CN103878265B - 一种工件自动传输系统 - Google Patents
一种工件自动传输系统 Download PDFInfo
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Abstract
本发明公开了一种工件自动传输系统，包括多台压力机组成的串联冲压线，每台压力机的压力机立柱上通过横梁和悬臂梁安装有工件自动传输装置，工件自动传输装置设置在工件传送平面的上方，工件自动传输装置的送进摆臂、提升摆臂、伸缩摆臂、送料摆臂和工件抓取器相互铰接，通过摆动和伸缩运动实现工件在传输过程中的升降、平移和旋转运动。本发明不需要压力机滑块与立柱之间的附加自由空间，且在上下模具之间自由空间较小的情况下就能够放入或取出工件，能够快速、方便地进行工件运送轨迹示教，能够使工件运送速度高速化的串联式连续冲压线的工件运送装置，既降低了压力机设备的制造成本，又缩短了零件传送时间，从而提高整线的生产效率。
Description
技术领域
[0001] 本发明涉及一种压力机上下料，特别是冲压线中用于从上一序到下一序的工件传输装置。也可用于单台压力机或类似机器的工件取放和传输。
背景技术
[0002] 由金属料片到成型工件的制造需要多个工序，其中最重要的工序是冲压成型。金属料片在压力机中需要经过拉深、弯曲、开孔、修边等多种连续的成形步骤，最后获得所需要的形状。模具的形式决定了工件的形状，压力机的模具通常包括一个上模和一个对应的下模，所述模具彼此相对移动，使放置在上下模具之间的工件拉伸成形。由于一个工件的成型需要经过多个模具连续的成型工序来完成，因此需要连续地布置多个压力机来形成冲压线，或者采用包括多个模具的压力机。一方面，冲压线或者多模冲压机的生产能力是由压力机的生产能力即实现一个成形操作所需要的时间决定的。然而，另一方面，所述能力很大程度上又取决于工件从一个压力机站到下一站的运输效率。因此，重要的是采用将工件从一个压力机站自动地运输到下一站的快速运输系统。
[0003] 在冲压线中，相邻压力机间的工件运送方法，有机器人运送方式或传送机方式。所谓机器人运送方式，是在相邻的压力机间设置多关节型的运送机器人，利用该运送机器人从前一道工序的压力机中取出工件，同时将该工件送入下一个工序的压力机。但是，机器人运送方式必须跟随相邻的压力机各自的断续动作而运送工件，而且必须在工件运送时避开与金属模具等的干涉。因此，存在的缺点是不能使工件的运送速度高速化，从而限制了整线生产节拍的提高。另外，采用机器人运送方式时，在示教运送轨迹方面其示教困难且调试时间长。传送机运送方式分为单臂送料和双臂送料两种方式，单臂送料是在相邻的压力机间布置一套送料装置，取料臂从压力机滑块正前方伸入到压力机模腔取出工件，同时将该工件送入下一个工序的压力机模腔。双臂送料是在相邻的压力机间的左右两侧分别布置一套送料臂，两套送料臂通过一根横杆连接，送料臂驱动横杆完成工件的运送。
发明内容
[0004] 本发明所要解决的技术问题是针对现有技术存在的缺陷，提供一种能够快速、方便地进行工件运送轨迹示教，并且能够使工件运送速度高速化的串联式连续冲压线的工件运送系统，从而提尚串联式连续冲压线的生广效率。
[0005] 为解决这一技术问题，本发明提供了一种工件自动传输系统，包括多台压力机组成的串联冲压线，每台压力机的压力机立柱上通过横梁和悬臂梁安装有工件自动传输装置，所述工件自动传输装置设置在工件传送平面的上方，工件自动传输装置的送进摆臂、提升摆臂、伸缩摆臂、送料摆臂和工件抓取器相互铰接，通过摆动和伸缩运动实现工件在传输过程中的升降、平移和旋转运动，并可根据工件的不同形状对工件抓取器的提升高度和运行轨迹进行编程形成轨迹曲线，送料摆臂可伸入压力机的上模具和下模具之间取放出设于下模具上的工件。
