CN104014758B - Automatic production line of press machine - Google Patents
Automatic production line of press machine Download PDFInfo
- Publication number
- CN104014758B CN104014758B CN201410227152.5A CN201410227152A CN104014758B CN 104014758 B CN104014758 B CN 104014758B CN 201410227152 A CN201410227152 A CN 201410227152A CN 104014758 B CN104014758 B CN 104014758B
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- mechanical arm
- manipulator
- nozzle
- mounting seat
- gear
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Abstract
The invention discloses an automatic production line of a press machine. The automatic production line of the press machine comprises the press machine and a mechanical arm arranged on one side of the press machine. The mechanical arm comprises a base, a driving device, a rotating mechanism, a telescopic mechanism and a material taking device, wherein the driving device, the rotating mechanism, the telescopic mechanism and the material taking device are arranged on the base. The driving device is connected with the rotating mechanism and is used for driving the rotating mechanism to rotate. The telescopic mechanism is connected with the rotating mechanism and is driven by the rotating mechanism to rotate. The telescopic mechanism is connected with the material taking device, and the telescopic mechanism comprises at least one mechanical arm body, sliding plates which are in one-to-one correspondence with the mechanical arm bodies, and a mechanical arm body mounting seat connected with the rotating mechanism. The mechanical arm bodies are connected with the mechanical arm mounting seat through the sliding plates, and the sliding plates are controlled by a driving piece to slide. The automatic production line of the press machine is automatic in material taking and discharging, high in production efficiency, wide in machining range, large in telescopic range and even in workpiece oil spraying.
Description
Technical field
The invention belongs to mechanical die casting field, especially a kind of automated press line.
Background technology
At present, in the machining production processes such as welding, assembling, die casting, be typically necessary workpiece is carried out feeding and
The operation of blowing, but it is all to implement feeding and the operation of blowing, operation using artificial in a lot of machining production processes
Inconvenience, low production efficiency, and so it is easy to defective work piece and workpiece of making dirty, and the production automating ensure that product
High accuracy, high-quality, high efficiency require, therefore forming machine, lathe, assembling are extensively researched and developed and be applied to automatic mechanical hand
On the device such as streamline and die casting machine, for execution mobile object, draw the operation such as workpiece, but prior art is big
How workpiece clamped using clamp, clamping jaw device, so to lead to manipulator volume larger and heavy, to be unfavorable for gripping unskilled labourer
Part.
Wherein, in casting field especially on die casting machine or hydraulic press, it is provided with four because they process workpiece area
Column, common mechanical hand is difficult to intelligence and directly carries out feeding or blowing through four columns, and automaticity is not high, and can be intelligent
Through four columns robot manipulator structure also more complicated, occupy that space is big, flexible stroke is shorter.
In addition, in the machining production line of existing forcing press such as punch press or hydraulic press, charging lubrication typically adopts oil-injection machine
Structure design is unreasonable, and oil spout distributed pole is uneven, is wasted big using the lubricating oil of immersion oil mode, and easy pollution in wide area board
Neighboring area.
Content of the invention
The purpose of the present invention is aiming at the deficiency of prior art presence and provides a kind of automatic clamping and placing material, production efficiency
The high, range of work is wide, flexible stroke is big and the uniform automated press line to workpiece oil spout.
The technical solution used in the present invention is as follows：
A kind of automated press line, the manipulator including forcing press with located at forcing press side, described machinery handbag
Include base, and the driving means on base, rotating mechanism, telescoping mechanism and feeding device, described driving means and rotation
Mechanism connects, and for driving rotating mechanism to rotate, described telescoping mechanism is connected with rotating mechanism, drives telescopic machine by rotating mechanism
Structure rotates, and described telescoping mechanism is connected with feeding device, and described telescoping mechanism includes at least one mechanical arm and every machinery
The one-to-one slide plate of arm and the manipulator mounting seat being connected with rotating mechanism, described mechanical arm passes through slide plate and manipulator
Mounting seat connects, and described slide plate controls slip by actuator；It is provided with upper gear rack, described machinery on described every mechanical arm
Be provided with lower gear rack in hand mounting seat, described slide plate is connected to gear by bearing, described gear respectively with upper gear rack and
Lower gear rack engages.
