CN105170824A - Stamping height compensation device of red stamping manipulator - Google Patents
Stamping height compensation device of red stamping manipulator Download PDFInfo
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- CN105170824A CN105170824A CN201510566951.XA CN201510566951A CN105170824A CN 105170824 A CN105170824 A CN 105170824A CN 201510566951 A CN201510566951 A CN 201510566951A CN 105170824 A CN105170824 A CN 105170824A
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- stamping
- framework
- sliding shoe
- mechanical arm
- electromagnet
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Abstract
The invention discloses a stamping height compensation device of a red stamping manipulator. In conventional stamping machining, a clamping device is required to stably clamp a workpiece all along, the position and the posture of the workpiece are prevented from being influenced in a stamping process, so that inevitably, the tail end of a mechanical arm can move downwards with deformation of the workpiece before and after a stamping process, when the mechanical arm and a mounting surface of the mechanical arm are in rigid connection, the overall mechanical arm or part of components of the mechanical arm can deform due to the degree of displacement, and finally, the stability and the service life of the mechanical arm can be greatly influenced. The stamping height compensation device comprises a frame, a sliding block, an electromagnet, fixing columns, retaining screws, springs and a finger type cylinder. With the adoption of the stamping height compensation device, the height compensation in the stamping process is realized, the influence of the stamping process on the mechanical arm is reduced, the stability of a clamping mechanism and an overall red stamping machining system can be improved, and the service life of the clamping mechanism and the service life of the overall red stamping machining system can be prolonged.
Description
Technical field
The invention belongs to and redly rush technical field of automatic control, be specifically related to a kind ofly redly rush manipulator press height compensation arrangement.
Background technology
Rush improving constantly of atomization degree along with red, a whole set of red process line system of rushing is substituting traditional artificial red punching processing gradually.The existing comparatively ripe red process line that rushes is made up of feed mechanism, heating arrangements, punching mechanism, grasp handling mechanism and receiving mechanism, under PLC controls, complete whole time course.Wherein grasp handling mechanism major part is made up of three axle robert, realizes in three-dimensional motion, and is used for clamping and travelling workpiece at end installation clamping device.In most punch process, all require clamping device firm holding workpiece all the time, prevent punching course from impacting the position of workpiece and attitude, finally affect workpiece processing quality.So inevitably cause before and after punching course, the end of mechanical arm can along with the deformation of workpiece to bottom offset, when being rigidly connected between mechanical arm and its installed surface, the displacement of such degree can cause deformation to mechanical arm entirety or mechanical arm section components, when this deformation occurs repeatedly, great impact can be caused on the stability of mechanical arm and mechanical life.For this problem, we propose, and one is red rushes manipulator press height compensation arrangement, by design frame for movement and corresponding electric control project, realize the altimetric compensation in punching course, the impact of this process on mechanical arm is dropped to minimum, thus improves clamping device and even whole red stability and service life of rushing system of processing.Rush workpiece for the red of different size, propose the deformational displacement size that algorithm estimates mechanical arm tail end, and corresponding frame for movement is adjusted, promote the versatility of this compensation mechanism.
Summary of the invention
The present invention is directed to existing red deficiency of rushing manipulator, design one is red rushes manipulator press height compensation arrangement.
The present invention's one is red rushes manipulator press height compensation arrangement, comprises press height and compensates mechanical device and electric control system; Described altimetric compensation mechanical device, comprises framework, sliding shoe, electromagnet, fixed leg, fixed screw, spring, finger-type cylinder; Described electric control system is realized by PLC.
Described frame installation is at mechanical arm tail end, and both are connected by holding screw.Framework is made up of upper and lower base plate and central dividing plate, and central dividing plate makes framework entirety become asymmetric I-shaped structure, and framework central dividing plate is provided with through square hole structure; Framework compared with in long end for installing the device relevant to clamping sliding shoe, comparatively in short end for installing electromagnet.One end of electromagnet is inserted in the square hole structure of central dividing plate, is connected with adopting holding screw between dividing plate.Framework comparatively long end respectively has three screws up and down, and for installing three fixed legs, the two ends of three fixed legs adopt helicitic texture, and are fastenedly connected between framework.Sliding shoe has three through holes, aperture is greater than the diameter of fixed leg, and the gap between through hole and fixed leg ensures fixed leg and the smooth slip of slide block, and the horizontal direction deviation that gap is brought does not affect work pieces process; By three fixed legs through after the through hole of sliding shoe, respectively put into spring at fixed leg upper and lower side, afterwards fixed leg is tightened on framework.Finger-type cylinder is arranged on sliding shoe, adopts screw to be fixed connection between the two.The control input end of electromagnet is connected with electric control system.The control input end of finger-type cylinder is connected with electric control system.
