the C place of Fig. 6.

Fig. 9 is the structural representation opening folder connecting gear of the present invention.

Figure 10 is the structure for amplifying schematic diagram at the D place of Fig. 9.

Figure 11 is the decomposition texture schematic diagram of the junction of the first clip arm of the present invention and the second clip arm.

Number in the figure illustrates: 1, pressing equipment, 2, clip arm, 3, transmission main body, 4, support arm, 5, fixture, 6, frame, 7, first lifting drive lead screw, 8, second lifting drive lead screw, 9, lifting driving motor, 10, first lifting nut seat, 11, second lifting nut seat, 12, first line slideway, 121, the slide block of the first line slideway, 13, jacking load balance cylinder, 14, left-handed screw mandrel, 15, dextrorotation screw mandrel, 16, open folder driving motor, 17, left-handedly open folder nut seat, 18, folder nut seat is opened in dextrorotation, and 19, second line slideway, 191, the slide block of the second line slideway, 20, synchronous pulley, 21, traversing driving motor, 22, lifting line slideway, 23, Timing Belt, 24, idle pulley, 25, 3rd line slide rail, 251, the slide block of the 3rd line slide rail, 26, fixed head, 27, 4th line slideway, 271, the slide block of the 4th line slideway, 28, oil cylinder, 29, base, 291, through hole, 292, 5th fourth of the twelve Earthly Branches groove, 30, locating piece, 301, first surface of revolution, 31, limited block, 311, second surface of revolution, 32, Connection Block, 321, stopper slot, 33, complete machine lifting driving motor, 34, open intermediate straight line guide rail, 35, first clip arm, 36, second clip arm.

Detailed description of the invention

In the present invention mentioned upper and lower, inside and outside, front and back and left and right all with the orientation in Fig. 1 for benchmark.