[0006] 所述工件自动传输装置，包括固定支架、传动箱、送进摆臂、提升摆臂、伸缩摆臂、送料摆臂、工件抓取器；所述固定支架上方设有托板，下方为传动箱；所述送进摆臂为箱体式传动结构，内部设置齿轮传动或同步带，送进摆臂的下端与传动箱的输出齿轮连接，其上端与提升摆臂的一端铰接，送进摆臂的齿轮或同步带将传动箱的动力传递给提升摆臂，提升摆臂的另一端与伸缩摆臂的中段支点铰接；所述伸缩摆臂包括摆杆和可沿摆杆滑动的滑板，摆杆上端与固定支架上的托板铰接，滑板的下端与送料摆臂连接并可随滑板伸缩，所述送料摆臂的另一端设有同步带传动机构，工件抓取器与同步带传动机构连接。
[0007] 设于传动箱上方的电机一、减速机一驱动齿轮一，齿轮一驱动齿轮二，齿轮二与送进摆臂的下端固定连接进而驱动送进摆臂摆动；设于传动箱下方的电机二、减速机二驱动轴，轴与齿轮三连接，齿轮三依次传动齿轮四、齿轮五和齿轮六，齿轮六与提升摆臂固定连接进而驱动提升摆臂。
[0008] 所述伸缩摆臂的摆杆上设有直线滑轨和同步带一，直线滑轨上设有滑动块，滑板与滑动块连接并通过夹板与同步带一固定连接；所述伸缩摆臂上方设置电机三和减速机三驱动带轮一进而通过驱动同步带一带动滑板沿直线滑轨作往返运动，从而使伸缩摆臂的长度发生变化。
[0009] 所述送料摆臂包括电机四、减速机四和摆臂，减速机四的固定部分与伸缩臂滑板的下端固定连接，其转动部分与摆臂的上端固定连接，设于送料摆臂另一端的同步带传动机构包括的电机五依次驱动带轮三、同步带二和带轮四将动力传递到减速机五和减速机六。
[0010] 所述工件抓取器包括左右横杆和固定在横杆上带有工件抓持功能的端拾器组成，左右两部分横杆分别连接在送料摆臂下端的同步带传动机构的减速机五、减速机六上，所述横杆可随着送料摆臂沿着垂直工件传送的方向摆动，端拾器可沿横杆在零件传送方向的横向上移动。
[0011] 有益效果:本发明在于其运动过程和结构形式，它不需要压力机滑块与立柱之间的附加自由空间，且在上下模具之间的自由空间较小的情况下就能够放入或取出工件，能够快速、方便地进行工件运送轨迹示教，并且能够使工件运送速度高速化的串联式连续冲压线的工件运送装置，既降低了压力机设备的制造成本，又缩短了零件的传送时间，使串联式连续冲压线的工件传送速度高速化，从而提高整线的生产效率。
附图说明
[0012] 图1为本发明的结构示意主视图；
[0013] 图2为本发明的结构示意左视图；
[0014] 图3为本发明取料位置结构示意图；
[0015] 图4为本发明放料位置结构示意图；
[0016] 图5为本发明传动箱的结构示意剖视图；
[0017] 图6为本发明伸缩摆臂的结构示意主视图；
[0018] 图7为本发明送料摆臂的结构示意主视图；
[0019] 图8a为本发明工件抓取器的结构示意主视图；
[0020] 图Sb为本发明工件抓取器的结构示意俯视图。[0021 ] 图中:I串联式冲压线、2大横梁、3滑块、4上模具、5下模具、6移动工作台、7压力机立柱、8固定支架、9传动箱、10送进摆臂、11提升摆臂、12伸缩摆臂、13滑板、14送料摆臂、15工件抓取器；16传输装置一、17传输装置二、18传输装置三、19传输装置四、20轨迹曲线、21横梁、22悬臂横梁、23减震器、24平行滑轨、25托板、26摆杆、27电机一、28减速机一、29齿轮一、30齿轮二、31电机二、32减速机二、33轴、34齿轮三、35齿轮四、36齿轮五、37齿轮六、38电机三、39减速机三、40带轮一、41同步带一、42直线滑轨、43夹板、44带轮二、45电机四、46减速机四、47摆臂、48电机五、49带轮三、50同步带二、51减速机五、52带轮四、53减速机六、54电机六、55丝杠、56横杆、57滑轨、58端拾器。
