CN105538318B - Carrying manipulator device for stamping products - Google Patents
Carrying manipulator device for stamping products Download PDFInfo
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- CN105538318B CN105538318B CN201511011784.9A CN201511011784A CN105538318B CN 105538318 B CN105538318 B CN 105538318B CN 201511011784 A CN201511011784 A CN 201511011784A CN 105538318 B CN105538318 B CN 105538318B
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- feeding
- driving mechanism
- axis driving
- support
- stamping
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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
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- 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 a stamping product, which comprises a support, mechanical claws symmetrically arranged at two sides of the support, and a three-axis driving mechanism for driving the mechanical claws to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, wherein the mechanical claws at two sides of the support respectively comprise a mounting arm, a plurality of support arms arranged on the mounting arm, and clamping clips arranged on the support arms. The invention has simple structure, convenient control and low manufacturing cost; the dry support arm can directly extend into a gap between the upper die and the lower die after the die opening, the die opening stroke of the needed die is small, the relative movement of the upper die and the lower die is reduced, the stamping time is saved, the speed of carrying stamping parts is high, and the production efficiency is improved; meanwhile, abrasion of parts caused by relative movement between dies is avoided, the service life of stamping equipment is prolonged, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of stamping auxiliary equipment, in particular to a carrying manipulator device for a stamped product.
Background
The stamping process is a processing method for obtaining a workpiece with certain size, shape and performance by applying external force to a blank through a die to cause the blank to generate plastic deformation or separation. The stamping process has wide application range, and can be used for processing metal plates and bars and processing various non-metal materials. Since the working is usually performed at normal temperature, it is also called cold stamping. The stamping process has the characteristics that: 1. the cold stamping processing method can be used for obtaining workpieces which have complex shapes and are difficult to process by other processing methods, such as thin-shell parts and the like; 2. the dimensional accuracy of the cold stamping part is ensured by the die, so that the cold stamping part is stable in size and good in interchangeability; 3. the material utilization rate is high, the workpiece is light in weight, good in rigidity and high in strength, and the energy consumption in the stamping process is low, so that the cost of the workpiece is low; 4. the die used in the stamping process is generally complex in structure, long in production period and high in cost.
Complicated stamping workpiece of structure need be through many times punching press shaping product in the forming process, and stamping equipment sets up a plurality of moulds promptly, and the stamping workpiece carries out punching press many times between the multistation. Traditional stamping equipment, stamping workpiece adopt the manual work to carry the stamping workpiece when carrying out a lot of punching presses between the multistation, and its work efficiency is low, and artifical work is big, with high costs, places the position of stamping workpiece moreover and is difficult to guarantee, and product shape error is big. At present, some carrying manipulators appear on the market, and the defect of manually carrying stamping parts is overcome to a certain extent. However, the existing carrying manipulator has a complex structure, a die is required to carry the stamping part in a complete die opening state, the action amplitude of the die is large, the stamping efficiency is not high, the speed of the manipulator for carrying the stamping part is low, the production efficiency is low, and the market demand can not be met.
Disclosure of Invention
The invention aims to provide a carrying manipulator device for a stamping product, which has the advantages of simple structure, high carrying speed and high production efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a manipulator device is used to punching press product, includes the support, the symmetry set up in the mechanical gripper of support both sides, be used for driving the triaxial actuating mechanism that the mechanical gripper can remove along X axle, Y axle and Z axle direction respectively, the mechanical gripper of support both sides all including the installation arm, set up in a plurality of support arms of this installation arm and set up in the clamping of support arm.
When the corresponding clamping jaws on the two sides of the support clamp the workpiece correctly, the detection device forms a closed detection loop through the two clamping jaws.
The clamping device comprises a clamping device body, a clamping groove and a clamping device body, wherein the clamping device body is provided with an installation part, an upper clamping edge and a lower clamping edge which are connected with the installation part, and the clamping groove is surrounded by the upper clamping edge and the lower clamping edge.
The front ends of the upper clamping edge and the lower clamping edge are bent outwards to form flanges.
Wherein, installation arm and support arm all are cylindrical pipe.
The three-axis driving mechanism comprises an X-axis driving mechanism, a Z-axis driving mechanism used for driving the X-axis driving mechanism to ascend and descend and a Y-axis driving mechanism used for driving the Z-axis driving mechanism to transversely move.
The X-axis driving mechanism comprises an X motor, a screw rod in driving connection with the X motor, a nut installed on the screw rod and a mounting seat fixedly connected with the nut, and the mounting arm is arranged on the mounting seat.
The Z-axis driving mechanism comprises a Z motor, a Z gear in driving connection with the Z motor and a Z rack meshed with the Z gear, and the Z rack is in driving connection with the X-axis driving mechanism.