The length of upper and lower two springs in the situation of not stressing adds the length sum of sliding shoe, is greater than the distance between upper and lower bottom plate.
Beneficial effect of the present invention is as follows:
Patent of the present invention, by design frame for movement and corresponding electric control project, realizes the altimetric compensation in punching course, reduces punching course to the impact of mechanical arm, can improve clamping device and whole red stability and service life of rushing system of processing.
Accompanying drawing illustrates:
Fig. 1 is the side top view of integral installation of the present invention;
Fig. 2 is the front view of integral installation of the present invention;
Fig. 3 is arm end side view;
Fig. 4-1 is frame side top view;
Fig. 4-2 is framework left view;
Fig. 5-1 is the front view of fixed leg;
Fig. 5-2 is the side top view of fixed leg;
Fig. 6-1 is the side top view of sliding shoe;
Fig. 6-2 is the top view of sliding shoe;
Fig. 7-1 is the side top view of finger-type cylinder;
Fig. 7-2 is the front view of finger-type cylinder;
Fig. 7-3 is the top view of finger-type cylinder;
Fig. 8-1 is the side top view of electromagnet;
Fig. 8-2 is the left view of electromagnet.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1 and Figure 2, holding screw 3-1 is adopted, 3-2,3-3 between arm end (Fig. 3) and framework (Fig. 4-1, Fig. 4-2), 3-4 connects, the difference that concrete installing mechanism rushes manipulator end structure according to red and particular design.Framework entirety becomes asymmetric I-shaped structure, and frame mid portion has through square hole structure 4-1, and the shape of square hole structure and size can suitably adjust according to the difference of adopted electromagnet model.Framework compared with the space of short end 4-2 for installing electromagnet, framework compared with the space of long end 4-3 for installing fixed leg and providing space for sliding shoe motion.Framework comparatively long end respectively has three screwed hole 4-4 ~ 4-9 up and down for installing fixed leg (Fig. 5-1, Fig. 5-2).The two ends up and down of three fixed legs all need configuration screw thread 5-1,5-2, to closely cooperate 4-4 ~ 4-9 with the screwed hole on framework.As shown in Fig. 6-1, Fig. 6-2, sliding shoe there are three through hole 6-1,6-2,6-3, the size of three through holes is identical, and aperture is greater than the diameter of fixed leg, gap between through hole and fixed leg ensures fixed leg and the smooth slip of slide block, and the horizontal direction deviation that gap is brought does not affect work pieces process; Another sliding shoe has two screwed hole 6-4, and 6-5 is used for being connected with finger-type cylinder.After fixed leg is inserted sliding shoe, spring on the upper and lower side cover of fixed leg respectively, three fixed legs need cover six springs altogether, the model size of these six springs is different according to processed device model difference, concrete parameter computational algorithm will describe in detail below, but the basic demand that must meet is: the aperture of spring is slightly larger than the diameter of fixed leg, and the length of upper and lower two springs in the situation of not stressing adds the length sum of sliding shoe, is greater than the distance between upper and lower bottom plate.After the position relationship of fixed leg, spring and sliding shoe three is arranged properly, fixed leg is arranged on framework, when the length of spring meets the situation of above-mentioned requirements, sliding shoe is subject to the contrary power effect in upper and lower two groups of spring directions, can slide by the vertical direction, and displacement space is in the horizontal direction very little.As shown in Fig. 7-1, Fig. 7-2, Fig. 7-3, finger-type cylinder leaves the screw hole 7-1 be connected with sliding shoe, 7-2, between finger-type cylinder and sliding shoe, use fastened by screw to connect.
Except mechanical connection, separately having the electrical connection of two places, as shown in Fig. 8-1, Fig. 8-2, is electromagnet coil end 8-1 and the electrical connection between finger-type cylinder and electric control system (PLC) respectively.The control of electromagnet needs the electric input of two-port, and electromagnet action produces magnetic force when energized, absorption ferromagnetic material, and electromagnet is failure to actuate when power is off, and the input of two-port is connected with electric control system by wire; The input of finger-type cylinder at least needs two signal inputs, namely clamps and decontrol two actions, therefore at least connects two wires to electric control system.
The course of work of the present invention is as follows:
For improving patent of the present invention for the versatility of different model workpiece, a kind of motion amplitude adjustment algorithm is proposed.According to different size and the processing request of different workpieces, design a kind of sliding shoe and the spring collocation method that calculate buffer mechanism.
In punching course, the height of workpiece and cross-sectional area all change, and wherein the change of cross-sectional area can cause the clamp distance of finger-type cylinder to change, and this change carries out auto-compensation by the compression of gas in finger-type cylinder; The buffer unit that the change of height is designed by the present invention in addition compensates.