具体实施方式
[0022] 本发明采用几种不同长度的摆臂相互铰接，通过摆动和伸缩运动实现工件在传输过程中的升降、平移和旋转运动，并可根据工件的不同形状对抓取器的提升高度和运行轨迹进行编程，其结构形式具有在压力机滑块运动方面更有利的避障性，因此在压力机滑块的打开行程相对较小时送料臂就可以伸入上下模之间，以便取出零件。
[0023] 下面结合附图及实施例对本发明做具体描述。
[0024] 图1所示为本发明的结构示意主视图。
[0025] 图2所示为本发明的结构示意左视图。
[0026] 本发明包括多台压力机组成的串联冲压线I，压力机最上端是横梁2，上模具4被夹紧在滑块3下端面，下模具5被固定在压力机工作台6上，每台压力机上安装有工件自动传输装置，该工件自动传输装置位于在工件传送平面的上方，通过横梁21和悬臂梁22安装在压力机立柱7上，工件自动传输装置的送进摆臂10、提升摆臂11、伸缩摆臂12、送料摆臂14和工件抓取器15相互铰接，通过摆动和伸缩运动实现工件在传输过程中的升降、平移和旋转运动，并可根据工件的不同形状对工件抓取器15的提升高度和运行轨迹进行编程形成轨迹曲线20，送料摆臂14可伸入压力机的上模具4和下模具5之间取放出设于下模具5上的工件。
[0027] 每个工件自动传输装置被以不同的工作状态表示出来:
[0028] 图3所示为本发明取料位置结构示意图。
[0029] 图4所示为本发明放料位置结构示意图。
[0030] 传输装置16表示处于取料位置(如图3所示)；传输装置17表示处于工件成型期间的等待位置；传输装置18表示处于已将工件取出并且沿轨迹曲线20将该工件传送到下一工位；传输装置19表示处于放料位置(如图4所示)，将工件放入下模具5中。
[0031] 轨迹曲线20下面的平滑线是工件抓取器15空载返回的轨迹，上面的平滑线是工件抓取器15带负载运行的轨迹。轨迹曲线20的高度可根据工件成型的深度和需要提起的高度自由编程。轨迹曲线20在模区外的部分，无论是带负载运行的轨迹还是空载返回的轨迹都是非常平滑的曲线，不需要升起或下降，简洁的运行轨迹有利于缩短工件传输时间。
[0032] 所述自动传输装置包括固定支架8、传动箱9、送进摆臂10、提升摆臂11、伸缩摆臂12、送料摆臂14、工件抓取器15。
[0033] 所述固定支架8用以承载整套传输装置，两个压力机立柱7上跨接横梁21，在压力机立柱7上还连接悬臂横梁22，承载整套传输装置的固定支架8悬挂在横梁21和悬臂横梁22上、位于压力机滑块3的正前上方，在横梁21和悬臂横梁22与压力机立柱7连接处设有减震器23，以减少工件冲压成型时压力机的震动对传输装置的影响。
[0034] 所述固定支架8上方设有托板25，下方为传动箱9。
[0035] 所述固定支架8上设有两件竖直的平行滑轨24，托板25与滑轨上的滑动块固定连接，其下方传动箱9设置电机和减速机驱动送进摆臂10和提升摆臂11，使送进摆臂10和提升摆臂11的传动布置在与固定支架8连接的箱体上，非常有利于减少运动件的转动惯量，并且能够使工件运送速度高速化。
[0036] 图5所示为本发明传动箱的结构示意剖视图。
[0037] 所述传动箱9的上方设置的电机一 27、减速机一 28依次驱动齿轮一 29、齿轮二30，齿轮二 30与送进摆臂10下端的摆动支点同心，两者固定连接，齿轮二 30进而驱动送进摆臂10摆动；设于传动箱9下方的电机二 31、减速机二 32驱动轴33，轴33与齿轮三34连接，齿轮三34依次传动齿轮四35、齿轮五36和齿轮六37，齿轮六37与提升摆臂11固定连接进而将动力传递到提升摆臂11。