The Y-axis driving mechanism comprises a Y motor, a Y gear in driving connection with the Y motor and a Y rack meshed with the Y gear, and the Z-axis driving mechanism is in driving connection.
The feeding mechanism comprises a feeding support, a feeding manipulator arranged on the feeding support and a feeding mechanism arranged below the feeding manipulator, and the feeding mechanism comprises a discharging jig, a feeding synchronous belt fixedly connected with the discharging jig and a feeding motor in driving connection with the feeding synchronous belt.
The feeding mechanism further comprises a feeding trolley arranged below the feeding manipulator, the feeding trolley is provided with a roller and a discharging jig for discharging, a sliding rail and an air cylinder are arranged at the bottom of the feeding support, the roller is movably arranged on the sliding rail, and the air cylinder is used for driving the feeding trolley to move along the sliding rail.
The invention has the beneficial effects that:
in practical application, the upper die and the lower die are arranged between the two mechanical claws, the upper die and the lower die are provided with a plurality of stamping stations, the upper die and the lower die are opened after stamping of a stamping part is completed at one stamping station, gaps with certain heights are opened between the upper die and the lower die relatively, the mechanical claws are driven by the three-axis driving mechanism to clamp materials, specifically, the dry supporting arms on two sides extend into the gaps after the upper die and the lower die are opened, the corresponding clamping on two sides clamp the stamping part, and the mechanical claws move the stamping part to the next station under the driving of the three-axis driving mechanism. A plurality of clamps simultaneous working can realize simultaneously treating that the stamping workpiece is moved into the mould, will last station the stamping workpiece transport next station and will press the stamping workpiece of accomplishing and move out of the mould. The invention has simple structure, convenient control and low manufacturing cost; the dry support arm can directly extend into a gap between the upper die and the lower die after the die opening, the die opening stroke of the needed die is small, the relative movement of the upper die and the lower die is reduced, the stamping time is saved, the speed of carrying stamping parts is high, and the production efficiency is improved; meanwhile, abrasion of parts caused by relative movement between dies is avoided, the service life of stamping equipment is prolonged, and the production cost is reduced.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the hidden bracket according to the present invention.
Fig. 3 is a schematic perspective view of a mechanical gripper according to the present invention.
Fig. 4 is an enlarged schematic view of a portion a in fig. 3.
Fig. 5 is an exploded perspective view of the three-axis driving mechanism according to the present invention.
Fig. 6 is a schematic perspective view of the feeding mechanism according to the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
As shown in fig. 1 to 6, a manipulator device for transporting a punched product includes a frame 1, two grippers 2 symmetrically disposed on two sides of the frame 1, and a three-axis driving mechanism 3 for driving the grippers 2 to move along X-axis, Y-axis, and Z-axis directions, wherein each of the grippers 2 disposed on two sides of the frame 1 includes a mounting arm 21, a plurality of support arms 22 disposed on the mounting arm 21, and a clip 23 disposed on the support arm 22.
In practical application, as shown in fig. 1, an upper die 10 and a lower die 20 are arranged between two mechanical grippers 2, the upper die 10 and the lower die 20 are provided with a plurality of stamping stations, after a stamping part is stamped in one stamping station, the upper die 10 and the lower die 20 are opened, a gap with a certain height is relatively opened between the upper die 10 and the lower die 20, a three-axis driving mechanism 3 drives the mechanical grippers 2 to clamp the material, specifically, dry support arms 22 on two sides extend into the gap after the upper die 10 and the lower die 20 are opened, corresponding clamps 23 on two sides clamp the stamping part, and the mechanical grippers 2 transport the stamping part to the next station under the driving of the three-axis driving mechanism 3. The plurality of clips 23 work simultaneously, and can simultaneously realize carrying the to-be-stamped parts into the die, carrying the stamped parts of the previous station to the next station and carrying the stamped parts of the completed stamping out of the die.
The invention has simple structure, convenient control and low manufacturing cost; the dry support arm 22 can directly extend into a gap between the upper die 10 and the lower die 20 after the die opening, the required die opening stroke of the die is small, the relative movement of the upper die 10 and the lower die 20 is reduced, the stamping time is saved, the stamping part conveying speed is high, and the production efficiency is improved; meanwhile, abrasion of parts caused by relative movement between dies is avoided, the service life of stamping equipment is prolonged, and the production cost is reduced.
