CN108356137B - Arc track movement mechanism under multi-positioning constraint condition - Google Patents
Arc track movement mechanism under multi-positioning constraint condition Download PDFInfo
- Publication number
- CN108356137B CN108356137B CN201810382836.0A CN201810382836A CN108356137B CN 108356137 B CN108356137 B CN 108356137B CN 201810382836 A CN201810382836 A CN 201810382836A CN 108356137 B CN108356137 B CN 108356137B
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- Prior art keywords
- connecting rod
- base
- seat
- hinged
- positioning
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/24—Perforating, i.e. punching holes
- B21D28/32—Perforating, i.e. punching holes in other articles of special shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/003—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
Abstract
The invention discloses an arc track movement mechanism under a multi-positioning constraint condition, which comprises: a base; the supporting seats are fixedly arranged on two sides of the base; the lifting seat is horizontally arranged above the base, is provided with a U-shaped opening, and the opening end of the lifting seat is radially arranged along the base; one end of each connecting rod is hinged with four corners of the lifting seat, and the other end of each connecting rod is hinged with the supporting seat; and one end of the driving connecting rod is hinged with one end of any connecting rod and is used for driving the lifting seat to axially move along the supporting seat. The circular arc track movement mechanism under the multi-positioning constraint condition simulates a manual feeding process, realizes avoiding movement of complex parts under the multi-positioning constraint condition, and has the advantages of modularized design and high adjustability and unification degree; the mechanism only needs one drive, realizes multi-positioning constraint avoidance, and has high reliability.
Description
Technical Field
The invention relates to the technical field of part conveying, and particularly relates to an arc track movement mechanism under a multi-positioning constraint condition, which is matched with a punch press.
Background
The complex part is a cup-shaped complex part formed by stamping, one end of the complex part is open, the other end of the complex part is a spherical end face, and the top surface and the bottom surface are horizontal planes and are provided with positioning round holes. The multi-positioning constraint fixture is adopted in the stamping production process, namely, one end of the multi-positioning constraint fixture is a spherical positioning groove of a stop block, the bottom surface is the bottom surface of the fixture and is provided with a positioning cylindrical boss, and the other end and the top surface are space constraint formed by the movable fixture.
As the key link of complicated part stamping production line, under the prior art, the delivery of part in this production link still is manual operation, and artifical handheld part need avoid space constraint, sends the part into in location boss and the constant head tank. The round hole at the bottom of the part needs to be sleeved with the cylindrical boss at the bottom surface of the clamp, and the spherical end surface part at the rear part of the part needs to be sleeved with the stop block groove vertical to the bottom surface. The clamp limits all degrees of freedom of the complex part, wherein the bottom surface of the clamp and the cylindrical boss limit the movement of the part in the X, Y axis direction and the rotation about the X, Y axis, and the cylindrical boss cooperates with the groove of the stop to limit the movement of the part in the Z axis direction and the rotation about the Z axis.
In the current process, the transportation and the taking out of the parts are realized by manpower due to the complexity of multi-positioning constraint, the production efficiency is low, the automation of production cannot be realized, and potential safety hazards exist due to the manual long-term repeated operation.
Disclosure of Invention
The invention aims to design and develop an arc track movement mechanism under the multi-positioning constraint condition, simulate the manual feeding and taking process and realize the avoiding movement of complex parts under the multi-positioning constraint condition.
The technical scheme provided by the invention is as follows:
an arc track motion mechanism under a multi-positioning constraint condition, comprising:
a base; and
the supporting seats are fixedly arranged on two sides of the base;
the lifting seat is horizontally arranged above the base, is provided with a U-shaped opening, and the opening end of the lifting seat is radially arranged along the base;
one end of each connecting rod is hinged with four corners of the lifting seat, and the other end of each connecting rod is hinged with the supporting seat;
and one end of the driving connecting rod is hinged with one end of any connecting rod and is used for driving the lifting seat to axially move along the supporting seat.
Preferably, the method further comprises:
the driving sliding table is arranged on one side of the supporting seat and fixedly connected with the base, and a bulge is axially arranged on the driving sliding table;
the bottom surface of the linear driving piece is axially provided with a sliding groove matched and corresponding to the bulge, and the linear driving piece can axially move along the driving sliding table;
the fixed seat is fixedly connected with one end of the linear driving piece, and the other end of the driving connecting rod is hinged with the fixed seat.
Preferably, the method further comprises:
the positioning clamp is detachably and horizontally arranged on the base and positioned below the lifting seat, and a cylindrical bulge is arranged at the center of the positioning clamp;
the baffle is vertically and fixedly arranged at one end of the positioning clamp along the axial direction of the base, and a groove is formed in the center of a vertical surface facing one side of the positioning clamp.