As shown in Fig. 1 ~ 11, a kind of Three-dimensional mechanical arm conveyer for pressing equipment, comprise clip arm 2 and transmission main body 3, transmission main body 3 comprises frame 6, described frame 6 is provided with support arm 4, the elevating drive mechanism that support arm 4 can be driven to move up and down and can drive support arm 4 inside and outside movement drive folder transmission mechanism, support arm 4 and clip arm 2 are slidably connected, clip arm 2 is provided with the fixture 5 that can clamp stamping parts, described support arm 4 is provided with the transverse moving left and right transmission mechanism that clip arm 2 can be driven to move left and right, the quantity of described support arm 4 and clip arm 2 is two, support arm 4 and clip arm 2 are all symmetricly set in the both sides, front and back of frame 6.Wherein, symmetrically arranged two support arms 4 can drive two clip arms 2 synchronously to move up and down respectively and inside and outside move, and two clip arms 2 can synchronously horizontally slip along two support arms 4 respectively under the drive of transverse moving left and right transmission mechanism.Concrete, the present invention is used for feed inlet end/discharge port end that the Three-dimensional mechanical arm conveyer of pressing equipment is installed on pressing equipment 1, work top inside pressing equipment 1 is provided with single die tool, the slide block of pressing equipment 1 drives single die tool to carry out punch forming to material, in the one time punching molded process of single die tool, the course of action that the present invention is used for the Three-dimensional mechanical arm conveyer of pressing equipment is as follows: 1, one time punching molded complete, and the slide block of pressing equipment 1 drives single die tool to open; 2, driving folder transmission mechanism drives two support arms 4 synchronously to move inward, and two support arms 4 drive two clip arms 2 also synchronously to move inward, and two clip arms 2 clamp stamping parts by fixture 5 symmetrically arranged on it; 3, elevating drive mechanism drives two support arms 4 to drive two clip arms 2 synchronously to move up, until stamping parts departs from single die tool; 4, transverse moving left and right transmission mechanism support arm 4 arranged drives two clip arms 2 synchronously to move right, two clip arms 2 drive fixture 5 to move to the second stamping procedure position by the first stamping procedure position, and now stamping parts is positioned at the top position of the second stamping procedure; 5, elevating drive mechanism drives two support arms 4 to drive two clip arms 2 synchronously to move down, until stamping parts is positioned at the stamping position of single die tool; 6, driving folder transmission mechanism drives two support arms 4 synchronous outwards mobile, and two support arms 4 drive two clip arms 2 also synchronous outwards mobile, and on two clip arms 2, symmetrically arranged fixture 5 unclamps stamping parts; 7, transverse moving left and right transmission mechanism drives two clip arms 2 to be synchronously moved to the left, and two clip arms 2 drive fixture 5 by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment 1 drives single die tool closed and carries out punching press to stamping parts, and the one action circulation of stamping parts terminates.The Three-dimensional mechanical arm conveyer that the present invention is used for pressing equipment is provided with motion controller and encoder, encoder to be installed in pressing equipment 1 and to be connected with the bent axle of pressing equipment 1, encoder is mainly used for the angle position of following bent axle, encoder converts the angular displacement of bent axle in a punching stroke process to pulse signal and passes to motion controller, elevating drive mechanism is given respectively after motion controller Received signal strength, open folder transmission mechanism and transverse moving left and right transmission mechanism transmission signal, elevating drive mechanism, open after folder transmission mechanism and transverse moving left and right transmission mechanism receive signal that to control stamping parts respectively upper and lower, inside and outside and side-to-side movement, thus realize in a punching stroke the gripping of stamping parts, rise, traversing feeding, decline, blowing, each action of opening and returning, pressing equipment 1 is coordinated to realize automated production.By the elevating drive mechanism that arranges, drive folder transmission mechanism and transverse moving left and right transmission mechanism, two clip arms about 2, inside and outside and move left and right can be driven respectively, two clip arms 2 can carry out space three-dimensional along X-axis, Y-axis and Z axis and move, achieve stamping parts follows pressing equipment 1 crankshaft angles in pressing equipment 1 synchronizing moving between each station die, full-automatic runs continuously, instead of manual feeding action, improve production efficiency, effectively prevent the generation of industrial accident, improve safe application performance of the present invention; In addition, adopt two support arms 4 to drive clip arm about 2, inside and outside, move left and right, make stamping parts stressed more even in the process of lifting transmission, reduce stress raisers; Drive clip arm 2 to move left and right by arranging transverse moving left and right transmission mechanism on support arm 4, support arm 4 need not move left and right with clip arm 2, reduces driven loads, shortens the space that transverse moving left and right transmission mechanism takies; And clip arm 2 can with large-scale pressing equipment 1 with the use of.

The quantity of described transmission main body 3 is two, two transmission main bodys 3 symmetrical charging aperture and discharging opening being installed on pressing equipment 1 respectively.Concrete, two transmission main bodys 3 can synchronously drive two clip arms 2 to do respectively up and down, inside and outside and side-to-side movement, because two transmission main bodys 3 are charging aperture and discharging opening that symmetry is installed on pressing equipment 1, each clip arm 2 now has two symmetrical connections of support arm 4, make the stressed more balanced of single clamp arm 2, balance the load of each running part, reduce the stress raisers of clip arm 2, enhance the stability of clip arm 2 in the process of horizontally slipping.