In the existing stamping equipment, a sensor is generally adopted to detect so as to judge whether a manipulator clamps a stamping part, but a die is complex, a large number of parts are needed, the sensor often generates misjudgment, the manipulator, the stamping part, the die and the like are damaged, even an operator can be disabled, and great potential safety hazards exist. In this embodiment, a detection device is further included, the detection device is electrically connected with any one of the clips 23 on the mechanical gripper on one side of the bracket 1 and is electrically connected with the other clip 23 corresponding to the clip 23 on the mechanical gripper on the other side of the bracket 1, and when the corresponding clips 23 on both sides of the bracket 1 correctly clamp the workpiece, the detection device forms a closed detection loop by the two clips 23.
Specifically, two clips 23 corresponding to two sides of the bracket 1 are respectively electrically connected with the detection device and used for detecting whether the clips 23 correctly clamp the stamping part (metal part), when the clips 23 correctly clamp the stamping part, the clips 23 and the detection device form a detection loop, the correct clamping condition of the metal can be checked by judging the change of the circuit resistance, and the potential safety hazard of erroneous judgment due to the adoption of sensor detection is avoided. In addition, when the size of the stamping part changes (becomes larger), the control program of the three-axis driving mechanism 3 is not modified correspondingly, the clamp 23 can touch the stamping part when the displacement set by the program is not finished, at the moment, a detection circuit is electrified, the three-axis driving mechanism 3 stops running and gives an alarm to prevent the manipulator claw 2 from damaging the stamping part, a die and the like, and the detection circuit can be used as a safety device. The detection device is the prior art.
In this embodiment, the clip 23 is provided with an installation portion 231, an upper clamping edge 232 and a lower clamping edge 233 connected with the installation portion 231, and a clip groove 234 surrounded by the upper clamping edge 232 and the lower clamping edge 233, and when clamping materials, the stamping part is clamped through the clip groove 234. The clamp 23 has simple structure and reliable clamping
In this embodiment, the front ends of the upper clamping edge 232 and the lower clamping edge 233 are bent outward to form flanges, so that when the clip 23 is close to the stamping part, the stamping part can conveniently enter the clip groove 234 for clamping.
In this embodiment, the mounting arm 21 and the support arm 22 are both cylindrical tubes, which are convenient for being clamped and fixed in time.
In this embodiment, the three-axis driving mechanism 3 includes an X-axis driving mechanism 31, a Z-axis driving mechanism 32 for driving the X-axis driving mechanism 31 to move up and down, and a Y-axis driving mechanism 33 for driving the Z-axis driving mechanism 32 to move laterally. The X-axis driving mechanism 31 includes an X motor 311, a lead screw 312 drivingly connected to the X motor 311, a nut mounted on the lead screw 312, and a mounting seat 313 fixedly connected to the nut, and the mounting arm 21 is disposed on the mounting seat 313. The Z-axis driving mechanism 32 includes a Z motor 321, a Z gear 322 drivingly connected to the Z motor 321, and a Z rack 323 meshed with the Z gear 322, and the Z rack 323 is drivingly connected to the X-axis driving mechanism 31. The Y-axis driving mechanism 33 includes a Y motor 331, a Y gear 332 drivingly connected to the Y motor 331, and a Y rack 333 engaged with the Y gear 332, and the Z-axis driving mechanism 32 is drivingly connected thereto.
The Z-axis driving mechanism 32 and the Y-axis driving mechanism 33 are driven by matching of a motor, a gear and a rack, and are simple in structure, low in manufacturing cost, reliable in transmission and high in transmission precision. The X-axis driving mechanism 31 adopts the matching transmission of a motor, a screw rod and a nut, and has convenient control and high transmission precision. The three-axis driving mechanism 3 has the advantages of compact structure, low manufacturing cost, reliable transmission and high transmission precision.
In this embodiment, the feeding mechanism 4 further includes a feeding mechanism 4, where the feeding mechanism 4 includes a feeding support 40, a feeding manipulator 41 disposed on the feeding support 40, and a feeding mechanism 42 disposed below the feeding manipulator 41, and the feeding mechanism 42 includes a material placing jig 5, a feeding synchronous belt 422 fixedly connected to the material placing jig 5, and a feeding motor 423 drivingly connected to the feeding synchronous belt 422. The arrangement of the discharging jig 5 facilitates the placement of the special-shaped stamping part. The feeding manipulator 41 places the stamping part on the discharging jig 5, the feeding motor 423 drives the feeding synchronous belt 422 to drive the discharging jig 5 and the stamping part to move, and the mechanical claw 2 carries the stamping part to the die for molding.
