CN104972013B - Quick taking mechanical hand in a kind of multi-station progressive die - Google Patents
Quick taking mechanical hand in a kind of multi-station progressive die Download PDFInfo
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- CN104972013B CN104972013B CN201510410822.1A CN201510410822A CN104972013B CN 104972013 B CN104972013 B CN 104972013B CN 201510410822 A CN201510410822 A CN 201510410822A CN 104972013 B CN104972013 B CN 104972013B
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Abstract
Quick taking mechanical hand in the invention discloses a kind of multi-station progressive die, including motion, described motion includes moving base and the linking arm being arranged on described moving base and picks and places part module by what described linking arm was arranged on described moving base；Drive mechanism, described drive mechanism include power-equipment and the drive rod driven by described power-equipment and for limit described drive rod be allowed to can only driving guide pin bushing axially movable, described drive rod is connected with described moving base and is used for transmission；Position-limit mechanism, described position-limit mechanism includes the spaced motion block being arranged on described motion and the limit guide groove being fixedly installed relative to described power-equipment position, described limit guide groove is that the width of list structure and described limit guide groove matches with the external diameter of described spaced motion block, and described spaced motion block is positioned at described limit guide groove.The present invention move flexibly and integral device low cost of manufacture and job stabilization and reliability good.
Description
Technical field
Quick taking mechanical hand in the present invention relates to a kind of multi-station progressive die, belongs to metal plate punching processing technical field of auxiliary equipment.
Background technology
Material returned mode in metal plate punching operation process has a variety of, for the stamping parts processing pusher that structure is relatively simple, only need to arrange elastic unloading mechanism in the bottom of diel, and the stamping parts after punching press being completed ejects and is allowed to naturally come off from lower mold；Complex for some structures or that machining accuracy is higher stamping parts, then need to be equipped with mechanical hand and carry out the material returned, specifically as in multi-station progressive die processing operation process, it is required for being equipped with mechanical hand for picking and placeing stamping parts, is allowed at different station or inter process according to predetermined motion mode circulation；The mechanical hand concrete application in multi-station progressive die processing operation process, is referred in Chinese patent literature CN 102716971 B disclosed circular arc nest plate automatic processing technology similarly.
Additionally, in order to realize automatic assembly line operation, it is also desirable to use mechanical hand regularly taken out by stamping parts and be placed on the original position of predetermined next process.Prior art discloses the punch process pick-and-place manipulator of various structures, displacement and movement locus must be made during operation and strictly be limited and control by mechanical hand: specifically one of method, punching press as disclosed in Chinese patent literature CN 104043753 A picks and places material robot device, with punching press loading and unloading manipulator disclosed in Chinese patent literature CN 104722671 A, mainly screw mandrel is coordinated to control the displacement of mechanical hand by servomotor；Specifically the two of method, the manipulator for automatic stamping production as disclosed in Chinese patent literature CN 102528799 A, it mainly coordinates tooth bar to control the displacement of mechanical hand by driven by servomotor gear.
According to above-mentioned with disclosed technical scheme, the movement locus of the mechanical hand in technique scheme is mainly axially arranged along orthogonal three-dimensional, and the motility of motion is not enough；In addition, servomotor arranges in parameter and easily produces correcting action or random deviation during actual job, have impact on the operation accuracy of mechanical hand, thus be susceptible to pick and place part fault and cause product rejection even equipment fault, or need correspondingly to arrange supervision and abnormality processing mechanism, to such an extent as to causing the stamping mechanical arm mechanism too fat to move complexity of overall structure, manufacturing cost height and job stabilization and reliability are the best.
Summary of the invention
The deficiency that the present invention exists for prior art just, it is provided that quick taking mechanical hand in a kind of multi-station progressive die, it is possible to overcome traditional servo motor to coordinate screw mandrel or tooth bar to control mechanical hand displacement and the deficiency of movement locus, meet actual operation requirements.
For solving the problems referred to above, the technical solution used in the present invention is as follows:
Quick taking mechanical hand in a kind of multi-station progressive die, including:
Motion, described motion includes moving base and the linking arm being arranged on described moving base and picks and places part module by what described linking arm was arranged on described moving base；
Drive mechanism, described drive mechanism include power-equipment and the drive rod driven by described power-equipment and for limit described drive rod be allowed to can only driving guide pin bushing axially movable, described drive rod is connected with described moving base and is used for transmission；
Position-limit mechanism, described position-limit mechanism includes the spaced motion block being arranged on described motion and the limit guide groove being fixedly installed relative to described power-equipment position, described limit guide groove is that the width of list structure and described limit guide groove matches with the external diameter of described spaced motion block, and described spaced motion block is positioned at described limit guide groove.