[0038] 所述送进摆臂10的下端与传动箱9的输出齿轮连接，其上端与提升摆臂11的一端铰接，送进摆臂10为箱体式传动结构，内部设置齿轮传动或同步带传动用来将传动箱9的动力传递给提升摆臂11，送进摆臂10通过摆动实现工件从上一工位到下一工位的水平移动。
[0039] 所述送进摆臂10的箱体为高强度铸铝件或薄壁钢焊接件，使送进摆臂10既具备足够的刚性，又尽可能轻量化。
[0040] 所述提升摆臂11的一端与送进摆臂铰接，另一端与伸缩摆臂12的中段支点铰接，提升摆臂11的摆动一方面实现工件抓取器在模腔内取放工件的快速提升和下降，另一方面适应不同的下模高度和工件从上一工位到下一工位的传输高度。
[0041] 图6所示为本发明伸缩摆臂的结构示意主视图。
[0042] 所述伸缩摆臂12包括摆杆26和滑板13。
[0043] 所述摆杆26是伸缩摆臂12的固定部分，摆杆26上设有直线导轨和同步带，直线滑轨42上设有滑动块，摆杆26上端与固定支架8上的托板25下端的支承转点铰接，伸缩摆臂摆动时，可与托板一起沿固定支架上的导轨进行垂直升降运动。
[0044]伸缩摆臂12的摆杆26为高强度铸铝件或薄壁钢焊接件，既具备足够的刚性，又尽可能减少伸缩臂的转动惯量。
[0045] 所述滑板13是伸缩摆臂12的滑动部分，滑板13与滑动块连接并通过夹板43与同步带一 41固定连接，在伸缩摆臂12上方设置电机三38和减速机三39驱动带轮一 40、带轮二 44和同步带一 41，滑板13随同步带一 41的驱动沿直线滑轨42作往返运动，从而使伸缩摆臂12的长度发生变化。
[0046] 所述滑板13的下端与送料摆臂14连接并随滑板13伸缩，所述送料摆臂14的另一端设有同步带传动机构，工件抓取器15与同步带传动机构连接，当送料摆臂14进出模区时，可一边摆动，一边随滑板13伸缩，这种结构形式在压力机滑块打开行程相对较小时，送料摆臂14就能以较有利的方式伸入到在上模具4和下模具5之间取放工件，该运动方式既可缩短零件的传送时间，同时也降低压力机设备的制造成本。
[0047] 图7所示为本发明送料摆臂的结构示意主视图。
[0048] 所述送料摆臂14设置在工件传送平面的上方，包括电机四45、减速机四46和摆臂47，减速机四46的固定部分与伸缩臂滑板13的下端固定连接，减速机46、摆臂47与伸缩臂滑板13的下端为同一个中心；其转动部分与摆臂47的上端固定连接，送料摆臂14的摆动是由连接在自身的电机四45、减速机四46驱动摆臂47完成。
[0049] 在送料摆臂14另一端通过同步带传动机构与工件抓取器15连接，所述同步带传动机构包括电机五48，依次驱动带轮三49、同步带二 50和带轮四52，通过同步带二 50将动力传递到减速机五51和减速机六53。
[0050] 送料摆臂14进出模区时，可一边摆动，一边随滑板13伸缩。这种结构形式对于利用上模具4与下模具5之间较小的自由通行空间进出模区特别有利，避免了送料摆臂14、工件抓取器15及工件在运动过程中与滑块3运动的干涉，在滑块3打开行程相对较小时，送料摆臂14就能以较有利的方式伸入到在上模具4和下模具5之间取放工件。该传输装置的结构和其复合运动过程决定了其具有较好的避障性，并且单个轴不需要很高的速度和加速度就可高速完成工件从上一工序到下一工序的传输，既缩短了工件的传送时间，又减小了工件在运行中的抖动，传送平稳。同时还降低压力机设备和传输装置的制造成本。
