CN105538318A - Carrying manipulator device for stamping products - Google Patents
Carrying manipulator device for stamping products Download PDFInfo
- Publication number
- CN105538318A CN105538318A CN201511011784.9A CN201511011784A CN105538318A CN 105538318 A CN105538318 A CN 105538318A CN 201511011784 A CN201511011784 A CN 201511011784A CN 105538318 A CN105538318 A CN 105538318A
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- China
- Prior art keywords
- axis
- support
- driving mechanism
- clip
- axis driving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of stamping auxiliary equipment, in particular to a carrying manipulator device for stamping products. The device comprises a bracket, mechanical jaws symmetrically arranged on two sides of the bracket, and a three-axis driving mechanism for driving the mechanical jaws to move in directions of an X axis, a Y axis and a Z axis; and the mechanical jaws on two sides of the bracket both include mounting arms, multiple support arms arranged on the mounting arms and clamps arranged on the support arms. The device is simple in structure, convenient for control and low in production cost; the support arms can directly extend in a gap formed due to separation of an upper mold and a lower mold, so that the needed mold opening stroke is small, the relative motion of the upper mold and the lower mold is reduced, the stamping time is shortened, the stamped part carrying speed is fast, and the productivity is improved; and meanwhile, the wear of parts caused by relative motion between the molds is prevented, the service life of stamping equipment is prolonged, and the production cost is reduced.
Description
Technical field
The present invention relates to punching press technical field of auxiliary equipment, refer in particular to a kind of stamping products conveying robot unit.
Background technology
Sheet Metal Forming Technology applies external force by mould to blank, makes it to produce plastic deformation or separation, thus obtain the processing method of the workpiece of certain size, shape and performance.The range of application of Sheet Metal Forming Technology is very extensive, both can processing metal plate, bar, also can process multiple nonmetallic materials.Because processing is normally carried out at normal temperatures, therefore be also called cold stamping.The feature of Sheet Metal Forming Technology has: 1. with cold stamping method for making can obtain complex-shaped, with the unmanageable workpiece of other processing methods, as thin shell accessory etc.; 2. the dimensional accuracy of cold-stamped part is ensured by mould, therefore, dimensionally stable, interchangeability is good; 3. stock utilization is high, and workpiece is lightweight, good rigidly, intensity are high, punching course power consumption is few, and therefore, the cost of workpiece is lower; 4. the general more complicated of mould structure used in punch process, the production cycle is longer, cost is higher.
Complex structure stamping parts is in forming process, and need to carry out shaped article by Multi-step forming, namely pressing equipment arranges multiple mould, and stamping parts carries out Multi-step forming between multistation.Traditional pressing equipment, when stamping parts carries out Multi-step forming between multistation, adopt and manually carry stamping parts, its inefficiency, hand labor is large, cost is high, and the position of placing stamping parts is difficult to ensure, shape of product error is large.At present, there are some conveying robots on the market, solve the shortcoming of a dead lift stamping parts to a certain extent.But current conveying robot complicated structure, need mould could carry stamping parts under the state of complete die sinking, mold actions amplitude is large, ram efficiency is not high, the speed of Manipulator Transportation stamping parts is slow, causes production efficiency low, can not meet the demand in market.
Summary of the invention
The technical problem to be solved in the present invention is to provide the stamping products conveying robot unit that a kind of structure is simple, transporting velocity fast, enhance productivity.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme: a kind of stamping products conveying robot unit, comprise support, be symmetricly set in the mechanical paw of support both sides, can respectively along the Three-axis drive mechanism of X-axis, Y-axis and Z-direction movement for driving device paw, the mechanical paw of support both sides includes hold-down arm, be arranged at some support arms of this hold-down arm and be arranged at the clip of support arm.
Wherein, also package detection device, this checkout gear is electrically connected with any one clip on the mechanical paw of support side, and be electrically connected with another clip corresponding with this clip on support opposite side mechanical paw, when the correct holding workpiece of the clip that support both sides are corresponding, checkout gear forms closed measure loop by two clips.