From the requirement of red punching processing, the clip position of finger-type cylinder generally adopts the mid point of workpiece, and namely the mid point of finger-type cylinder vertical direction and the mid point in workplace vertical direction coincide.In punching course, workpiece height changes, and because finger-type cylinder remains clamped condition, the relation of mid point alignment between the two remains unchanged, and therefore the shift length of buffer unit sliding shoe is the half of workpiece reduction length.
According to the parameters of the shift length design spring of sliding shoe.Because the compressive deformation of spring mainly occurs in punching course, and the power of vertical direction is very big in punching course, the power of spring in the vertical direction can be ignored completely, the effect of spring is only and returns to initial position under non punching state, and recovery process should not produce obvious shake, have electromagnet auxiliary maintenance sliding shoe position in addition in non punching situation, therefore the coefficient of elasticity of spring should be selected medium or less than normal, unsuitable excessive.
When being defined in sliding shoe only by gravity and two spring thrusts, the length of upper and lower two springs is initial length.Regulation finger-type cylinder clamping and space movement process in, electromagnet remains action adsorbed state, relative motion does not occur between sliding shoe and framework, and this stage definitions is the stage one; In the process of punching press, electromagnet is in release conditions, and sliding shoe can produce relative motion along with between the process of punching press and framework, and this stage definitions is the stage two.
Be defined in the stage one, spring keeps initial length, and the auxiliary effect kept is played in the absorption of electromagnet.Be defined in the stage two, sliding shoe produces relative motion along with between punching press and framework, leaves initial position, and top spring is moved by the initial length section that stretches, below spring compresses a section by initial length and moves, and namely this displacement is the sliding shoe shift length calculated by above-mentioned algorithm.
It can thus be appreciated that, according to the length of upper and lower two springs of the size designed in advance of processing work, must ensure that the compressible distances of below spring is greater than sliding shoe shift length, and suitably leave allowance.
Overall Control timing sequence flow process
Patent of the present invention is traditional redly rush manipulator tip designs buffer mechanism structure, coordinates corresponding electrical control mechanism to realize pooling feature.The red manipulator that rushes realizes two functions in the process of punching press, that holding workpiece is carried out locus and moved and in the process of punching press, accommodate workpiece to maintain workpiece posture respectively, different owing to requiring buffer gear in two kinds of situations, need to apply different control for different situations.Its concrete Control timing sequence flow process is as follows.
1, the red manipulator that rushes is from pay-off during gripping workpiece, and finger-type cylinder transfers clamped condition to by unclamping, and electromagnet keeps action adsorbed state;
2, the red manipulator that rushes to need through xyz three-axis moving by workpiece movable to specifying stamping position, and moving process is the displacement first completing xy direction (horizontal direction), completes the displacement of z direction (vertical direction) afterwards again.In the moving process of space, finger-type cylinder keeps clamped condition, and electromagnet keeps action adsorbed state
3, after moving to assigned address (being placed in diel), electromagnet power-off transfers release conditions to, and finger-type cylinder still keeps clamped condition;
4, punch press action carries out punching press downwards, and in whole punching course, the state of electromagnet and finger-type cylinder remains unchanged;
5, punching press complete after finger-type cylinder transfer releasing orientation to by clamped condition, now sliding shoe returns to initial position by the active force of upper and lower two springs, and electromagnet transfers action adsorbed state to by release conditions afterwards.
6, red impact machine tool hand channel crosses xyz three-axis moving to pay-off place, enters the next process-cycle.
Claims (2)
1. redly rush a manipulator press height compensation arrangement, comprise press height and compensate mechanical device and electric control system; Described altimetric compensation mechanical device, comprises framework, sliding shoe, electromagnet, fixed leg, fixed screw, spring, finger-type cylinder; Described electric control system is realized by PLC;
Described frame installation is at mechanical arm tail end, and both are connected by holding screw; Framework is made up of upper and lower base plate and central dividing plate, and central dividing plate makes framework entirety become asymmetric I-shaped structure, and framework central dividing plate is provided with through square hole structure; Framework compared with in long end for installing the device relevant to clamping sliding shoe, comparatively in short end for installing electromagnet; One end of electromagnet is inserted in the square hole structure of central dividing plate, is connected with adopting holding screw between dividing plate; Framework comparatively long end respectively has three screws up and down, and for installing three fixed legs, the two ends of three fixed legs adopt helicitic texture, and are fastenedly connected between framework; Sliding shoe has three through holes, aperture is greater than the diameter of fixed leg, and the gap between through hole and fixed leg ensures fixed leg and the smooth slip of slide block, and the horizontal direction deviation that gap is brought does not affect work pieces process; By three fixed legs through after the through hole of sliding shoe, respectively put into spring at fixed leg upper and lower side, afterwards fixed leg is tightened on framework; Finger-type cylinder is arranged on sliding shoe, adopts screw to be fixed connection between the two; The control input end of electromagnet is connected with electric control system; The control input end of finger-type cylinder is connected with electric control system.