[0051] 图8a所示为本发明工件抓取器的结构示意主视图。
[0052] 图Sb所示为本发明工件抓取器的结构示意俯视图。
[0053] 所述工件抓取器15分左右两部分且呈对称布置，包括左右横杆56和固定在横杆56上带有工件抓持功能的端拾器58，横杆56与减速机六53的转动部分固定连接。
[0054] 所述横杆56具有附加的自由度，可随着送料摆臂14沿着垂直工件传送方向摆动，例如在输送双工件且需要改变两个工件的中心距时，两端横杆56上的端拾器58可沿横杆56在零件传送方向的横向上移动，这个功能是由横杆56自身连接的电机六54驱动丝杠55完成的，两端的横杆56上各布置两条平行滑轨57，用于端拾器58及工件横向平移时起导向作用。
[0055] 由于在工件输送过程中，端拾器58的下端面基本始终与地面保持平行，所以工件抓取器需要跟随送料摆臂14实时作旋转运动，电机五48及其同步带传动用于驱动工件抓取器15的旋转运动。
[0056] 本发明可应用于串联式压力机生产线，也可用于单台压力机或类似机器的工件取放和传输。这种摆动式工件自动传输装置安置在压力机滑块前上方，不需要压力机滑块与立柱之间再附加自由空间，伸缩式铰接臂结构能够且在上下模具之间的自由空间较小的情况下就能够放入或取出工件，并且该传输装置能够在冲压机连续运转时跟随冲压机的运行曲线对工件进行传输。
[0057] 本发明在于其运动过程和结构形式，它不需要压力机滑块与立柱之间的附加自由空间，且在上下模具之间的自由空间较小的情况下就能够放入或取出工件，能够快速、方便地进行工件运送轨迹示教，并且能够使工件运送速度高速化的串联式连续冲压线的工件运送装置，既降低了压力机设备的制造成本，又缩短了零件的传送时间，使串联式连续冲压线的工件传送速度高速化，从而提高整线的生产效率。
[0058] 本发明不局限于所描述及所图示的实施方式，它还包括目前权利要求的范围内专业人员可作出的所有构型。
Claims (5)
1.一种工件自动传输系统，其特征在于:包括多台压力机组成的串联冲压线(I )，每台压力机的压力机立柱(7)上通过横梁(21)和悬臂梁(22)安装有工件自动传输装置，所述工件自动传输装置设置在工件传送平面的上方，工件自动传输装置的送进摆臂(10)、提升摆臂(11)、伸缩摆臂(12)、送料摆臂(14)和工件抓取器(15)相互铰接，通过摆动和伸缩运动实现工件在传输过程中的升降、平移和旋转运动，并可根据工件的不同形状对工件抓取器(15)的提升高度和运行轨迹进行编程形成轨迹曲线(20)，送料摆臂(14)可伸入压力机的上模具(4)和下模具(5)之间取放出设于下模具(5)上的工件；所述工件自动传输装置包括固定支架(8)、传动箱(9)及送进摆臂(10)、提升摆臂(11)、伸缩摆臂(12)、送料摆臂(14)和工件抓取器(15);所述固定支架(8)上方设有托板(25)，下方为传动箱(9);所述送进摆臂(10)为箱体式传动结构，内部设置齿轮传动或同步带，送进摆臂(10)的下端与传动箱(9)的输出齿轮连接，其上端与提升摆臂(11)的一端铰接，送进摆臂(10)的齿轮或同步带将传动箱(9)的动力传递给提升摆臂(11)，提升摆臂(11)的另一端与伸缩摆臂(12)的中段支点铰接；所述伸缩摆臂(12)包括摆杆(26)和可沿摆杆(26)滑动的滑板(13)，摆杆(26)上端与固定支架(8)上的托板(25)铰接，滑板(13)的下端与送料摆臂(14)连接并可随滑板(13)伸缩，所述送料摆臂(14)的另一端设有同步带传动机构，工件抓取器(15)与同步带传动机构连接。