The present invention can meet manipulator high efficiency on forcing press and pick and place workpiece, will not be limited by four columns, can
To rotate functionally, possess Telescopic, and nibbled with lower gear rack by the mobile band moving gear that slide plate installed by gear
Close, be that the rolling of gear provides power, so that upper gear rack is performed relative motion with gear, thus driving mechanical arm stretches,
This movement by gear drives the effect that the structure setting of upper gear rack movement has reached a Double-stroke again, effectively improves
The efficiency of manipulator loading and unloading.Need exist for illustrate be：Also the such manipulator of telescoping mechanism is occurred in prior art,
The flexible stroke of telescoping mechanism as simply is shorter, and only single times of stroke can cause excessively compact between device and manipulator, can
Can lead to mechanical collision in the course of work, and the range of work is less.Certainly, the present invention be not telescoping mechanism is had double
The sole limitation to the present invention, some automated productions are less demanding when making for the effect of times stroke, and the little processing of the range of work sets
Standby can also setting has the manipulator that single times of stroke stretches, and the specifically single times of flexible setting of stroke only needs to keep pinion rotation
Shi Buzuo planar movement, is stretched with the driving mechanical hand that engages of upper gear rack by its rotation.
Preferably, described every mechanical arm is provided with upper straight guide rail, described manipulator mounting seat is provided with
Bottom line slideway, described slide plate upper and lower surface is respectively equipped with upper rall slide block and lower guide slide block, described upper rall
Slide block is coordinated with upper straight guide rail contact, and described lower guide slide block and bottom line slideway are engaged；Described upper straight
Line guide rail and upper gear rack are all located at mechanical arm lower surface, and connect as one with mechanical arm；Described bottom line slideway
With lower gear rack all located at manipulator mounting seat upper surface, and connect as one with manipulator mounting seat.
It is flexible offer power for manipulator that wheel and rack engagement performs relative motion, and described upper rall slide block with
Upper straight guide rail is to be engaged, and described lower guide slide block and bottom line slideway are engaged and are to ensure that manipulator
Linear motion.
Preferably, described mechanical arm has two, and they are intersecting and arrange in fixed angle, the respectively first mechanical arm
With the second mechanical arm.
The mechanical arm of the present invention is two intersecting and the setting in fixed angle mechanical arms, and their fixed angle is
Decision is needed according to reality processing scope and processing.
Preferably, described fixed angle is 90 degree.
Further, fixed angle is 90 degree is the one way in which that two mechanical arms of the present invention are arranged, not right
It is restricted, and other angles are also dependent on being actually needed setting, such as 60 degree or 120 degree or 180 degree.
Preferably, described actuator is in manipulator mounting seat, and installs slide plate even by drive connection plate and gear
Connect, described actuator is Rodless cylinder or the direct-connected ball screw of servomotor；Described bearing is screw bolt-type outer ring and roll assembly.
Preferably, state the little gear that rotating mechanism includes being connected with driving means, described little gear is engaged with gear wheel, institute
State gear wheel to be coaxially disposed with turning arm set, and turning arm is sheathed on above gear wheel, described turning arm covers and telescoping mechanism
Manipulator mounting seat connects, by rotating the rotation of arm sleeving belt motivation tool hand mounting seat.
360 degree can be realized by mechanical arm described in this rotating mechanism arbitrarily to rotate, concrete rotational angle is by actual feelings
Condition needs to adjust.
Preferably, described driving means are pneumatic pivot angle cylinder or servomotor or stepper motor.
