CN104550533B - Magnetic suspension three-D industrial robot - Google Patents

Magnetic suspension three-D industrial robot Download PDF

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Publication number
CN104550533B
CN104550533B CN201510047456.8A CN201510047456A CN104550533B CN 104550533 B CN104550533 B CN 104550533B CN 201510047456 A CN201510047456 A CN 201510047456A CN 104550533 B CN104550533 B CN 104550533B
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China
Prior art keywords
transport
bar
clamp assembly
industrial robot
magnetic suspension
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CN201510047456.8A
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CN104550533A (en
Inventor
畅志军
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LEN SEIKI (SHENZHEN) CO Ltd
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LEN SEIKI (SHENZHEN) CO Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02Advancing work in relation to the stroke of the die or tool

Abstract

The present invention relates to a kind of magnetic suspension three-D industrial robot.This robot includes be parallel to each other two transport bars of horizontal positioned, transports bar transporting bar reciprocating linear drives part axially back and forth, for driving two transport bars at horizontal plane in transporting in bar axially direction towards or away from the clamping actuator of motion and for driving the lifting actuator transporting bar vertical up-or-down movement for driving;Transport bar and be provided with the clamp assembly for clamping material;Operationally, clamping actuator drives two transport bars close to each other, and material is clamped by clamp assembly, and linear drives part drives transport bar and material to move to next station, and lifting actuator drives material vertically leave station or vertically put in station.The present invention transports process and is all automatically obtained, it is not necessary to manually participate in, and alleviates labor intensity, reduces cost of labor, improves production efficiency, it is to avoid security incident generation.

