CN106379736B - A kind of flexibility punching press plate conveyer - Google Patents

A kind of flexibility punching press plate conveyer Download PDF

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Publication number
CN106379736B
CN106379736B CN201610854642.7A CN201610854642A CN106379736B CN 106379736 B CN106379736 B CN 106379736B CN 201610854642 A CN201610854642 A CN 201610854642A CN 106379736 B CN106379736 B CN 106379736B
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China
Prior art keywords
axis
guide rail
sliding block
punching press
rack
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CN201610854642.7A
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Chinese (zh)
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CN106379736A (en
Inventor
郝玉新
赵连峰
李宝
王晓雷
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Ji'nan Hao Yuan Intelligent Technology Co Ltd
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Ji'nan Hao Yuan Intelligent Technology Co Ltd
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Publication of CN106379736A publication Critical patent/CN106379736A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0214Articles of special size, shape or weigh
    • B65G2201/022Flat

Abstract

The invention discloses a kind of flexible punching press plate conveyers, including X axis rack, Y-axis rack, mechanical arm and plate handling hand, wherein: being equipped with two X axis guide rails in the X axis rack in parallel, the Y-axis rack is set on two X axis guide rails, it which is provided with Y-axis guide rail, the mechanical arm is set on Y-axis guide rail, and the other end is connect with plate handling hand.Compared with prior art, flexible punching press plate conveyer structure of the invention is relatively simple, and stability is strong, convenient for operation, simultaneously because being driven using synchronous belt, debugging easy to repair;The device is suitable for several work environment, and the demand to manpower can be greatly decreased, improve the automatization level of work pieces process, and the occasion that is widely used;Manipulator can be made along X, Y direction level using V belt translation, tilt and move up and down, guarantee that workpiece can be moved precisely to specified station, stroke is extensive, compact-sized, high degree of automation.