Preferably, four corners of the lifting seat extend along two sides of the axial direction of the base and are provided with mounting seats, and the connecting rod is hinged with the mounting seats.
Preferably, the mounting seat and the supporting seat are respectively provided with a bearing seat, one end of the connecting rod is hinged with the mounting seat through the bearing seat, and the other end of the connecting rod is hinged with the supporting seat through the bearing seat.
Preferably, one end of the driving connecting rod is hinged with one end of the connecting rod through the bearing seat and the mounting seat.
Preferably, the method further comprises: the pressure head is arranged at the other end of the positioning clamp and opposite to the baffle plate, the pressure head can axially approach or depart from the baffle plate along the supporting seat, and the supporting seat is arranged between the pressure head and the baffle plate.
Preferably, the middle part of the pressure head protrudes along the axial direction of the base and away from the baffle.
Preferably, the protrusions are V-shaped protrusions.
Preferably, the method further comprises: a punch disposed above the cylindrical projection. .
The beneficial effects of the invention are as follows:
the circular arc track movement mechanism under the multi-positioning constraint condition provided by the invention has the advantages that the track process of manually placing the parts is simulated by the placement of the parts, the automation of the positioning constraint conveying movement of the parts is realized, and the manual operation can be replaced with high efficiency; the mechanism is designed in a modularized way, and the adjustability and unification degree are high; the mechanism only needs one drive, realizes multi-positioning constraint avoidance, and has high reliability.
Drawings
Fig. 1 is a schematic diagram of the working principle of the circular arc track motion mechanism under the multi-positioning constraint condition.
Fig. 2 is a schematic structural diagram of the circular arc track motion mechanism under the multi-positioning constraint condition of the invention.
Fig. 3 is a schematic structural diagram of the circular arc track motion mechanism under the multi-positioning constraint condition of the invention.
Fig. 4 is a schematic diagram of a working process state of the circular arc track movement mechanism under the multi-positioning constraint condition.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed in breadth and scope in accordance with the appended claims. In the drawings, the size and relative sizes of structures and regions may be exaggerated for clarity.
The complex part is a cup-shaped complex part, one end of the complex part is open, the other end of the complex part is a spherical end face, the top surface and the bottom surface are horizontal planes, and positioning round holes are formed.
The invention is an innovative application of a four-bar mechanism, as shown in fig. 1, wherein a bottom supporting seat 110 is fixed, two side connecting bars 130 do circular arc track motion with radius r, and a lifting seat 120 keeps horizontal and drops in a circular arc. T is a straight line horizontal driving, driving connecting rod 140, and driving connecting rod 140 drives the four-bar mechanism to move. The invention utilizes the characteristics of the arc motion track, the included angle between the connecting rod 130 and the vertical direction and the included angle between the arc motion direction v and the horizontal direction are a, the included angle a gradually increases to 90 degrees along with the motion, namely the arc motion direction v is changed from incline to vertical, so that the part avoids the constraint in the motion space, the end face positioning of the part by the spherical positioning groove 181 of the baffle 180 is realized, the round hole on the bottom surface of the part approximately vertically falls into the positioning cylindrical boss 171, and the positioning constraint of the part is realized. The arc track simulates the track of manually placed parts, and is simple and reliable.
Specifically, the invention provides an arc track movement mechanism under a multi-positioning constraint condition, as shown in fig. 2 and 3, which comprises: a base 100; and a supporting base 110 fixedly disposed at both sides of the base 110; the lifting seat 120 is horizontally arranged above the supporting seat 110, the lifting seat 120 is provided with a U-shaped opening, the opening end of the lifting seat is radially arranged along the base 100, and the lifting seat can be horizontally sent from the U-shaped opening end in the automatic sending and taking process of the parts, so that the sending and taking process is simplified; one end of each of the plurality of connecting rods 130 is hinged to four corners of the lifting seat 120, and the other end of each of the plurality of connecting rods is hinged to the supporting seat 110; one end of the driving link 140 is hinged to one end of any of the links 130, the driving link 140 horizontally reciprocates, the driving link 130 performs an arc motion, and further drives the lifting seat 120 to axially reciprocate along the supporting seat 110, and the lifting seat 120 also performs a repeated lifting motion during the reciprocating motion of the lifting seat 120. In this embodiment, the open end and the closed end of the U-shaped structure extend along two sides of the axial direction (length direction) of the base 100 and are provided with mounting seats 121, the mounting seats 121 and the supporting seats 110 are respectively provided with bearing seats 111, one end of the connecting rod 130 is hinged with the mounting seats 121 through the bearing seats 111, and the other end of the connecting rod 130 is hinged with the supporting seats 110 through the bearing seats 111. One end of the driving connecting rod 140 is hinged to one end of the connecting rod 130 through the bearing block 111 and the mounting block 121. The plurality of connecting rods, the supporting seat and the lifting seat form a parallelogram mechanism, the bottom surface of the mechanism is the supporting seat, and the top surface is the lifting seat. The driving connecting rod is hinged with the top end rotating shaft of the connecting rod, the driving connecting rod is horizontally pulled or pushed by the linear driving piece, and the driving connecting rod drives the parallelogram mechanism to do circular arc track movement.