Wherein, described clip is provided with the clip slot that installation portion, the upper contained side be connected with installation portion and lower contained side and upper contained side and lower contained side surround.
Wherein, the front end of described upper contained side and lower contained side is outwards bent to form flange.
Wherein, all cylindrical pipe of described hold-down arm and support arm.
Wherein, described Three-axis drive mechanism comprises X-axis driving mechanism, for the Z axis driving mechanism that drives X-axis driving mechanism to be elevated and the traversing Y-axis driving mechanism of the Z axis driving mechanism for driving.
Wherein, the mount pad that described X-axis driving mechanism comprises X motor, drives the screw mandrel be connected, the nut being installed in this screw mandrel and be fixedly connected with this nut with this X motor, described hold-down arm is arranged at mount pad.
Wherein, described Z axis driving mechanism comprises Z motor, drives the Z gear that is connected and the Z tooth bar with this Z gears meshing with this Z motor, and this Z tooth bar drives with described X-axis driving mechanism and is connected.
Wherein, described Y-axis driving mechanism comprises Y motor, drives the Y gear that is connected and the Y tooth bar with this Y gears meshing with Y motor, and described Z axis driving mechanism drives and connects.
Wherein, also comprise feed mechanism, this feed mechanism comprises stock support, be arranged at the feeding manipulator of this stock support, be arranged at feed mechanism below this feeding manipulator, and this feed mechanism comprises blowing tool, the feeding Timing Belt that is fixedly connected with this blowing tool and drive the feeding motor be connected with this feeding Timing Belt.
Wherein, described feed mechanism also comprises the feeding trolley be arranged at below feeding manipulator, this feeding trolley is provided with roller and the blowing tool for blowing, the bottom of described stock support is provided with slide rail and cylinder, described roller is movably arranged on slide rail, and cylinder moves along slide rail for driving feeding trolley.
Beneficial effect of the present invention is:
In actual applications, upper die and lower die are arranged between two mechanical paws, upper die and lower die are provided with multiple punching press station, when stamping parts is after a punching press station stamping completes, upper die and lower die carry out die sinking, upper die and lower die open certain altitude gap relatively, Three-axis drive mechanism driving device paw carries out material folding, concrete, the Heavenly Stems and Earthly Branches arm of both sides extend in the gap after upper die and lower die die sinking, the clip clamping stamping parts that both sides are corresponding, then under the driving of Three-axis drive mechanism, stamping parts is transported to next station by mechanical paw.Multiple clip works simultaneously, can realize to be punched being moved into mould simultaneously, the stamping parts of a upper station is transported to next station and the stamping parts that punching press completed takes out of mould.The present invention, structure is simple, and it is convenient to control, low cost of manufacture; Heavenly Stems and Earthly Branches arm can directly reach in the gap after upper die and lower die die sinking, and die needed opening stroke is little, reduces the relative motion of upper die and lower die, saves the punching press time, and the speed of carrying stamping parts is fast, improves the efficiency of producing; Avoid relative motion between mould simultaneously and cause the wearing and tearing of parts, extending the service life of pressing equipment, reduce production cost.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view after the present invention hides support.
Fig. 3 is the perspective view of mechanical paw of the present invention.
Fig. 4 is the structure for amplifying schematic diagram at A place in Fig. 3.
Fig. 5 is the stereochemical structure decomposing schematic representation of Three-axis drive mechanism of the present invention.
Fig. 6 is the perspective view of feed mechanism of the present invention.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with embodiment and accompanying drawing, the present invention is further illustrated, and the content that embodiment is mentioned not is limitation of the invention.
As shown in Figures 1 to 6, a kind of stamping products conveying robot unit, comprise support 1, be symmetricly set in the mechanical paw 2 of support 1 both sides, can respectively along the Three-axis drive mechanism 3 of X-axis, Y-axis and Z-direction movement for driving device paw 2, the mechanical paw 2 of support 1 both sides includes hold-down arm 21, be arranged at some support arms 22 of this hold-down arm 21 and be arranged at the clip 23 of support arm 22.