The external diameter of the width of described limit guide groove and described spaced motion block matches and refers to that the width of described limit guide groove can limit described spaced motion block position at any movement position and state, make the position of described spaced motion block and in stable condition, therefore those skilled in the art is clearly understood that this meaning " matched " is the width external diameter slightly larger than described spaced motion block of described limit guide groove, because if the width of described limit guide groove is the most identical with the external diameter of described spaced motion block, then due to the effect of frictional resistance, described spaced motion block is made to be difficult to occur relatively to slide in described limit guide groove.
Improvement as technique scheme, also include pedestal is installed, described drive mechanism also includes drive shell, described drive shell is arranged on described installation pedestal, the active tooth bar driven by described power-equipment it is provided with in described drive shell, described drive rod is driven tooth bar, is provided with by described active rack drives and the driving gear pair that can drive described drive rod in described drive shell, and described driving guide pin bushing is arranged on the sidewall of described drive shell；Described position-limit mechanism also includes spacing pedestal, and one end of described spacing pedestal is fixedly arranged on the outside of described drive shell, and described limit guide groove is arranged on the other end of described spacing pedestal.
As the improvement of technique scheme, described position-limit mechanism also includes two guide posts being parallel to described drive rod, and the sidewall of described drive shell is provided with the spacing guide pin bushing being respectively cooperating with two described guide posts.Described structure ensure that installation and the robust motion of described moving base.
As the improvement of technique scheme, described in pick and place part module be electric magnet or vacuum cup, described power-equipment is motor, servomotor, cylinder or fluid cylinder.
Improvement as technique scheme, described linking arm includes installation end and operation end, the operation end of described linking arm picks and places part module described in being provided with, the installation end of described linking arm is provided with longitudinal slide bar, longitudinal slide opening of described drive rod it is provided perpendicular on described moving base, the cross sectional shape of described longitudinal slide opening is identical with the cross sectional shape of described longitudinal slide bar, and described longitudinal slide bar is positioned at described longitudinal slide opening.Described structure can realize the lengthwise movement relative to described moving base of the described linking arm, i.e. along the axially-movable of described longitudinal slide opening, such that it is able to pick and place part module described in making to realize two dimensional motion.
Improvement as technique scheme, described spaced motion block includes connecting shaft and the spacing running roller being arranged in described connecting shaft, described connecting shaft is fixedly arranged on the installation end of described linking arm and is perpendicular to described longitudinal slide bar and described drive rod, and the external diameter of described spacing running roller matches with the width of described limit guide groove.The meaning herein " matched " is same as above, repeats no more；Described spacing running roller is set and is conducive to the two dimensional motion of described spaced motion block, i.e. curvature movement, divertical motion etc., when the resistance to sliding of the described any one side of spacing running roller is excessive, force of sliding friction can be significantly decreased by rolling.
As the improvement of technique scheme, described limit guide groove includes the straight-line motion segment being parallel to described drive rod and the descending motion section connecting described straight-line motion segment, and described descending motion section is circular arc.This improvement be by described limit guide groove limit described in pick and place part module and carry out a kind of concrete conventional robot movement operating type, that is: picking and placeing part block motion described in and then decline pickup in multi-station progressive die, pickup completes lifting and is then log out multi-station progressive die.
Compared with prior art, the implementation result of the present invention is as follows for the present invention:
Quick taking mechanical hand in a kind of multi-station progressive die of the present invention, can realize various movement locus according to the structure of described limit guide groove, described in pick and place the motion of part module flexible；In addition, movement locus and displacement is limited further by described limit guide groove, correcting action or the random deviation impact on the operation accuracy of mechanical hand of the generation during parameter setting and actual job of the power-equipments such as servomotor can be overcome, thus reduce and pick and place part probability of failure, reduce product rejection rate and equipment failure rate, it is not necessary to supervision and abnormality processing mechanism are correspondingly set；And integral device low cost of manufacture and job stabilization and reliability are good.
Accompanying drawing explanation
Fig. 1 is the perspective view of quickly taking mechanical hand in a kind of multi-station progressive die of the present invention；
Fig. 2 be in a kind of multi-station progressive die of the present invention quickly taking mechanical hand look squarely structural representation.
Detailed description of the invention
Present disclosure is described below in conjunction with specific embodiments.