Description

A kind of flexibility punching press plate conveyer
Technical field
The present invention relates to a kind of material carrying machine hands more particularly to a kind of flexible punching press plate to carry dress It sets.
Background technique
In national economy, manufacturing industry is the basis of each department of national economy scientific and technological progress, and with manufacture In industry automatic technology it is increasingly mature with it is universal, the construction in unmanned workshop is increasingly becoming the trend for modernizing mass production, directly The development for modernizing manufacture level is pushed to improve.It is also basic without special at present although the automatization level in unmanned workshop is very high The automation equipment that door is carried for material, even some higher unmanned workshops of automatization level are also transmitted using long range The form of band is that unmanned workshop conveys or carry material, and still needs manpower to carry out material carrying in one end of conveyer belt, this Seriously constrain the raising of unmanned workshop automatization level.Under this historical background, the material carried dedicated for material is removed The research of fortune manipulator then becomes an important theme for promoting automatic technology development.It is especially in short supply in current labourer, Under the increasing social background of labor cost, the use of material carrying machine hand can replace the heavy labor of people, realize The colleague of industrial automation greatly reduces the production cost of enterprise, improves the performance of enterprises.Meanwhile it can be in high temperature, height for it Pressure, more dust, inflammable and explosive, radioactivity etc. protect the personal safety of worker instead of mankind's operation badly or under hazardous environment, Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy industry.
On numerous machining production lines, material such as plate etc. is needed to be transported to lathe or other designated positions On, it is carried by manpower, is not only wasted time under normal conditions, but also labour cost is higher, great work intensity is also easy to out Existing accident, causes danger.Therefore from above-mentioned status, handling, the urgency for the processes mechanical automation such as carrying, conveying robot Generate to realize the automation of these processes: manipulator can use sucker suction workpiece etc., and in space pick-and-place Object, flexible movements, applicability are extensive.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of flexible punching press plate conveyer, with A kind of automation plate conveyer is provided.
The present invention is achieved by the following technical solutions:
The present invention provides a kind of flexible punching press plate conveyer, including X axis rack, Y-axis rack, mechanical arm, And plate handling hand, in which:
Two X axis guide rails are equipped in the X axis rack in parallel, the first guide rail and second is from top to bottom followed successively by and leads Rail, first guide rail and the second guide rail are equipped with sliding block, respectively the first sliding block and the second sliding block;
The Y-axis rack is rotatablely connected with the first sliding block and the second sliding block by two Z axis to shaft respectively, is set thereon Have a Y-axis guide rail, the Y-axis guide rail is equipped with third sliding block, the fixing end of the mechanical arm by another Z axis to shaft and The rotation connection of third sliding block;When work, Y-axis rack, can be in X/Y plane under the action of the first sliding block and the second sliding block Mobile and wallowing motion certain angle, under the action of Y-axis guide rail, Y-axis rack drives mechanical arm horizontal on X/Y plane again Movement is tilted and is moved up and down;
The plate handling hand includes connector, and several Z axis are to mobile jib and X axis strut, the free end of the mechanical arm Hinged with connector, the Z axis is fixedly connected to one end of mobile jib with connector, and one end of the X axis strut and Z axis are to master Bar is fixed, and the other end is equipped with sucker;Z axis forms the plane in a direction XZ to mobile jib and X axis strut, is used for adsorbing plane work Part.
First guide rail is by motor-driven synchronous belt, for driving the first sliding block to drive Y-axis rack along synchronous Band movement, second guide rail are the slideway of unregulated power output.In this way, when device by workpiece from A from be transported at B when, by electricity Machine drives synchronous belt, and synchronous belt drives Y-axis gantry motion, and Y-axis rack drives mechanical arm swing, and mechanical arm drives plate to remove Workpiece is transported at B by fortune hand from A;In handling process, under the buffer function of the second guide rail and Y-axis guide rail, manipulator It can not only move, additionally it is possible to it moves up and down and banking motion, allows the motion profile of workpiece and production line perfect matching, It realizes conveying robot flexibility development, adapts to the needs of flexible punching automation production.
The Z axis is symmetrically set on connector to mobile jib, and the X axis strut is evenly distributed on Z axis on mobile jib, to protect Demonstrate,prove the equilibrium adsorption in handling process to plate.
The Z axis is to fixed connecting rod is additionally provided between mobile jib, to improve intensity of the Z axis to mobile jib.
The present invention has the advantage that compared with prior art
1, structure of the invention is relatively simple, and stability is strong, convenient for operation, simultaneously because being driven using synchronous belt, just In maintenance and debugging.
2, the present invention is suitable for several work environment, and the demand to manpower can be greatly decreased, and improves work pieces process oneself Dynamicization is horizontal, and the occasion that is widely used.
3, the present invention can make manipulator along X, Y-axis by repeatedly debugging using two X axis guide rails and Y-axis guide rail Direction is horizontal, tilts and moves up and down, and guarantees that workpiece can be moved precisely to specified station, and stroke is extensive, compact-sized, High degree of automation.
Detailed description of the invention
Fig. 1 is the overall structure diagram of flexible punching press plate conveyer.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation Example.
Embodiment 1
A kind of flexible punching press plate conveyer is present embodiments provided, there is structure as shown in Figure 1, including X axis Rack 1, Y-axis rack 2, mechanical arm 3 and plate handling hand, in which:
Two X axis guide rails are equipped in the X axis rack 1 in parallel, are from top to bottom followed successively by the first guide rail 11 and second Guide rail 12, first guide rail 11 are which is provided with the first sliding block 13, second guide rail 12 is by motor-driven synchronous belt The slideway of unregulated power output, which is provided with the second sliding block 14, and the Y-axis rack 2 is by two Z axis to shaft respectively with first Sliding block 13 and the rotation connection of the second sliding block 14;
The Y-axis rack 2 is equipped with Y-axis guide rail 21, and the Y-axis guide rail 21 is equipped with third sliding block 22, the machine The fixing end of tool arm 3 is rotatablely connected by another Z axis to shaft and third sliding block 22;When work, Y-axis rack 2 is sliding first It under the action of block 13 and the second sliding block 14, can be moved in X/Y plane and wallowing motion certain angle, in Y-axis guide rail 21 Under effect, Y-axis rack 2 drives mechanical arm 3 to move horizontally, tilt and move up and down on X/Y plane again;
The plate handling hand includes connector 41, several Z axis to mobile jib 42 and X axis strut 43, the mechanical arm 3 Free end and connector 41 are hinged, and the Z axis is fixedly connected to one end of mobile jib 42 with connector 41, and several Z axis are to mobile jib 42 It is symmetricly set on around connector 41, Z axis is to fixed connecting rod is equipped between mobile jib 42, to improve the machinery of plate handling hand by force Degree;The X axis strut 43 is evenly distributed on Z axis on mobile jib 42, and one end and Z axis are fixed to mobile jib 42, and the other end is equipped with Sucker 44;Z axis forms the plane in a direction XZ to mobile jib 42 and X axis strut 43, is used for adsorbing plane workpiece 10.
When work, synchronous belt movement is driven by motor, synchronous belt drives Y-axis rack 2 to move, and Y-axis rack 2 is with motivation Tool arm 3 is swung, and mechanical arm 3 drives plate handling hand to be transported to workpiece 10 at B from A;In handling process, in the second guide rail 12 Under the buffer function of Y-axis guide rail 21, manipulator can not only be moved, additionally it is possible to be moved up and down and banking motion, be made work The motion profile of part 10 can realize conveying robot flexibility development with production line perfect matching, and it is automatic to adapt to flexible punching press The needs that metaplasia produces.