In this embodiment, the feeding mechanism 4 further includes a feeding trolley 43 disposed below the feeding manipulator 41, the feeding trolley 43 is provided with a roller 431 and a discharging jig 5 for discharging, the bottom of the feeding bracket 40 is provided with a slide rail 50 and a cylinder 60, the roller 431 is movably mounted on the slide rail 50, the cylinder 60 is used for driving the feeding trolley 43 to move along the slide rail 50, the feeding trolley 43 is provided with two feeding trolleys for alternately feeding, after the discharging jig 5 of the feeding trolley 43 is loaded with a to-be-punched piece, the cylinder 60 pushes the feeding trolley 43 to the position below the manipulator claw 2 to take the to-be-punched piece, after the punched piece is taken out from the discharging jig 5, the cylinder 60 pushes the feeding trolley 43 out, and the manual or manipulator puts the punched piece on the discharging jig 5 of the feeding trolley 43 again.
The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.
Claims (4)
1. The utility model provides a punching press product is with carrying manipulator device, includes support (1), its characterized in that: the mechanical gripper comprises mechanical grippers (2) symmetrically arranged on two sides of a support (1) and a three-axis driving mechanism (3) used for driving the mechanical grippers (2) to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, wherein the mechanical grippers (2) on two sides of the support (1) respectively comprise a mounting arm (21), a plurality of support arms (22) arranged on the mounting arm (21) and clamps (23) arranged on the support arms (22);
the detection device is electrically connected with any one clip (23) on the mechanical claw on one side of the bracket (1) and is electrically connected with the other clip (23) corresponding to the clip (23) on the mechanical claw on the other side of the bracket (1), and when the clips (23) corresponding to the two sides of the bracket (1) clamp the workpiece correctly, the detection device forms a closed detection loop through the two clips (23);
when the size of the stamping part is changed and the control program of the three-axis driving mechanism (3) is not modified correspondingly, the clamp (23) can touch the stamping part when the displacement set by the program is not finished, so that the detection loop is electrified to control the three-axis driving mechanism (3) to stop running and give an alarm;
the clamp (23) is provided with an installation part (231), an upper clamping edge (232) and a lower clamping edge (233) which are connected with the installation part (231), and a clamping groove (234) which is enclosed by the upper clamping edge (232) and the lower clamping edge (233);
the front ends of the upper clamping edge (232) and the lower clamping edge (233) are bent outwards to form flanges;
the automatic feeding device is characterized by further comprising a feeding mechanism (4), wherein the feeding mechanism (4) comprises a feeding support (40), a feeding mechanical arm (41) arranged on the feeding support (40), and a feeding mechanism (42) arranged below the feeding mechanical arm (41), and the feeding mechanism (42) comprises a discharging jig (5), a feeding synchronous belt (422) fixedly connected with the discharging jig (5), and a feeding motor (423) in driving connection with the feeding synchronous belt (422);
the feeding mechanism (4) further comprises a feeding trolley (43) arranged below the feeding manipulator (41), the feeding trolley (43) is provided with a roller (431) and a discharging jig (5) for discharging, the bottom of the feeding support (40) is provided with a sliding rail (50) and an air cylinder (60), and the roller (431) is movably arranged on the sliding rail (50).
2. The carrier robot device for a punched product according to claim 1, wherein: the three-axis driving mechanism (3) comprises an X-axis driving mechanism (31), a Z-axis driving mechanism (32) used for driving the X-axis driving mechanism (31) to ascend and descend and a Y-axis driving mechanism (33) used for driving the Z-axis driving mechanism (32) to transversely move.
3. The carrier robot device for a punched product according to claim 2, wherein: the X-axis driving mechanism (31) comprises an X motor (311), a screw rod (312) in driving connection with the X motor (311), a nut installed on the screw rod (312) and a mounting seat (313) fixedly connected with the nut, and the mounting arm (21) is arranged on the mounting seat (313).
4. The carrier robot device for a punched product according to claim 2, wherein: the Z-axis driving mechanism (32) comprises a Z motor (321), a Z gear (322) in driving connection with the Z motor (321) and a Z rack (323) meshed with the Z gear (322), and the Z rack (323) is in driving connection with the X-axis driving mechanism (31).
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN105538318A CN105538318A (en) | 2016-05-04 |
| CN105538318B true 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109249085B (en) * | 2018-09-25 | 2020-07-03 | 广东邦展建筑模板科技有限公司 | Vertical space-saving blank feeding mechanism for automatic blanking production line of building aluminum template |
| CN111069359B (en) * | 2019-12-30 | 2021-06-01 | 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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| CN103071712A (en) * | 2013-03-04 | 2013-05-01 | 重庆江东机械有限责任公司 | Automatic stamping production line for electric appliance casings |
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| CN201923713U (en) * | 2010-12-17 | 2011-08-10 | 软控股份有限公司 | Manipulator of hose winding machine |
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