Described elevating drive mechanism comprises the first lifting drive lead screw 7, second being installed on frame and is elevated drive lead screw 8 and can drives the lifting driving motor 9 of the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotary, lifting driving motor 9 is installed on the centre position of the first lifting drive lead screw 7 and the second lifting drive lead screw 8, concrete, the main shaft, first of lifting driving motor 9 is elevated drive lead screw 7 and the second outer surface being elevated drive lead screw 8 is all arranged with lifting synchronous pulley, and the outside of lifting synchronous pulley is arranged with Timing Belt, lifting driving motor 9 drives the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotary by Timing Belt, first lifting drive lead screw 7 has been threaded the first lifting nut seat 10, second lifting drive lead screw 9 has been threaded the second lifting nut seat 11, first lifting drive lead screw 7 and the first lifting nut seat 10 and second is elevated drive lead screw 8 and the second lifting nut seat 11 forms feed screw nut's structure respectively, when the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotary, first lifting nut seat 10 and the second lifting nut seat 11 are synchronous along the first lifting drive lead screw 7 and the second lifting drive lead screw 8 vertical sliding motion respectively, first lifting nut seat 10 and the second lifting nut seat 11 are all horizontally installed with the first line slideway 12, two support arms 4 and are fixedly connected with the slide block 121 of the first line slideway 12 respectively.Concrete, the first line slideway 12 installed by level, two support arms 4 interfix in vertical direction with nut seat, namely two support arms 4 are hung on nut seat respectively, first lifting nut seat 10 and the second lifting nut seat 11 can drive respectively together with two support arms 4 and slide up and down, two support arms 4 drive clip arm 2 to slide up and down together, thus realize elevating drive mechanism and drive the function that moves up and down of support arm 4, by this kind of frame mode, two support arms 4 hang installation in vertical direction, installing space can be saved, reduce the volume of the present invention for the Three-dimensional mechanical arm conveyer of pressing equipment, in addition, two support arms 4 also inside and outside can move along the first line slideway 12 under the drive of driving folder transmission mechanism, thus make sliding up and down and inside and outside sliding non-interference of two support arms 4.

Described elevating drive mechanism also comprises the some lifting line slideways 22 being installed vertically on frame 6, first lifting nut seat 10 is fixedly connected with the slide block of some lifting line slideways 22 respectively with the second lifting nut seat 11, and some lifting line slideways 22 can provide well guiding and supporting role for moving up and down of support arm 4.

Described elevating drive mechanism also comprises the some jacking load balance cylinders 13 being installed on frame 6, and the piston rod of some jacking load balance cylinders 13 is fixedly connected with the second lifting nut seat 11 with the first lifting nut seat 10 respectively.Concrete, first lifting nut seat 10 and the second lifting nut seat 11 are all hung with support arm 4 and clip arm 2, support arm 4 and clip arm 2 can apply a downward pulling force to the first lifting nut seat 10 and the second lifting nut seat 11 under the effect of self gravitation, when lifting driving motor 9 operates, can be very light when the first lifting nut seat 10 and the second lifting nut seat 11 move downward, again can be very painstaking when the first lifting nut seat 10 and the second lifting nut seat 11 move upward.By the some jacking load balance cylinders 13 arranged, some jacking load balance cylinders 13 can apply a power upwards respectively to the first lifting nut seat 10 and the second lifting nut seat 11, to offset the impact of self gravitation, make the first lifting nut seat 10 and the second lifting nut seat 11 respectively in vertical direction stressed reach balance, thus lifting driving motor 9 can drive moving up and down of the first lifting nut seat 10 and the second lifting nut seat 11 steady and continuous, reduce load, reduce energy consumption, improve the service life of part.