In this embodiment, the method further includes: a driving sliding table 150, which is disposed on one side of the supporting seat 110 and is fixedly connected with the base 100, and a protrusion 151 is axially disposed on the driving sliding table 150; a linear driving member 160, the bottom surface of which is axially provided with a sliding groove (not shown) matching with the protrusion 151, and the linear driving member 160 is capable of moving axially along the driving sliding table 150; the fixed seat 161 is fixedly connected with one end of the linear driving member 160, and the other end of the driving link 140 is hinged with the fixed seat 161. When the linear driving member 160 axially reciprocates along the driving sliding table 150, the driving link 140 is driven to horizontally reciprocate, so as to drive the lifting seat 120 to axially reciprocate along the supporting seat 110, and the lifting seat 120 also repeatedly moves in a lifting manner during the reciprocating movement of the lifting seat 120.
In this embodiment, the method further includes: a positioning clamp 170 detachably and horizontally installed on the base 100 and located below the lifting seat 120, wherein a cylindrical protrusion 171 is provided at the center of the positioning clamp for fixing a positioning round hole at the bottom of the complex part 200; baffle 180, it is along base 100 axial direction (width direction) vertical fixed setting is in positioning fixture 170 one end, and towards the vertical face center of positioning fixture 170 one side is provided with recess 181, the spherical end part at complex part rear portion overlaps with baffle 180's recess 181, complex part's bottom surface round hole with the cooperation of cylindrical protruding 171 and complex part attached spherical terminal surface with recess 181's cooperation has restricted complex part 200 in X, Y axial direction's removal and around X, Y axle's rotation, has also restricted complex part 200Z axial direction's removal and around Z axle's rotation, has realized complex part's many location constraint. The positioning clamp 170 and the baffle 180 are fixedly connected, and the sizes of the positioning clamp 170 and the baffle 180 and the sizes of the protrusions and the grooves 181 of the cylindrical 171 can be detachably changed according to the sizes and the dimensions of complex parts so as to adapt to the complex parts with different sizes and models.
In this embodiment, the method further includes: a pressing head 190, which is disposed at the other end of the positioning fixture 170 and opposite to the baffle 180, the pressing head 190 can be axially close to or far from the baffle 180 along the base 100, and the supporting seat 120 is disposed between the pressing head 190 and the baffle 180. The middle part of the ram 190 protrudes along the axial direction of the supporting seat 110 and away from the baffle 180. The protrusions are V-shaped protrusions. Also included is a punch 191 disposed above the cylindrical projection 171. And when the complex part is subjected to multi-positioning constraint, processing the complex part. The ram 190 moves in a direction approaching the baffle 180, and the V-shaped protrusion structure thereof seals the two sheets of the complex part 200 together, and the punch 191 performs secondary punching on the round hole of the complex part 200 downward. It is to be noted that: ram 190, punch 191, positioning fixture 170, baffle 180, base 100 are not the subject of the present invention and may be considered part of a punch press, constituting a constraint.
The working process state is specifically shown in fig. 4:
the initial limit position of the complex part 200 is shown in state 1, and the top of the complex part 200 is used as a reference line to obtain a longitudinal position A-1 and a transverse position B-1, wherein the included angle between the connecting rod 130 and the vertical direction is a. The driving link 140 is an active lever driven by a horizontal drive T. In state 2, the longitudinal position of the part 200 is lowered to position A-2, the transverse position is moved to the left to position B-2, and the included angle a is increased; the end limit position is shown as state 3, the longitudinal height of the part is lowered to a position A-3, the transverse height is moved to the left to a position B-3, the included angle a is increased to 90 degrees, and the instantaneous movement direction of the part is vertical. The parts are restrained by both the baffle recess 181 and the cylindrical protrusion 171. Throughout this movement, the part 200 and the lifting seat 120 remain horizontal.