Description

Magnetic suspension three-D industrial robot
Technical field
The present invention relates to pressing equipment, particularly relate to a kind of magnetic suspension three-D industrial robot.
Background technology
Sheet Metal Forming Technology has saving material and the energy due to ratio traditional mechanical processing, and efficiency is high, operator's technology is less demanding and applied by various moulds and can make machining these advantages of be beyond one's reach product, thus its purposes is more and more extensive.Punching production is primarily directed to sheet material.By mould, blanking, punching, molding, drawing, finishing, fine, shaping, riveted joint and extrusion etc. can be made, be widely used in every field.
In modern punching press industry, punching press plate, feeding, feeding are manually pick and place material mostly, and labor intensity is big, and efficiency is low, and cost of labor is high, has potential safety hazard, easily goes out security incident.
Summary of the invention
It is an object of the invention to the defect for overcoming prior art, and provide a kind of for the magnetic suspension three-D industrial robot for punch press feeding, to reduce labor intensity, reduce cost of labor, improve production efficiency, it is to avoid security incident occurs.
For achieving the above object, the present invention is by the following technical solutions:
A kind of magnetic suspension three-D industrial robot, including be parallel to each other two transport bars of horizontal positioned, for driving transport bar at transport bar reciprocating linear drives part axially back and forth, for driving two transport bars at horizontal plane in transporting in bar axially direction towards or away from the clamping actuator of motion and for driving the lifting actuator of transport bar vertical up-or-down movement;Transport bar and be provided with the clamp assembly for clamping material;Operationally, clamping actuator drives two transport bars close to each other, and material is clamped by clamp assembly, and linear drives part drives transport bar and material to move to next station, and lifting actuator drives material vertically leave station or vertically put in station.
Further, linear drives part is linear electric motors, and two transport bars are respectively to there being independent linear drives part.
Further, the two ends of every transport bar are provided with linear drives part, and operationally, the driving direction of the linear drives part transporting bar two ends is contrary.
Further, clamping actuator is horizontal motor, and two transport bars are respectively to there being independent clamping actuator, and operationally, the driving direction of the clamping actuator corresponding to two transport bars is contrary.
Further, the two ends of every transport bar are provided with clamping actuator.
Further, lifting actuator is motor vertical, and two transport bars are respectively to there being independent lifting actuator.
Further, the two ends of every transport bar are provided with lifting actuator.
Further, transport the clamp assembly on bar more than 1 group, parallel placement between clamp assembly, and the distance between clamp assembly is equal to the distance between the station of front and back;Operationally, often group clamp assembly clamps material simultaneously and material is sent to next station simultaneously.
Further, linear drives part also is provided with the clamp assembly for clamping material.
The present invention compared with prior art provides the benefit that:
The present invention is by transporting assembling jig assembly on bar, and transport bar can move in three axial directions, material is automatically grabbed next station after a upper station stamping completes and is gone, and can realizing transporting the material on several different station, transport process is all automatically obtained, it is not necessary to manually participate in simultaneously, alleviate labor intensity, reduce cost of labor, improve production efficiency, it is to avoid security incident generation.
Accompanying drawing explanation
Fig. 1 is punch press and industrial robot assembling stereogram;
Fig. 2 is industrial robot assembling stereogram;
Fig. 3 is the assembling stereo amplification figure of linear drives part, clamping actuator, lifting actuator;
Fig. 4 is industrial robot assembling side elevation;
Fig. 5 is linear drives part, transports bar and clamp assembly assembling stereogram;
Fig. 6 is for transporting bar and clamp assembly assembling stereo amplification figure;
Fig. 7 is the direction of motion schematic diagram transporting bar.
Detailed description of the invention
In order to more fully understand the technology contents of the present invention, below in conjunction with specific embodiment technical scheme it is described further and illustrates.
The concrete structure of the embodiment of the present invention is as shown in Figures 1 to 6.
The punch press of the present embodiment and the assembling stereogram of magnetic suspension three-D industrial robot are as shown in Figure 1.Punch press 10 includes the punch die 11 above station platform 12 and station platform 12.Three-D industrial robot includes be parallel to each other two transport bars 21 of horizontal positioned.The transport bar 21 of three-D industrial robot is located between punch die 11 and station platform 12.
As shown in Figures 2 and 3, three-D industrial robot also includes for driving transport bar 21 at transport bar 21 reciprocating linear drives part 22 axially back and forth, for driving two transport bars 21 at horizontal plane in transporting in bar 21 axially direction towards or away from the clamping actuator 23 of motion and for driving the lifting actuator 24 of transport bar 21 vertical up-or-down movement.