Preferably, described feeding device is Acetabula device, and described Acetabula device includes elevating mechanism and suction cup carrier, described liter
Descending mechanism includes cylinder and the straight-line guidance unit being connected with mechanical arm, drives suction cup carrier to make lifting fortune by the piston rod of cylinder
Dynamic, described straight-line guidance unit is connected with suction cup carrier, keeps the linear motion of suction cup carrier, circumferentially formula uniformly sets described suction cup carrier
There are several suckers.
The Acetabula device that the present invention adopts can be drawn or decentralization small workpiece or stub bar preferable, is difficult they are caused to hinder
Evil, and the sucker number of suction cup carrier setting is arranged according to actual needs, setting 1 or 2 or 3 or 4 can reach same
The absorption workpiece effect of sample, is not restricted here, and being provided with 4 is more rational set-up mode.
Preferably, described automated press line is additionally provided with fueling injection equipment, and described fueling injection equipment is included for oil spray
Upper nozzle mechanism to workpiece surface and on manipulator, and oil spray is to workpiece lower surface and below manipulator
Lower nozzle mechanism, described upper nozzle mechanism includes the upper nozzle located at suction cup carrier center by nozzle mounting seat, institute
State upper nozzle by nozzle throttle valve control oil spout, described lower nozzle mechanism include nozzle platform below manipulator and
Lower nozzle, described lower nozzle is connected with nozzle platform by being provided with the height regulation oil pipe of sealed clamping set, and by nozzle
Throttle valve control oil spout.
The oil injection mechanism that the present invention adopts passes through in workpiece upper and lower oil spray, produces hollow ring spraying, using few
Work pieces process edge can be covered in the case of oil comprehensively.
Preferably, by fueller fuel feeding, described fueller includes fuel tank, oil pump, level sensing to described fueling injection equipment
Device, fluid injection filter and three-way magnetic valve, realize the supply of workpiece quantitation oil spout.
The oil injection mechanism that the present invention adopts produces unnecessary oil and can flow back the fuel tank of fueller.
The present invention compared with prior art has the advantage that：
1. can freely, automatically extend into feeding or blowing in narrow die space；
2. there is double flexible stroke, be capable of large-scale feeding or blanking；
3. it is provided with two intersecting and the setting in fixed angle mechanical arms can efficiently and rapidly carry out feeding or put
Material process；
4. it can be avoided that oil realizes the oil lubrication to workpiece in the case of wasting.
Brief description
Fig. 1：The structural representation of the present invention；
Fig. 2：The front view of manipulator of the present invention；
Fig. 3：The top view of manipulator of the present invention；
Fig. 4：The structural representation of manipulator telescoping mechanism of the present invention；
Fig. 5：The A-A sectional view of telescoping mechanism of the present invention；
Fig. 6：Upper nozzle mechanism structure schematic diagram of the present invention；
Fig. 7：Upper nozzle mechanism of the present invention B-B sectional view；
Fig. 8：Lower nozzle mechanism structure schematic diagram of the present invention；
Fig. 9：Lower nozzle mechanism of the present invention C-C sectional view；
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment：
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of automated press line, including forcing press 23 with located at forcing press 23
The manipulator 24 of side, described manipulator 24 includes base 1, and the pneumatic pivot angle cylinder 14 on base 1, rotating mechanism, stretches
Contracting mechanism and Acetabula device, described driving means are connected with rotating mechanism, for driving rotating mechanism to rotate, described telescoping mechanism
It is connected with rotating mechanism, telescoping mechanism rotation is driven by rotating mechanism, described telescoping mechanism is connected with Acetabula device, described flexible
Mechanism includes mechanical arm, and described mechanical arm is two mechanical arms that are intersecting and being in 90 degree of settings, the respectively first machinery
Arm 2 and the second mechanical arm 3, each mechanical arm described respectively corresponds to a gear and installs slide plate 4 and and rotating mechanism
The manipulator mounting seat 5 connecting, and each mechanical arm lower surface is provided with upper straight guide rail 6 and upper gear rack 7, described machine
Tool hand mounting seat 5 upper surface is provided with bottom line slideway 8 and lower gear rack 9, and described gear installs slide plate 4 upper and lower surface respectively
It is provided with upper rall slide block 10 and lower guide slide block 11, described gear installation slide plate 4 is connected to by drive connection plate 12 and sets
Rodless cylinder 18 in manipulator mounting seat 5, described gear is installed slide plate 4 and is connected to by screw bolt-type outer ring and roll assembly 19
Gear 13, described gear 13 is engaged with upper gear rack 7 and lower gear rack 9 respectively.