Described folder transmission mechanism of opening comprises the left-handed screw mandrel 14 being installed on frame 6, dextrorotation screw mandrel 15 and can drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotary open folder driving motor 16, open the position that folder driving motor 16 is installed on left-handed screw mandrel 14 and dextrorotation screw mandrel 15 centre, concrete, left-handed screw mandrel 14 and dextrorotation screw mandrel 15 connect into an entirety by shaft coupling and connecting axle, connecting axle is all arranged with out folder synchronous pulley with the main shaft opening folder driving motor 16, the outside of opening folder synchronous pulley is arranged with Timing Belt, open folder driving motor 16 and drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotary by Timing Belt, left-handed screw mandrel 14 be threaded left-handed open folder nut seat 17, dextrorotation wire rod thread 15 is connected with dextrorotation and opens folder nut seat 18, left-handed screw mandrel 14 press from both sides nut seat 17 and dextrorotation screw mandrel 15 and dextrorotation and opens with left-handed out and press from both sides nut seat 18 and form feed screw nut's structure respectively, because the thread of left-handed screw mandrel 14 and dextrorotation screw mandrel 15 is contrary, when left-handed screw mandrel 14 is with dextrorotation screw mandrel 15 synchronous rotary, left-handed open folder nut seat 17 and dextrorotation open folder nut seat 18 slide inwards along left-handed screw mandrel 14 is synchronous with dextrorotation screw mandrel 15 or outwards slides respectively, two support arms 4 are all vertically installed with the second line slideway 19, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with the slide block 191 of the second line slideway 19 respectively.Concrete, by vertically arranged second line slideway 19, two support arms 4 interfix in the horizontal direction with nut seat, namely left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and can drive respectively together with two support arms 4 and inside and outside slide, two support arms 4 drive clip arm 2 inside and outside to move together, thus realize opening the function that folder transmission mechanism drives support arm 4 inside and outside movement; In addition, two support arms 4 also can move up and down along the second line slideway 19 under the drive of elevating drive mechanism, thus make the inside and outside slip of two support arms 4 and slide up and down non-interference.

Described folder transmission mechanism of opening also comprises level and is installed on the some of frame 6 and opens intermediate straight line guide rail 34, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with some slide blocks opening intermediate straight line guide rail 34 respectively, some intermediate straight line guide rails 34 of opening can provide well guiding and supporting role for the inside and outside movement of support arm 4.

Described transverse moving left and right transmission mechanism comprises the synchronous pulley 20 being installed on support arm 4 and the traversing driving motor 21 that synchronous pulley 20 can be driven to rotate, the outer surface of synchronous pulley 20 is arranged with Timing Belt 23, synchronous pulley 20 and Timing Belt 23 engage each other, and the two ends of Timing Belt 23 are fixedly connected with the two ends, left and right of clip arm 2 respectively.Concrete, traversing driving motor 21 is driven with synchronous pulley 20 by the gear reduction unit arranged and is connected, traversing driving motor 21 drives synchronous pulley 20 to rotate, synchronous pulley 20 and Timing Belt 23 engage each other, synchronous pulley 20 drives Timing Belt 23 to move together, when traversing driving motor 21 rotates forward, Timing Belt 23 drives clip arm 2 to be moved to the left, when traversing driving motor 21 reverses, Timing Belt 23 drives clip arm 2 to move right, thus realizes transverse moving left and right transmission mechanism and drive the function that moves left and right of clip arm 2.By synchronous pulley 20 and the Timing Belt 23 of setting, more steady during clip arm 2 side-to-side movement, the synchronism of two clip arms 2 is better; In addition, two support arms 4 drive clip arm 2 to move simultaneously, balanced can bear the inertia force of clip arm 2 in motion process, improve the kinetic stability of clip arm 2.

Described support arm 4 be also provided with two idle pulleys, 24, two idle pulleys 24 respectively symmetry be installed on synchronous pulley 20 both sides.By two idle pulleys 24 arranged, the transmission direction of Timing Belt 23 can be changed, also can position the position of Timing Belt 23 simultaneously, prevent clip arm 2 from offseting in the process of motion, enhance the stationarity that clip arm 2 moves left and right.

Described two clip arms 4 are all horizontally installed with the 3rd line slide rail 25, two support arms 4 and are fixedly connected with the slide block 251 of the 3rd line slide rail 25 respectively.Concrete, the 3rd line slide rail 25 installed by level, clip arm 2 can move left and right along support arm 4, and the 3rd line slide rail 25 effectively can be located and pre-directing clip arm 2, prevent clip arm 2 from offseting in the process of movement, enhance the stationarity that clip arm 2 moves left and right.