In the present embodiment, two transport bars 21 are respectively to there being the independent linear drives part 22 corresponding with transporting bar 21.The two ends of every transport bar 21 are provided with linear drives part 22, and operationally, the driving direction of the linear drives part 22 transporting bar 21 two ends is contrary.It is that the two ends of a transport bar 21 are respectively provided with linear drives part 22, substantially allows transport bar 21 two ends all have support, so can strengthen the rigidity transporting bar 21, and transport bar 21 and axially transport the ability of weight and improved.In the present embodiment, linear drives part 22 is linear electric motors, and the principle of linear electric motors is magnetic suspension principle, and it is swift in motion and resistance is little, it is low to consume energy.
In the present embodiment, two transport bars 21 are respectively to there being the independent clamping actuator 23 corresponding with transporting bar 21.The two ends of every transport bar 21 are provided with clamping actuator 23, transport bar 21 so can be allowed to keep two ends to synchronize in time transporting motion in bar 21 axially direction at horizontal plane, improve clamp precision.Operationally, article one, the two ends of transport bar 21 drive by clamping actuator 23, and the driving direction of the clamping actuator 23 corresponding to two transport bars 21 is contrary, two transport bar 21 move toward one another are to realize the clamping to material, and two opposing motions of transport bar 21 are to release the clamping to material.In the present embodiment, clamping actuator 23 is horizontal motor.
In the present embodiment, two transport bars 21 are respectively to there being the independent lifting actuator 24 corresponding with transporting bar 21.The two ends of every transport bar 21 are provided with lifting actuator 24.In the present embodiment, lifting actuator 24 is motor vertical.
Specifically, as shown in Figure 1 to Figure 3, punch press 10 side is fixed with crossbearer 31, clamping actuator 23 is fixed on crossbearer 31, crossbearer 31 slidably connects vertical frame 32, lifting actuator 24 is fixed on below vertical frame 32, and vertical frame 32 is fixing with the outfan of clamping actuator 23 to be connected, and clamps actuator 23 and drives vertical frame 32 along crossbearer 31 horizontal movement.Linear drives part 22 is fixed on above bearing support 33, and bearing support 33 and vertical frame 32 are slidably connected, and bearing support 33 is fixed on the outfan of lifting actuator 24, and lifting actuator 24 drives bearing support 33 vertical up-or-down movement.
In the present embodiment, as shown in Figure 2 and Figure 4, at the feed end 211 transporting bar 21, crossbearer 31, vertical frame 32 and bearing support 33 are installed in the lower section of linear drives part 22, but transporting the discharge end 212 of bar 21, the lower section of linear drives part 22 needs to arrange discharge belt (not shown in FIG.), it is therefore desirable to crossbearer 31, vertical frame 32 and bearing support 33 are arranged on the top of linear drives part 22, it is to avoid overlapping with discharge belt.
As shown in Figure 5 and Figure 6, transport bar 21 and be provided with the clamp assembly 40 for clamping material.Clamp assembly 40 is divided into two parts, is respectively provided on two transport bars 21.Clamp assembly 40 includes two cantilevers 41,42, and cantilever 42 outer end is provided with fixation clamp 44, and another cantilever 41 outer end is provided with ambulatory splint 43.Ambulatory splint 43 is provided with along the vertical blend stop 45 of cantilever 41 length direction activity, ambulatory splint 43 can have square through hole, blend stop 45 traverse through hole.Cantilever 41 is provided with fixing riser 46, and blend stop 45 rear is fixed with guide rod 47, and guide rod 47 runs through riser 46, and guide rod 47 is cased with the stage clip 48 for providing restoring force to blend stop 45, and riser 46 is supported in stage clip 48 one end, and the other end supports blend stop 45.
As it is shown in figure 5, in the present embodiment, transport the clamp assembly 40 on bar 21 more than 1 group, parallel placement between clamp assembly 40, and the distance between clamp assembly 40 is equal to the distance between the station of front and back.Operationally, often group clamp assembly 40 clamps material simultaneously and material is sent to next station simultaneously.Specifically, each group of clamp assembly 40 all clamps a material and is sent to next station, and the material of at this moment each clamp assembly 40 clamping is the material (materials that namely processing progress is different) on different station.Such as, having 4 stations on punch press, the material of station one to three is sent on two to four stations by clamp assembly 40 simultaneously, was originally placed on the material on station four and is then delivered to by clamp assembly 40 and see off on discharge belt, station is sent here new material by clamp assembly 40 first, so moves in circles.
Additionally, as it is shown in figure 5, for charging more quickly, the linear drives part 22 of feed end 211 transporting bar 21 also is provided with the clamp assembly 40 for clamping material.
The work process of three-D industrial robot, transports the moving direction of bar 21 as shown in Figure 7:
Clamping actuator 23 drives two transport bars 21 (direction A1 and A2) close to each other, material is clamped by clamp assembly 40, then lifting actuator 24 drives material vertically to leave station (direction B1 and B2), then linear drives part 22 drives transport bar 21 and material to move to next station (direction C1 and C2), then lifting actuator 24 drives material vertically to put into (direction D1 and D2) in station, then clamping actuator 23 drives two transport bars 21 to be located remotely from each other (direction E1 and E2), last linear drives part 22 will transport bar 21 homing (direction F1 and F2), wait the next round feeding cycle.
The technology contents only further illustrating the present invention with embodiment set forth above, in order to reader is easier to understand, but do not represent embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreation, all by the protection of the present invention.