2.根据权利要求1所述的工件自动传输系统，其特征在于:设于传动箱(9)上方的电机一(27 )、减速机一(28 )驱动齿轮一(29 )，齿轮一(29 )驱动齿轮二( 30 )，齿轮二( 30 )与送进摆臂(10)的下端固定连接进而驱动送进摆臂(10)摆动；设于传动箱(9)下方的电机二(31)、减速机二(32)驱动轴(33)，轴(33)与齿轮三(34)连接，齿轮三(34)依次传动齿轮四(35),齿轮五(36 )和齿轮六(37 )，齿轮六(37 )与提升摆臂(11)固定连接进而驱动提升摆臂(Il)0
3.根据权利要求1所述的工件自动传输系统，其特征在于:所述伸缩摆臂(12)的摆杆(26)上设有直线滑轨(42)和同步带一(41)，直线滑轨(42)上设有滑动块，滑板(13)与滑动块连接并通过夹板(43)与同步带一(41)固定连接；所述伸缩摆臂(12)上方设置电机三(38)和减速机三(39)驱动带轮一(40)进而通过驱动同步带一(41)带动滑板(13)沿直线滑轨(42)作往返运动，从而使伸缩摆臂(12)的长度发生变化。
4.根据权利要求1所述的工件自动传输系统，其特征在于:所述送料摆臂(14)包括电机四(45)、减速机四(46)和摆臂(47)，减速机四(46)的固定部分与伸缩臂滑板(13)的下端固定连接，其转动部分与摆臂(47)的上端固定连接，设于送料摆臂(14)另一端的同步带传动机构包括的电机五(48)依次驱动带轮三(49)、同步带二(50)和带轮四(52)将动力传递到减速机五(51)和减速机六(53 )。
5.根据权利要求1-4任一项所述的工件自动传输系统，其特征在于:所述工件抓取器(15)包括左右横杆(56)和固定在横杆(56)上带有工件抓持功能的端拾器(58)组成，左右两部分横杆(56)分别连接在送料摆臂(14)下端的同步带传动机构的减速机五(51)、减速机六(53 )上，所述横杆(56 )可随着送料摆臂(14 )沿着垂直工件传送方向摆动，端拾器(58 )可沿横杆(56 )在零件传送方向的横向上移动。
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Inventor after: Zhao Jinrong Inventor after: Liu Zhanqiang Inventor after: Zhao Cuanhao Inventor after: Du Xiao Inventor after: Dai Rongju Inventor before: Zhao Jinrong Inventor before: Zhao Cuanhao Inventor before: Du Xiao Inventor before: Dai Rongju |
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Effective date of registration: 20170327 Address after: 250101 Ji'nan City, Shandong Province, South Hill Road, No. 27 Patentee after: Shandong University Patentee after: JIER Machine-Tool Group Co., Ltd. Address before: Ji'nan two machine tool factory road Huaiyin District of Ji'nan city of Shandong Province, No. 2 250022 Patentee before: JIER Machine-Tool Group Co., Ltd. |