2. one according to claim 1 is red rushes manipulator press height compensation arrangement, it is characterized in that: the length of upper and lower two springs in the situation of not stressing adds the length sum of sliding shoe, is greater than the distance between upper and lower bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566951.XA CN105170824B (en) | 2015-09-09 | 2015-09-09 | Stamping height compensation device of red stamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566951.XA CN105170824B (en) | 2015-09-09 | 2015-09-09 | Stamping height compensation device of red stamping manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN105170824A true CN105170824A (en) | 2015-12-23 |
| CN105170824B CN105170824B (en) | 2017-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510566951.XA Expired - Fee Related CN105170824B (en) | 2015-09-09 | 2015-09-09 | Stamping height compensation device of red stamping manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941228A (en) * | 2018-06-12 | 2018-12-07 | 彪马集团有限公司 | A kind of full-automatic vertical is red to rush equipment |
| CN117680553A (en) * | 2024-01-30 | 2024-03-12 | 四川省机械研究设计院(集团)有限公司 | Stamping structure and working method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2434576A1 (en) * | 1973-08-28 | 1975-03-06 | Warnke Umformtech Veb K | SAFETY DEVICE FOR STAGE FORMING MACHINES AND LINKED MACHINE TOOLS |
| JPS5684132A (en) * | 1979-12-13 | 1981-07-09 | Toyota Motor Corp | Transfer feed unit |
| CN1527756A (en) * | 2002-09-12 | 2004-09-08 | ������������ʽ���� | Tongs |
| JP3650903B2 (en) * | 1998-12-26 | 2005-05-25 | 株式会社栗本鐵工所 | Transfer device |
| US20100052348A1 (en) * | 2008-09-04 | 2010-03-04 | Phd, Inc. | Gripper with self-compensating jaw guides |
| CN103112011A (en) * | 2012-12-13 | 2013-05-22 | 重庆巨康建材有限公司 | Work piece clamp device |
| CN104438925A (en) * | 2014-12-04 | 2015-03-25 | 浙江华龙巨水科技股份有限公司 | Red-punching feeding device |
| CN204546554U (en) * | 2015-04-20 | 2015-08-12 | 温州职业技术学院 | The step-by-step movement press hand system of resilient clamp |
| CN204912543U (en) * | 2015-09-09 | 2015-12-30 | 浙江大学 | Redden towards high compensation arrangement of manipulator punching press |
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2015
- 2015-09-09 CN CN201510566951.XA patent/CN105170824B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2434576A1 (en) * | 1973-08-28 | 1975-03-06 | Warnke Umformtech Veb K | SAFETY DEVICE FOR STAGE FORMING MACHINES AND LINKED MACHINE TOOLS |
| JPS5684132A (en) * | 1979-12-13 | 1981-07-09 | Toyota Motor Corp | Transfer feed unit |
| JP3650903B2 (en) * | 1998-12-26 | 2005-05-25 | 株式会社栗本鐵工所 | Transfer device |
| CN1527756A (en) * | 2002-09-12 | 2004-09-08 | ������������ʽ���� | Tongs |
| US20100052348A1 (en) * | 2008-09-04 | 2010-03-04 | Phd, Inc. | Gripper with self-compensating jaw guides |
| CN103112011A (en) * | 2012-12-13 | 2013-05-22 | 重庆巨康建材有限公司 | Work piece clamp device |
| CN104438925A (en) * | 2014-12-04 | 2015-03-25 | 浙江华龙巨水科技股份有限公司 | Red-punching feeding device |
| CN204546554U (en) * | 2015-04-20 | 2015-08-12 | 温州职业技术学院 | The step-by-step movement press hand system of resilient clamp |
| CN204912543U (en) * | 2015-09-09 | 2015-12-30 | 浙江大学 | Redden towards high compensation arrangement of manipulator punching press |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941228A (en) * | 2018-06-12 | 2018-12-07 | 彪马集团有限公司 | A kind of full-automatic vertical is red to rush equipment |
| CN117680553A (en) * | 2024-01-30 | 2024-03-12 | 四川省机械研究设计院(集团)有限公司 | Stamping structure and working method thereof |
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| CN105170824B (en) | 2017-05-24 |
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Granted publication date: 20170524 Termination date: 20210909 |