The described Three-dimensional mechanical arm conveyer for pressing equipment also comprises the fixed head 26 that can be installed on pressing equipment 1, fixed head 26 is vertically installed with the 4th line slideway 27, the slide block 271 of the 4th line slideway 27 is fixedly connected with frame 6, and fixed head 26 is also provided with can the complete machine elevating drive mechanism that slides up and down along the 4th line slideway 27 of drive chassis 6.Concrete, complete machine elevating drive mechanism can drive chassis 6 move up and down along the 4th line slideway 27, and described elevating drive mechanism, drives folder transmission mechanism and transverse moving left and right transmission mechanism is all installed on frame 6 and can moves up and down with frame 6; By the complete machine elevating drive mechanism arranged, add the vertical stroke displacement of two clip arms 2, make the present invention can be applied to the pressing equipment equipment of larger row journey, add the scope of application of the present invention for the Three-dimensional mechanical arm conveyer of pressing equipment; In addition, when the workbench of pressing equipment 1 and mold integral move, complete machine elevating drive mechanism can drive clip arm 2 to move up and down, and clip arm 2 can be avoided smoothly under the state do not dismantled, and enhances its practical serviceability.

Preferably, described complete machine elevating drive mechanism comprises the worm and gear lift and complete machine lifting driving motor 33 that are installed on fixed head 26, worm and gear lift comprises horizontal direction power shaft and vertical direction exports screw mandrel, the complete machine lifting motor shaft of driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, the vertical direction of worm and gear lift exports screw mandrel and is fixedly connected with frame, when complete machine lifting driving motor 33 rotates, complete machine lifting driving motor 33 is moved up and down by worm and gear elevator drives frame 6.

Described clip arm 2 is provided with can interconnective first clip arm 35 and the second clip arm 36, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, described base 29 is provided with an oil cylinder 28, the piston rod of oil cylinder 28 is connected with a positioning block 30, the centre of base 29 is provided with a through hole 291 that can insert for locating piece 30, described locating piece 30 is provided with first surface of revolution 301 that an external diameter reduces from left to right gradually, described base 29 is also provided with some limited blocks 31, concrete, some limited blocks 31 are symmetrical arranged on base 29, limited block 31 is provided with second surface of revolution 311 that an outer shape and first surface of revolution 301 adapt, second surface of revolution 311 of limited block 31 is slidably connected with first surface of revolution 301 of locating piece 30, concrete, base 29 is also provided with the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 is provided with the 5th tenon block 312 that can insert the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 and base 29 are slidably connected, described Connection Block 32 is provided with stopper slot 321, when the first clip arm 35 is connected with the second clip arm 36, some limited blocks 31 support stopper slot 321.Concrete, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, during connection, base 29 and Connection Block 32 dock, some limited blocks 31 that base 29 is arranged insert the stopper slot 321 of Connection Block 32, now oil cylinder 28 starts action, the piston rod of oil cylinder 28 drives locating piece 30 to move right, first surface of revolution 301 that locating piece 30 is arranged is slidably connected with second surface of revolution 311 of limited block 31, some limited blocks 31 under the drive of locating piece 30 along the 5th fourth of the twelve Earthly Branches groove 292 outwards movement, until some limited blocks 31 support the inner surface of stopper slot 321, some symmetrically arranged limited block 31 applies an outside tension force to the stopper slot 321 of Connection Block 32, side-friction force between Connection Block 32 and limited block 31 is increased, Connection Block 32 is by some limited blocks 31 tightly fixing, thus realize being fixedly connected with of the first clip arm 35 and the second clip arm 36.Wherein, the outer shape of locating piece 30 also can be wedge, also can reach the action effect identical with first surface of revolution 301, do not repeat them here by the wedge shape arranged.By the Automatic Link Establishment arranged, when more mold exchange, can full automatic working be realized, save mould replacing time, increase work efficiency.