Described upper gear rack 7 is connected as one with mechanical arm, and described lower gear rack 9 and manipulator mounting seat 5 are connected as
Integrally.
Described upper rall slide block 10 and upper straight guide rail 6 are to be engaged, described lower guide slide block 11 and bottom
Line slideway 8 is engaged.
The operation principle of this telescoping mechanism：Under the driving of Rodless cylinder 18, the mobile band moving gear of slide plate 4 installed by gear
13 are engaged with lower gear rack 9, are that the rolling of gear 13 provides power, so that upper gear rack 7 is performed relative motion with gear 13, from
And driving mechanical arm makees stretching motion.
Described rotating mechanism includes the little gear 15 being connected with pneumatic pivot angle cylinder 14, and described little gear 15 and gear wheel 16 are nibbled
Close, described gear wheel 16 is coaxially disposed with turning arm set 17, and turning arm covers 17 above gear wheel 16, described turning arm set
17 are connected with the manipulator mounting seat 5 of telescoping mechanism, cover 17 driving mechanical hand mounting seats 5 by turning arm and rotate.
The operation principle of this rotating mechanism is：Rotarily drive little gear 15 by pneumatic pivot angle cylinder 14 to rotate, so that with
The gear wheel 16 of engagement rotate, and the turning arm set 17 that rotates to be of gear wheel 16 provides power, thus driving mechanical hand peace
Dress seat 5 rotates, namely driving mechanical is rolled over.
Described Acetabula device includes elevating mechanism and suction cup carrier 22, and described elevating mechanism includes cylinder 20 and and mechanical arm
The straight-line guidance unit 21 connecting, drives straight-line guidance unit 21 to make elevating movement by cylinder 20, described straight-line guidance unit 21
It is connected with suction cup carrier 22, circumferentially formula is uniformly provided with 4 suckers to described suction cup carrier 22.
This Acetabula device operation principle is：Suction cup carrier 22 is driven to make lifting fortune when the piston rod linear motion of cylinder 20
Dynamic, just can hold workpiece when sucker touches surface of the work, by the drive of cylinder 20 in the presence of straight-line guidance unit
Workpiece can do straight line elevating movement.
As shown in Fig. 1, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, described automated press line is additionally provided with fueling injection equipment, described spray
Oily device includes the upper nozzle mechanism 25 for oil spray to workpiece surface and on manipulator, and oil spray is to workpiece
Lower surface and the lower nozzle mechanism 26 below manipulator, described upper nozzle mechanism 25 is included by nozzle mounting seat 27
Located at the upper nozzle 28 at suction cup carrier 22 center, described upper nozzle 28 controls oil spout by nozzle choke valve 29, the spray of described bottom
Nozzle mechanism 26 includes the nozzle platform 30 and lower nozzle 31 below manipulator, and described lower nozzle 31 is by being provided with sealing
The height of gripping sleeve 32 is adjusted oil pipe 33 and is connected with nozzle platform 30, and controls oil spout by nozzle choke valve 34.
Described fueling injection equipment includes fuel tank, oil pump, liquid level detection device, note by fueller fuel feeding, described fueller
Liquid filter and three-way magnetic valve, realize the supply of workpiece quantitation oil spout.