In actual applications, as shown in Figure 1, patrix 10 and counterdie 20 are arranged between two mechanical paws 2, patrix 10 and counterdie 20 are provided with multiple punching press station, when stamping parts is after a punching press station stamping completes, patrix 10 and counterdie 20 carry out die sinking, patrix 10 is relative with counterdie 20 opens certain altitude gap, Three-axis drive mechanism 3 driving device paw 2 carries out material folding, concrete, the Heavenly Stems and Earthly Branches arm 22 of both sides extend in the gap after patrix 10 and counterdie 20 die sinking, clip 23 corresponding to both sides clamps stamping parts, again under the driving of Three-axis drive mechanism 3, stamping parts is transported to next station by mechanical paw 2.Multiple clip 23 works simultaneously, can realize to be punched being moved into mould simultaneously, the stamping parts of a upper station is transported to next station and the stamping parts that punching press completed takes out of mould.
The present invention, structure is simple, and it is convenient to control, low cost of manufacture; Heavenly Stems and Earthly Branches arm 22 can directly reach in the gap after patrix 10 and counterdie 20 die sinking, and die needed opening stroke is little, reduces the relative motion of patrix 10 and counterdie 20, saves the punching press time, and the speed of carrying stamping parts is fast, improves the efficiency of producing; Avoid relative motion between mould simultaneously and cause the wearing and tearing of parts, extending the service life of pressing equipment, reduce production cost.
In existing pressing equipment; general employing sensor detect thus judge manipulator no be clamp stamping parts; but mould more complicated; parts are many; sensor often can produce erroneous judgement; cause damaging manipulator, stamping parts and mould etc., even may cause operator's disability, there is larger potential safety hazard.In the present embodiment, also package detection device, this checkout gear is electrically connected with any one clip 23 on the mechanical paw of support 1 side, and be electrically connected with another clip 23 corresponding with this clip 23 on support 1 opposite side mechanical paw, when the correct holding workpiece of clip 23 corresponding to support 1 both sides, checkout gear forms closed measure loop by two clips 23.
Concrete, two corresponding for support 1 both sides clips 23 are electrically connected with checkout gear respectively, stamping parts (metalwork) whether is correctly clamped for detecting clip 23, when clip 23 correctly clamps stamping parts, stamping parts, clip 23 and checkout gear form measure loop, can to be made an inventory by the change of decision circuitry resistance the correct jam of metal, to avoid and adopt sensor to detect, exist erroneous judgement potential safety hazard.In addition, when the size of stamping parts changes (becoming large), Three-axis drive mechanism 3 control program is not revised accordingly, clip 23 can encounter stamping parts when the displacement of not covering program setting, now, measure loop is energized, and Three-axis drive mechanism 3 is out of service and report to the police, to prevent mechanical paw 2 from breaking stamping parts and mould etc., this measure loop can as safety device.Described checkout gear is existing technology.
In the present embodiment, described clip 23 is provided with the clip slot 234 that installation portion 231, the upper contained side 232 be connected with installation portion 231 and lower contained side 233 and upper contained side 232 and lower contained side 233 surround, and during material folding, clamps stamping parts by clip slot 234.This its structure of clip 23 is simple, and material folding is reliable
In the present embodiment, the front end of described upper contained side 232 and lower contained side 233 is outwards bent to form flange, when clip 23 is near stamping parts, is convenient to stamping parts and enters in clip slot 234 and clamp.
In the present embodiment, described hold-down arm 21 and all cylindrical pipe of support arm 22, be convenient to clamp on time and fix.