The above embodiment, just better embodiment of the present invention, be not limit the scope of the present invention, therefore all equivalences done according to structure, feature and the principle described in the present patent application the scope of the claims change or modify, and all should be included in patent claim of the present invention.

Claims (8)

1. the Three-dimensional mechanical arm conveyer for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, it is characterized in that, described frame is provided with support arm, the elevating drive mechanism that support arm can be driven to move up and down and can drive support arm inside and outside movement drive folder transmission mechanism, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that clip arm can be driven to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame,
The described Three-dimensional mechanical arm conveyer for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, and fixed head is also provided with can the complete machine elevating drive mechanism that slides up and down along the 4th line slideway of drive chassis;
Described complete machine elevating drive mechanism comprises the worm and gear lift and complete machine lifting driving motor that are installed on fixed head, worm and gear lift comprises horizontal direction power shaft and vertical direction exports screw mandrel, the complete machine lifting motor shaft of driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, and the vertical direction of worm and gear lift exports screw mandrel and is fixedly connected with frame.
2. as claimed in claim 1 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, the quantity of described transmission main body is two, two transmission main bodys symmetrical charging aperture and discharging opening being installed on pressing equipment respectively.
3. as claimed in claim 1 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described elevating drive mechanism comprises the first lifting drive lead screw being installed on frame, second is elevated drive lead screw and can drives the lifting driving motor of the first lifting drive lead screw and the second lifting drive lead screw synchronous rotary, first lifting drive lead screw has been threaded the first lifting nut seat, second lifting drive lead screw has been threaded the second lifting nut seat, first lifting nut seat and the second lifting nut seat are all horizontally installed with the first line slideway, two support arms are fixedly connected with the slide block of the first line slideway respectively.
4. as claimed in claim 3 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described elevating drive mechanism also comprises the some jacking load balance cylinders being installed on frame, and the piston rod of some jacking load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.
5. as claimed in claim 1 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described open folder transmission mechanism comprise be installed on frame left-handed screw mandrel, dextrorotation screw mandrel and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open folder driving motor, left-handed wire rod thread is connected with left-handedly opens folder nut seat, dextrorotation wire rod thread is connected with dextrorotation and opens folder nut seat, two support arms are all vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.
6. as claimed in claim 1 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described transverse moving left and right transmission mechanism comprises the synchronous pulley being installed on support arm and the traversing driving motor that synchronous pulley can be driven to rotate, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt engage each other, and the two ends of Timing Belt are fixedly connected with the two ends, left and right of clip arm respectively.
7., as claimed in claim 6 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described two clip arms are all horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.
8. as claimed in claim 1 for the Three-dimensional mechanical arm conveyer of pressing equipment, it is characterized in that, described clip arm is provided with can interconnective first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with a through hole that can insert for locating piece, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidably connected, described Connection Block is provided with stopper slot, when the first clip arm is connected with the second clip arm, some limited blocks support stopper slot.
CN201310338642.8A 2013-08-06 2013-08-06 For the Three-dimensional mechanical arm conveyer of pressing equipment CN103357777B (en)

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CN104343937B (en) * 2014-09-17 2016-07-06 安徽吉晟精密机械科技有限公司 A kind of pressing robot two shaft coupling piece
CN104438928A (en) * 2014-10-29 2015-03-25 东莞市井田自动化设备有限公司 Mechanical arm conveying mechanism for series-connection punching device
CN104841748A (en) * 2015-05-28 2015-08-19 中山市八达机器制造有限公司 Efficient and safe oil press with preheating function
CN105583315A (en) * 2015-12-25 2016-05-18 东莞市瑞辉机械制造有限公司 Stamping machine and detachable cross rod thereof
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CN105965860A (en) * 2016-05-27 2016-09-28 济南奥图自动化股份有限公司 Feeding and discharging mechanical arm of thermal forming press
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