As depicted in figs. 1 and 2, for quick taking mechanical hand structural representation in a kind of multi-station progressive die of the present invention.Quick taking mechanical hand in a kind of multi-station progressive die of the present invention, including: motion, described motion includes moving base 11 and the linking arm 12 being arranged on described moving base 11 and picks and places part module 13 by what described linking arm 12 was arranged on described moving base 11；The described part module 13 that picks and places is for electric magnet or vacuum cup；Described linking arm 12 includes installation end and operation end, the operation end of described linking arm 12 picks and places part module 13 described in being provided with, the installation end of described linking arm 12 is provided with longitudinal slide bar 14, longitudinal slide opening 15 of described drive rod 21 it is provided perpendicular on described moving base 11, the cross sectional shape of described longitudinal slide opening 15 is identical with the cross sectional shape of described longitudinal slide bar 14, and described longitudinal slide bar 14 is positioned at described longitudinal slide opening 15；
Drive mechanism, described drive mechanism include power-equipment and the drive rod 21 driven by described power-equipment and for limit described drive rod 21 be allowed to can only driving guide pin bushing 22 axially movable, described drive rod 21 is connected with described moving base 11 and is used for transmission；Described connecting shaft 35 is perpendicular to described drive rod 21；
Position-limit mechanism, described position-limit mechanism includes the spaced motion block being arranged on described motion and the limit guide groove 31 being fixedly installed relative to described power-equipment position, described limit guide groove 31 is that the width of list structure and described limit guide groove 31 matches with the external diameter of described spaced motion block, and described spaced motion block is positioned at described limit guide groove 31；Described spaced motion block includes connecting shaft 35 and the spacing running roller 36 being arranged in described connecting shaft 35, described connecting shaft 35 is fixedly arranged on the installation end of described linking arm 12 and is perpendicular to described longitudinal slide bar 14 and described drive rod 21, and the external diameter of described spacing running roller 36 matches with the width of described limit guide groove 31；Described limit guide groove 31 includes the straight-line motion segment 311 being parallel to described drive rod 21 and connects the descending motion section 312 of described straight-line motion segment 311, and described descending motion section 312 is circular arc.
Further, also include pedestal 4 is installed, described drive mechanism also includes drive shell 23, described drive shell 23 is arranged on described installation pedestal 4, the active tooth bar 24 driven by described power-equipment it is provided with in described drive shell 23, described drive rod 21 is driven tooth bar, is provided with the driving gear pair being driven and can driving described drive rod 21 by described active tooth bar 24 in described drive shell 23, and described driving guide pin bushing 22 is arranged on the sidewall of described drive shell 23；Described position-limit mechanism also includes spacing pedestal 32, and one end of described spacing pedestal 32 is fixedly arranged on the outside of described drive shell 23, and described limit guide groove 31 is arranged on the other end of described spacing pedestal 32；Described position-limit mechanism also includes two guide posts 33 being parallel to described drive rod 21, and the sidewall of described drive shell 23 is provided with the spacing guide pin bushing 34 being respectively cooperating with two described guide posts 33.
During operation, described power-equipment drives described drive rod 21 to move axially in reciprocal fashion, described drive rod 21 drives described moving base 11 along the axially reciprocating of described drive rod 21, the lengthwise position being limited described linking arm 12 by described limit guide groove 31 is i.e. perpendicular to the position in described drive rod 21 axially direction so that described in pick and place part module 13 and realize certain movement locus.
nullSpecifically，Such as the present embodiment，When described drive rod 21 drives described moving base 11 to move towards described drive shell 23，Described spaced motion block can move to described descending motion section 312 from described straight-line motion segment 311，Described linking arm 12 and the part module 13 that picks and places being arranged on described linking arm 12 can move in multi-station progressive die and decline to draw or capture stamping parts，Then，Described drive rod 21 drives drive shell 23 described in described moving base 11 principle，Described spaced motion block can move to described straight-line motion segment 311 from described descending motion section 312，Described linking arm 12 and the part module 13 that picks and places being arranged on described linking arm 12 are understood lifting and exit station progressive die，Then along the axially-movable of described drive rod 21，Until the stamping parts of taking-up to be placed into the original position of next process，Whole operation process can ensure that the in stable condition of stamping parts、Do not change，Consequently facilitating automatically the capturing and work continuously of follow-up equipment.
Specifically, described power-equipment can be motor, servomotor, cylinder or fluid cylinder；At the final position of motion and turning point position arranges inductive switch, and motor, servomotor, cylinder or the reciprocating working of fluid cylinder can be controlled by inductive switch；Motor, the operation routine of servomotor can also be set or the substantially stroke of cylinder, fluid cylinder is set, then by spring, described power-equipment is coupled together with described drive rod 21, the excess in displacement amount of described power-equipment output, the concrete movement locus of described drive rod 21 and displacement still accurately defining by described limit guide groove 31 is buffered by spring.
Above content is detailed description the most made for the present invention, it is impossible to assert that the present invention is embodied as being only limitted to these explanations.For those skilled in the art, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to the scope of protection of the invention.