Claims (4)

1. a kind of flexibility punching press plate conveyer, which is characterized in that including X axis rack, Y-axis rack, mechanical arm and flat Plate handling hand, in which:
Two X axis guide rails are equipped in the X axis rack in parallel, are from top to bottom followed successively by the first guide rail and the second guide rail, institute It states the first guide rail and the second guide rail is equipped with sliding block, respectively the first sliding block and the second sliding block;
The Y-axis rack is rotatablely connected with the first sliding block and the second sliding block by two Z axis to shaft respectively, which is provided with Y Axial guidance, the Y-axis guide rail are equipped with third sliding block, and the fixing end of the mechanical arm is by another Z axis to shaft and the The rotation connection of three sliding blocks;
The plate handling hand includes connector, and several Z axis are to mobile jib and X axis strut, the free end of the mechanical arm and company Fitting is hinged, and the Z axis is fixedly connected to one end of mobile jib with connector, and one end of the X axis strut and Z axis are solid to mobile jib Fixed, the other end is equipped with sucker;
Y-axis rack can move and the certain angle of wallowing motion under the action of the first sliding block and the second sliding block in X/Y plane Degree.
2. a kind of flexible punching press plate conveyer according to claim 1, which is characterized in that first guide rail is served as reasons Motor-driven synchronous belt, second guide rail are the slideway of unregulated power output.
3. a kind of flexible punching press plate conveyer according to claim 1, which is characterized in that the Z axis is to mobile jib pair Claim to be set on connector, the X axis strut is evenly distributed on Z axis on mobile jib.
4. a kind of flexible punching press plate conveyer according to claim 1, which is characterized in that the Z axis to mobile jib it Between be additionally provided with fixed connecting rod.
CN201610854642.7A 2016-09-27 2016-09-27 A kind of flexibility punching press plate conveyer Active CN106379736B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610854642.7A CN106379736B (en) 2016-09-27 2016-09-27 A kind of flexibility punching press plate conveyer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610854642.7A CN106379736B (en) 2016-09-27 2016-09-27 A kind of flexibility punching press plate conveyer

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CN106379736A CN106379736A (en) 2017-02-08
CN106379736B true CN106379736B (en) 2019-05-03

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033125A1 (en) * 1989-10-19 1991-04-25 Fuji Photo Film Co Ltd DEVICE FOR TRANSPORTING AND SEPARATING TORSION SPRINGS
JP5631805B2 (en) * 2011-04-28 2014-11-26 アイダエンジニアリング株式会社 Work transfer device
CN204603115U (en) * 2015-04-29 2015-09-02 沈阳吉美吉天合机器人设备有限公司 A kind of metal plate punching automatic loading/unloading machine people
CN204800640U (en) * 2015-07-21 2015-11-25 大连瑞翔机电设备有限公司 Can vertical direction robot of walking
CN205132534U (en) * 2015-10-21 2016-04-06 佛山市南海区豪特玻璃机械有限公司 Novel glass carries mechanical hand
CN105522066A (en) * 2015-12-24 2016-04-27 惠州市仨联自动化设备有限公司 Suspension type deflection mechanical hand and stamping production line thereof
CN205343120U (en) * 2016-01-24 2016-06-29 余晓飞 Right -angle coordinate robot
CN206126284U (en) * 2016-09-27 2017-04-26 济南昊远智能科技有限公司 Dull and stereotyped handling device of flexible punching press

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033125A1 (en) * 1989-10-19 1991-04-25 Fuji Photo Film Co Ltd DEVICE FOR TRANSPORTING AND SEPARATING TORSION SPRINGS
JP5631805B2 (en) * 2011-04-28 2014-11-26 アイダエンジニアリング株式会社 Work transfer device
CN204603115U (en) * 2015-04-29 2015-09-02 沈阳吉美吉天合机器人设备有限公司 A kind of metal plate punching automatic loading/unloading machine people
CN204800640U (en) * 2015-07-21 2015-11-25 大连瑞翔机电设备有限公司 Can vertical direction robot of walking
CN205132534U (en) * 2015-10-21 2016-04-06 佛山市南海区豪特玻璃机械有限公司 Novel glass carries mechanical hand
CN105522066A (en) * 2015-12-24 2016-04-27 惠州市仨联自动化设备有限公司 Suspension type deflection mechanical hand and stamping production line thereof
CN205343120U (en) * 2016-01-24 2016-06-29 余晓飞 Right -angle coordinate robot
CN206126284U (en) * 2016-09-27 2017-04-26 济南昊远智能科技有限公司 Dull and stereotyped handling device of flexible punching press

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