Claims (9)

1. magnetic suspension three-D industrial robot, it is characterized in that, including be parallel to each other two transport bars of horizontal positioned, for driving transport bar at transport bar reciprocating linear drives part axially back and forth, for driving two transport bars at horizontal plane in transporting in bar axially direction towards or away from the clamping actuator of motion and for driving the lifting actuator of transport bar vertical up-or-down movement;
Transport bar and be provided with the clamp assembly for clamping material, clamp assembly includes two cantilevers, article one, cantilever outer end is provided with fixation clamp, another cantilever outer end is provided with ambulatory splint, ambulatory splint is provided with vertical blend stop that can be movable along jib-length direction, ambulatory splint has square through hole, blend stop traverse through hole, cantilever is provided with fixing riser, blend stop rear is fixed with guide rod, and guide rod runs through riser, and guide rod is cased with the stage clip for providing restoring force to blend stop, riser is supported in stage clip one end, and the other end supports blend stop;
Operationally, clamping actuator drives two transport bars close to each other, and material is clamped by clamp assembly, and linear drives part drives transport bar and material to move to next station, and lifting actuator drives material vertically leave station or vertically put in station.
2. magnetic suspension three-D industrial robot as claimed in claim 1, it is characterised in that described linear drives part is linear electric motors, and two transport bars are respectively to there being independent linear drives part.
3. magnetic suspension three-D industrial robot as claimed in claim 2, it is characterised in that the two ends of every transport bar are provided with linear drives part, and operationally, the driving direction of the linear drives part transporting bar two ends is contrary.
4. magnetic suspension three-D industrial robot as claimed in claim 1, it is characterized in that, described clamping actuator is horizontal motor, and two transport bars are respectively to there being independent clamping actuator, operationally, the driving direction of the clamping actuator corresponding to two transport bars is contrary.
5. magnetic suspension three-D industrial robot as claimed in claim 4, it is characterised in that the two ends of every transport bar are provided with clamping actuator.
6. magnetic suspension three-D industrial robot as claimed in claim 1, it is characterised in that described lifting actuator is motor vertical, and two transport bars are respectively to there being independent lifting actuator.
7. magnetic suspension three-D industrial robot as claimed in claim 6, it is characterised in that the two ends of every transport bar are provided with lifting actuator.
8. magnetic suspension three-D industrial robot as claimed in claim 1, it is characterised in that the clamp assembly on described transport bar more than 1 group, parallel placement between clamp assembly, and the distance between clamp assembly is equal to the distance between the station of front and back;Operationally, often group clamp assembly clamps material simultaneously and material is sent to next station simultaneously.
9. magnetic suspension three-D industrial robot as claimed in claim 1, it is characterised in that also be provided with the clamp assembly for clamping material on described linear drives part.
CN201510047456.8A 2015-01-29 2015-01-29 Magnetic suspension three-D industrial robot Active CN104550533B (en)

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Publication number Priority date Publication date Assignee Title
CN105739577A (en) * 2016-02-18 2016-07-06 江西洪都航空工业集团有限责任公司 Magnetic suspension household monitoring service robot of rotating automatically
CN106426108B (en) * 2016-11-18 2018-12-28 莱恩精机(深圳)有限公司 Full magnetic suspension formula three-D robot

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Publication number Priority date Publication date Assignee Title
JPS564335B2 (en) * 1975-07-22 1981-01-29
US8468671B2 (en) * 2007-11-02 2013-06-25 Electroimpact, Inc. System for loading collars onto bolts in large-scale manufacturing operations
CN103100607A (en) * 2011-11-11 2013-05-15 鸿富锦精密工业(深圳)有限公司 Carrying device and stamping equipment with same
CN203751190U (en) * 2014-03-21 2014-08-06 浙江正邦汽车模具有限公司 Mechanical hand three-axis operation mechanism of automobile vacuum booster shell forming machine
CN204430042U (en) * 2015-01-29 2015-07-01 莱恩精机(深圳)有限公司 Magnetic suspension three-D industrial robot

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