Claims (9)
1. a kind of automated press line, the manipulator including forcing press with located at forcing press side is it is characterised in that described
Manipulator includes base, and the driving means on base, rotating mechanism, telescoping mechanism and feeding device, described driving dress
Put and be connected with rotating mechanism, for driving rotating mechanism to rotate, described telescoping mechanism is connected with rotating mechanism, by rotating mechanism band
The rotation of dynamic telescoping mechanism, described telescoping mechanism is connected with feeding device, described telescoping mechanism include at least one mechanical arm and
The one-to-one slide plate of every mechanical arm and the manipulator mounting seat being connected with rotating mechanism, described mechanical arm passes through slide plate
It is connected with manipulator mounting seat, described slide plate controls slip by actuator；It is provided with upper gear rack on described every mechanical arm,
Be provided with lower gear rack in described manipulator mounting seat, described slide plate is connected to gear by bearing, described gear respectively with upper
Portion's tooth bar and lower gear rack engagement；
Described automated press line is additionally provided with fueling injection equipment, and described fueling injection equipment is included for oil spray to workpiece surface
And the upper nozzle mechanism on manipulator, and lower nozzle machine to workpiece lower surface and below manipulator for the oil spray
Structure, described upper nozzle mechanism includes the upper nozzle located at suction cup carrier center by nozzle mounting seat, described upper nozzle by
Nozzle throttle valve control oil spout, described lower nozzle mechanism includes nozzle platform and the lower nozzle below manipulator, institute
State lower nozzle and be connected with nozzle platform by being provided with the height regulation oil pipe of sealed clamping set, and sprayed by nozzle throttle valve control
Oil.
2. automated press line according to claim 1 is it is characterised in that be provided with described every mechanical arm
Upper straight guide rail, described manipulator mounting seat is provided with bottom line slideway, and described slide plate upper and lower surface is respectively equipped with
Portion's guide rail slide block and lower guide slide block, described upper rall slide block is coordinated with upper straight guide rail contact, described lower guide
Slide block is engaged with bottom line slideway；Described upper straight guide rail and upper gear rack all located at mechanical arm lower surface, and
Connect as one with mechanical arm；Described bottom line slideway and lower gear rack all located at manipulator mounting seat upper surface, and with
Manipulator mounting seat connects as one.
3. automated press line according to claim 1 and 2 is it is characterised in that described mechanical arm has two, it
Intersecting and in fixed angle setting, the respectively first mechanical arm and the second mechanical arm.
4. automated press line according to claim 3 is it is characterised in that described fixed angle is 90 degree.
5. automated press line according to claim 1 is it is characterised in that described actuator is installed located at manipulator
On seat, and it is connected by drive connection plate and gear installation slide plate, described actuator is Rodless cylinder or the direct-connected rolling of servomotor
Ballscrew；Described bearing is screw bolt-type outer ring and roll assembly.
6. automated press line according to claim 1 is it is characterised in that described rotating mechanism includes and drives dress
Put the little gear of connection, described little gear is engaged with gear wheel, and described gear wheel is coaxially disposed with turning arm set, and turning arm set
Above gear wheel, described turning arm set is connected with the manipulator mounting seat of telescoping mechanism, by rotating arm sleeving belt motivation tool
Hand mounting seat rotates.
7. the automated press line according to claim 1 or 6 is it is characterised in that described driving means are Pneumatic swing
Angle cylinder or servomotor or stepper motor.
8. automated press line according to claim 1 it is characterised in that described feeding device be Acetabula device,
Described Acetabula device includes elevating mechanism and suction cup carrier, and described elevating mechanism includes cylinder and the straight line that is connected with mechanical arm is led
To unit, drive suction cup carrier to make elevating movement by the piston rod of cylinder, described straight-line guidance unit is connected with suction cup carrier, keep inhaling
The linear motion of plate rail, circumferentially formula is uniformly provided with several suckers to described suction cup carrier.