In the present embodiment, described Three-axis drive mechanism 3 comprises X-axis driving mechanism 31, for the Z axis driving mechanism 32 that drives X-axis driving mechanism 31 to be elevated and the traversing Y-axis driving mechanism 33 of the Z axis driving mechanism 32 for driving.The mount pad 313 that described X-axis driving mechanism 31 comprises X motor 311, drives the screw mandrel 312 be connected, the nut being installed in this screw mandrel 312 and be fixedly connected with this nut with this X motor 311, described hold-down arm 21 is arranged at mount pad 313.Described Z axis driving mechanism 32 comprises Z motor 321, drives the Z gear 322 be connected and the Z tooth bar 323 engaged with this Z gear 322 with this Z motor 321, and this Z tooth bar 323 drives with described X-axis driving mechanism 31 and is connected.Described Y-axis driving mechanism 33 comprises Y motor 331, drives the Y gear 332 be connected and the Y tooth bar 333 engaged with this Y gear 332 with Y motor 331, and described Z axis driving mechanism 32 drives and connects.
Described Z axis driving mechanism 32 and Y-axis driving mechanism 33 all adopt motor, gear, tooth bar to coordinate transmission, and structure is simple, low cost of manufacture, reliable transmission, transmit precision high.X-axis driving mechanism 31 adopts motor, screw mandrel, nut screw connection transmission, and it is convenient to control, and transmits precision high.This Three-axis drive mechanism 3 compact conformation, low cost of manufacture, reliable transmission, transmits precision high.
In the present embodiment, also comprise feed mechanism 4, this feed mechanism 4 comprises stock support 40, be arranged at the feeding manipulator 41 of this stock support 40, be arranged at feed mechanism 42 below this feeding manipulator 41, and this feed mechanism 42 comprises blowing tool 5, the feeding Timing Belt 422 that is fixedly connected with this blowing tool 5 and drive the feeding motor 423 be connected with this feeding Timing Belt 422.The stamping parts that blowing tool 5 is convenient to place abnormity is set.Stamping parts is placed on blowing tool 5 by feeding manipulator 41, and feeding motor 423 drives feeding Timing Belt 422 to drive blowing tool 5 and stamping parts to move, mechanical paw 2 again stamping parts is transported to mould carries out shaping.
In the present embodiment, described feed mechanism 4 also comprises the feeding trolley 43 be arranged at below feeding manipulator 41, this feeding trolley 43 is provided with roller 431 and the blowing tool 5 for blowing, the bottom of described stock support 40 is provided with slide rail 50 and cylinder 60, described roller 431 is movably arranged on slide rail 50, cylinder 60 moves along slide rail 50 for driving feeding trolley 43, described feeding trolley 43 is provided with two, for alternately feeding, after the blowing tool 5 of feeding trolley 43 installs to be punched, feeding trolley 43 is pushed to below mechanical paw 2 and carries out feeding by cylinder 60, after on blowing tool 5, stamping parts is taken, feeding trolley 43 is released by cylinder 60, stamping parts is put on the blowing tool 5 of feeding trolley 43 by artificial or manipulator again.
Above-described embodiment is the present invention's preferably implementation, and in addition, the present invention can also realize by alternate manner, and under the prerequisite not departing from the technical program design, any apparent replacement is all within protection scope of the present invention.
Claims (10)
1. a stamping products conveying robot unit, comprise support (1), it is characterized in that: be symmetricly set in the mechanical paw (2) of support (1) both sides, can respectively along the Three-axis drive mechanism (3) of X-axis, Y-axis and Z-direction movement for driving device paw (2), the mechanical paw (2) of support (1) both sides includes hold-down arm (21), be arranged at some support arms (22) of this hold-down arm (21) and be arranged at the clip (23) of support arm (22).
2. a kind of stamping products conveying robot unit according to claim 1, it is characterized in that: go back package detection device, this checkout gear is electrically connected with any one clip (23) on the mechanical paw of support (1) side, and be electrically connected with another clip (23) corresponding with this clip (23) on support (1) opposite side mechanical paw, when the correct holding workpiece of clip (23) corresponding to support (1) both sides, checkout gear forms closed measure loop by two clips (23).