Claims (6)
1. a quick taking mechanical hand in multi-station progressive die, is characterized in that, including:
Motion, described motion includes moving base (11) and the linking arm (12) being arranged on described moving base (11) and picks and places part module (13) by what described linking arm (12) was arranged on described moving base (11)；
Drive mechanism, described drive mechanism include power-equipment and the drive rod (21) driven by described power-equipment and being used for limit described drive rod (21) be allowed to can only driving guide pin bushing (22) axially movable, described drive rod (21) is connected with described moving base (11) and is used for transmission；
Position-limit mechanism, described position-limit mechanism includes the spaced motion block being arranged on described motion and the limit guide groove (31) being fixedly installed relative to described power-equipment position, described limit guide groove (31) is that the width of list structure and described limit guide groove (31) matches with the external diameter of described spaced motion block, and described spaced motion block is positioned at described limit guide groove (31)；
Also include pedestal (4) is installed, described drive mechanism also includes drive shell (23), described drive shell (23) is arranged on described installation pedestal (4), the active tooth bar (24) driven by described power-equipment it is provided with in described drive shell (23), described drive rod (21) is driven tooth bar, being provided with the driving gear pair being driven and can driving described drive rod (21) by described active tooth bar (24) in described drive shell (23), described driving guide pin bushing (22) is arranged on the sidewall of described drive shell (23)；Described position-limit mechanism also includes spacing pedestal (32), and one end of described spacing pedestal (32) is fixedly arranged on the outside of described drive shell (23), and described limit guide groove (31) is arranged on the other end of described spacing pedestal (32).
2. quick taking mechanical hand in a kind of multi-station progressive die as claimed in claim 1, it is characterized in that, described position-limit mechanism also includes two guide posts (33) being parallel to described drive rod (21), and the sidewall of described drive shell (23) is provided with the spacing guide pin bushing (34) being respectively cooperating with two described guide posts (33).
3. quick taking mechanical hand in multi-station progressive die as claimed in claim 2 a kind of, is characterized in that, described in pick and place part module (13) be electric magnet or vacuum cup, described power-equipment is motor, servomotor, cylinder or fluid cylinder.
4. quick taking mechanical hand in a kind of multi-station progressive die as claimed in claim 3, it is characterized in that, described linking arm (12) includes installation end and operation end, the operation end of described linking arm (12) picks and places part module (13) described in being provided with, the installation end of described linking arm (12) is provided with longitudinal slide bar (14), longitudinal slide opening (15) of described drive rod (21) it is provided perpendicular on described moving base (11), the cross sectional shape of described longitudinal slide opening (15) is identical with the cross sectional shape of described longitudinal slide bar (14), described longitudinal slide bar (14) is positioned at described longitudinal slide opening (15).
5. quick taking mechanical hand in a kind of multi-station progressive die as claimed in claim 4, it is characterized in that, described spaced motion block includes connecting shaft (35) and the spacing running roller (36) being arranged in described connecting shaft (35), described connecting shaft (35) is fixedly arranged on the installation end of described linking arm (12) and is perpendicular to described longitudinal slide bar (14) and described drive rod (21), and the external diameter of described spacing running roller (36) matches with the width of described limit guide groove (31).
6. quick taking mechanical hand in a kind of multi-station progressive die as claimed in claim 5, it is characterized in that, described limit guide groove (31) includes the straight-line motion segment (311) being parallel to described drive rod (21) and the descending motion section (312) connecting described straight-line motion segment (311), and described descending motion section (312) is circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510410822.1A CN104972013B (en) | 2015-07-14 | 2015-07-14 | Quick taking mechanical hand in a kind of multi-station progressive die |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510410822.1A CN104972013B (en) | 2015-07-14 | 2015-07-14 | Quick taking mechanical hand in a kind of multi-station progressive die |
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| Publication Number | Publication Date |
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| CN104972013A CN104972013A (en) | 2015-10-14 |
| CN104972013B true CN104972013B (en) | 2017-01-04 |
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| CN112402017A (en) * | 2020-11-19 | 2021-02-26 | 锐志微创医疗科技（常州）有限公司 | Surgical robot tail end execution device and surgical robot tail end driving mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7243520B2 (en) * | 2003-07-23 | 2007-07-17 | Crown Packaging Technology, Inc. | Stripping assembly |
| CN201702234U (en) * | 2010-03-17 | 2011-01-12 | 安徽巨一自动化装备有限公司 | Special clamping mechanism for edge rolling system of robot |
| CN203460191U (en) * | 2013-08-16 | 2014-03-05 | 深圳市天轮机械科技有限公司 | Punching intelligent robot and buffering mechanism thereof |
| CN204366953U (en) * | 2014-12-19 | 2015-06-03 | 重庆树德教育研究所 | A kind of four-degree-of-freedom manipulator |
| CN204842752U (en) * | 2015-07-14 | 2015-12-09 | 深圳市精创科技有限公司 | Multistation upgrades and gets a manipulator in mould fast |
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