9. automated press line according to claim 1, described fueling injection equipment is by fueller fuel feeding, described fuel feeding
Device includes fuel tank, oil pump, liquid level detection device, fluid injection filter and three-way magnetic valve, realizes the confession of workpiece quantitation oil spout
Give.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410227152.5A CN104014758B (en) | 2014-05-27 | 2014-05-27 | Automatic production line of press machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410227152.5A CN104014758B (en) | 2014-05-27 | 2014-05-27 | Automatic production line of press machine |
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| CN104014758A CN104014758A (en) | 2014-09-03 |
| CN104014758B true CN104014758B (en) | 2017-02-22 |
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| CN201410227152.5A Active CN104014758B (en) | 2014-05-27 | 2014-05-27 | Automatic production line of press machine |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214257B (en) * | 2017-06-29 | 2019-04-16 | 安徽江淮汽车集团股份有限公司 | A kind of mold oil injection mechanism and its stamping die |
| CN108704996B (en) * | 2018-05-22 | 2023-12-12 | 佛山市艾茨迪智能科技有限公司 | Multi-station tablet feeding device and stamping production line |
| CN109128130B (en) * | 2018-11-10 | 2020-06-02 | 山东常林铸业有限公司 | Mechanical casting gating system |
| CN112275934A (en) * | 2020-10-12 | 2021-01-29 | 湖南坤鼎数控科技有限公司 | Workpiece extracting manipulator with high-stability structure |
| CN114799087B (en) * | 2022-03-31 | 2023-06-23 | 燕山大学 | Spraying device for inner surface of automobile hub die |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0308347A1 (en) * | 1987-09-17 | 1989-03-22 | Schlumberger Industries | Test head robot having a modified suspension |
| CN202225366U (en) * | 2011-09-09 | 2012-05-23 | 晋江市凯嘉机器制造有限公司 | Automatic taking device |
| CN202845627U (en) * | 2012-03-12 | 2013-04-03 | 羽泰国际实业股份有限公司 | Improved structure of automatic material feeding and receiving device of stamping apparatus |
| CN103072135A (en) * | 2013-01-14 | 2013-05-01 | 东莞市安利通用机械设备有限公司 | Automatic production line mechanical arm |
| CN103612259A (en) * | 2013-11-08 | 2014-03-05 | 重庆风过旗扬科技发展有限公司 | Manipulator with rotating function |
| CN103802095A (en) * | 2014-02-26 | 2014-05-21 | 温州职业技术学院 | Four-degree-of-freedom servo manipulator |
-
2014
- 2014-05-27 CN CN201410227152.5A patent/CN104014758B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0308347A1 (en) * | 1987-09-17 | 1989-03-22 | Schlumberger Industries | Test head robot having a modified suspension |
| CN202225366U (en) * | 2011-09-09 | 2012-05-23 | 晋江市凯嘉机器制造有限公司 | Automatic taking device |
| CN202845627U (en) * | 2012-03-12 | 2013-04-03 | 羽泰国际实业股份有限公司 | Improved structure of automatic material feeding and receiving device of stamping apparatus |
| CN103072135A (en) * | 2013-01-14 | 2013-05-01 | 东莞市安利通用机械设备有限公司 | Automatic production line mechanical arm |
| CN103612259A (en) * | 2013-11-08 | 2014-03-05 | 重庆风过旗扬科技发展有限公司 | Manipulator with rotating function |
| CN103802095A (en) * | 2014-02-26 | 2014-05-21 | 温州职业技术学院 | Four-degree-of-freedom servo manipulator |
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| CN104014758A (en) | 2014-09-03 |
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Effective date of registration: 20190128 Address after: 518105 Longqiaohua Industrial Park, Luotian Forest Farm, Yanluo Street, Baoan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN ANTOP TECHNOLOGY CO.,LTD. Address before: 510663 Guangzhou Guangzhou High-tech Industrial Development Zone, Guangdong Province, A410, No. 3, Spectrum East Road Patentee before: Guangzhou great Zheng new material Science and Technology Ltd. |
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Effective date of registration: 20200110 Address after: 510663 unit 304, building C2, innovation building, No. 182, science Avenue, Huangpu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou great Zheng new material Science and Technology Ltd. Address before: 518105 Longqiaohua Industrial Park, Luotian Forest Farm, Yanluo Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN ANTOP TECHNOLOGY CO.,LTD. |