3. a kind of stamping products conveying robot unit according to claim 2, is characterized in that: described clip (23) is provided with the clip slot (234) that installation portion (231), the upper contained side (232) be connected with installation portion (231) and lower contained side (233) and upper contained side (232) and lower contained side (233) surround.
4. a kind of stamping products conveying robot unit according to claim 3, is characterized in that: the front end of described upper contained side (232) and lower contained side (233) is outwards bent to form flange.
5. a kind of stamping products conveying robot unit according to claim 1, is characterized in that: described Three-axis drive mechanism (3) comprises X-axis driving mechanism (31), for the Z axis driving mechanism (32) that drives X-axis driving mechanism (31) to be elevated and the traversing Y-axis driving mechanism (33) of the Z axis driving mechanism (32) for driving.
6. a kind of stamping products conveying robot unit according to claim 5, it is characterized in that: the mount pad (313) that described X-axis driving mechanism (31) comprises X motor (311), drives the screw mandrel (312) be connected, the nut being installed in this screw mandrel (312) and be fixedly connected with this nut with this X motor (311), described hold-down arm (21) is arranged at mount pad (313).
7. a kind of stamping products conveying robot unit according to claim 5, it is characterized in that: described Z axis driving mechanism (32) comprises Z motor (321), drives the Z gear (322) be connected and the Z tooth bar (323) engaged with this Z gear (322) with this Z motor (321), this Z tooth bar (323) drives with described X-axis driving mechanism (31) and is connected.
8. a kind of stamping products conveying robot unit according to claim 5, it is characterized in that: described Y-axis driving mechanism (33) comprises Y motor (331), drives the Y gear (332) be connected and the Y tooth bar (333) engaged with this Y gear (332) with Y motor (331), the driving of described Z axis driving mechanism (32) connects.
9. a kind of stamping products conveying robot unit according to claim 1, it is characterized in that: also comprise feed mechanism (4), the feed mechanism (42) that this feed mechanism (4) comprises stock support (40), be arranged at the feeding manipulator (41) of this stock support (40), be arranged at this feeding manipulator (41) below, this feed mechanism (42) comprises blowing tool (5), the feeding Timing Belt (422) that is fixedly connected with this blowing tool (5) and drive the feeding motor (423) be connected with this feeding Timing Belt (422).
10. a kind of stamping products conveying robot unit according to claim 9, it is characterized in that: described feed mechanism (4) also comprises the feeding trolley (43) being arranged at feeding manipulator (41) below, this feeding trolley (43) is provided with roller (431) and the blowing tool (5) for blowing, the bottom of described stock support (40) is provided with slide rail (50) and cylinder (60), and described roller (431) is movably arranged on slide rail (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511011784.9A CN105538318B (en) | 2016-03-17 | 2016-03-17 | Carrying manipulator device for stamping products |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511011784.9A CN105538318B (en) | 2016-03-17 | 2016-03-17 | Carrying manipulator device for stamping products |
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| Publication Number | Publication Date |
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| CN105538318A true CN105538318A (en) | 2016-05-04 |
| CN105538318B CN105538318B (en) | 2020-03-17 |
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| CN201511011784.9A Active CN105538318B (en) | 2016-03-17 | 2016-03-17 | Carrying manipulator device for stamping products |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109249085A (en) * | 2018-09-25 | 2019-01-22 | 杜宗英 | It builds aluminum alloy pattern plate and automates the vertical save space blank material feed mechanism of discharging production line |
| CN110340240A (en) * | 2018-04-08 | 2019-10-18 | 昆山奥尔顿自动化科技有限公司 | A kind of large-scale 3 axis multiple-project stamping parts conveying robot |
| CN111069359A (en) * | 2019-12-30 | 2020-04-28 | 南京埃斯顿机器人工程有限公司 | Speed planning method applied to bending synchronous following of bending robot |
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| CN105538318B (en) | 2020-03-17 |
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