In the moving process, the driving connecting rod 140 drives the connecting rod 130 to perform circular arc movement with the central angle smaller than 90 degrees, so that the complex part 200 moves backwards and downwards, the moving process is circular arc movement, the spherical end surface of the part 200 can smoothly enter the spherical positioning groove 181 of the baffle 180, when the connecting rod 130 approaches to the end limit position, the horizontal position is about to be reached, the included angle a approaches to 90 degrees, and the moving speed is approximately vertical and downward, so that the part 200 can be smoothly placed on the cylindrical protrusion 171.
The circular arc track movement mechanism under the multi-positioning constraint condition provided by the invention has the advantages that the track process of manually placing the parts is simulated by the placement of the parts, the automation of the positioning constraint conveying movement of the parts is realized, and the manual operation can be replaced with high efficiency; the mechanism is designed in a modularized way, and the adjustability and unification degree are high; the mechanism only needs one drive, realizes multi-positioning constraint avoidance, and has high reliability.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. The utility model provides a circular arc orbit motion under many location constraint conditions, its characterized in that includes:
a base; and
the supporting seats are fixedly arranged on two sides of the base;
the lifting seat is horizontally arranged above the base, is provided with a U-shaped opening, and the opening end of the lifting seat is radially arranged along the base;
one end of each connecting rod is hinged with four corners of the lifting seat, and the other end of each connecting rod is hinged with the supporting seat;
one end of the driving connecting rod is hinged with one end of any connecting rod and is used for driving the lifting seat to axially move along the supporting seat;
the driving sliding table is arranged on one side of the supporting seat and fixedly connected with the base, and a bulge is axially arranged on the driving sliding table;
the bottom surface of the linear driving piece is axially provided with a sliding groove matched and corresponding to the bulge, and the linear driving piece can axially move along the driving sliding table;
the fixed seat is fixedly connected with one end of the linear driving piece, and the other end of the driving connecting rod is hinged with the fixed seat;
the positioning clamp is detachably and horizontally arranged on the base and positioned below the lifting seat, and a cylindrical bulge is arranged at the center of the positioning clamp;
the baffle plate is vertically and fixedly arranged at one end of the positioning clamp along the axial direction of the base, and a groove is formed in the center of a vertical surface facing one side of the positioning clamp;
the lifting seat keeps horizontal and falls in an arc shape, the motion direction of the arc track is changed from incline to vertical, the plurality of connecting rods, the supporting seat and the lifting seat form a parallelogram mechanism, the bottom surface of the mechanism is the supporting seat, the top surface of the mechanism is the lifting seat, the driving connecting rod is hinged with the top rotating shaft of the connecting rod, the driving connecting rod is horizontally pulled or pushed by the linear driving piece, and the driving connecting rod drives the parallelogram mechanism to do the arc track motion.
2. The arc track motion mechanism under the multi-positioning constraint condition according to claim 1, wherein four corners of the lifting seat extend along two axial sides of the base and are provided with mounting seats, and the connecting rod is hinged with the mounting seats.
3. The arc track movement mechanism under the multi-positioning constraint condition according to claim 2, wherein bearing seats are respectively arranged on the mounting seat and the supporting seat, one end of the connecting rod is hinged with the mounting seat through the bearing seats, and the other end of the connecting rod is hinged with the supporting seat through the bearing seats.
4. A multi-positioning constraint circular arc path motion mechanism according to claim 3 wherein one end of the drive link is hinged to the mounting base via the bearing block with one end of the link.
5. The multi-positioning constraint circular arc trajectory mechanism of claim 2, further comprising: the pressure head is arranged at the other end of the positioning clamp and opposite to the baffle plate, the pressure head can axially approach or depart from the baffle plate along the supporting seat, and the supporting seat is arranged between the pressure head and the baffle plate.
6. The multi-positioning constraint circular arc path motion mechanism according to claim 5 wherein the ram middle portion is convex along the base axis and away from the baffle.
7. The multi-positioning constraint circular arc path motion mechanism of claim 6 wherein the protrusion is a V-shaped protrusion.
8. The multi-positioning constraint circular arc trajectory mechanism of claim 2, further comprising: a punch disposed above the cylindrical projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382836.0A CN108356137B (en) | 2018-04-26 | 2018-04-26 | Arc track movement mechanism under multi-positioning constraint condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382836.0A CN108356137B (en) | 2018-04-26 | 2018-04-26 | Arc track movement mechanism under multi-positioning constraint condition |
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| Publication Number | Publication Date |
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| CN108356137A CN108356137A (en) | 2018-08-03 |
| CN108356137B true CN108356137B (en) | 2023-10-13 |
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| CN201810382836.0A Active CN108356137B (en) | 2018-04-26 | 2018-04-26 | Arc track movement mechanism under multi-positioning constraint condition |
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