CN108515119B - Discharging robot for container corner post plate bending line - Google Patents
Discharging robot for container corner post plate bending line Download PDFInfo
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- CN108515119B CN108515119B CN201810464817.2A CN201810464817A CN108515119B CN 108515119 B CN108515119 B CN 108515119B CN 201810464817 A CN201810464817 A CN 201810464817A CN 108515119 B CN108515119 B CN 108515119B
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- 238000005452 bending Methods 0.000 title claims abstract description 24
- 238000007599 discharging Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 238000013519 translation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- 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
-
- 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
A blanking robot for a container corner post plate bending line relates to a mechanical manufacturing robot, and the blanking robot comprises an upper 2-degree-of-freedom plane parallel mechanism and a lower grabbing mechanism; the upper moving part comprises a slide block guide rail, a screw rod motor and a transverse moving carrier plate; the long guide rail A (1) and the long guide rail B (4) are respectively arranged at the upper part and the lower part of the side surface of the cross beam, the long lead screw A (2) and the long lead screw B (3) are arranged between the two guide rails, two ends of the lead screw are supported by bearing blocks (13), a lead screw motor A (16) is connected with the long lead screw A (2) through a coupler (14), and the lead screw motor A (16) is arranged at the left end of the long lead screw A (2); the screw motor B (19) is connected with the long screw B (3) through a coupler (14), and the screw motor B (19) is arranged at the right end of the long screw B (3); the invention realizes 180-degree turning of the bending line workpiece of the corner post plate of the container, greatly reduces inertia, has better dynamic characteristics and has the characteristics of high speed, high precision and high reliability.
Description
Technical Field
The invention relates to a mechanical manufacturing robot, in particular to a blanking robot for a container corner post plate bending line.
Background
Containers have become an important form of modern transportation due to their high efficiency, convenience and safety. The rapid increase in demand for modern containers has prompted the rapid development of container manufacturing. Wherein, the standard dry goods container produced in China accounts for more than 95% of the world output, and the sales of the container is kept the first world for more than ten years. The container manufacturing industry has formed a strong market competition environment, and the cost reduction and the production efficiency improvement become key of container manufacturing enterprises. The bending forming of the plate is taken as an important metal plastic processing method, and is widely applied to the production and the manufacture of containers, and the cost and the production efficiency of the container manufacture are directly influenced by the level of the plate forming technology.
At present, the plate bending production line of most container enterprises still adopts a semi-manual and semi-automatic production mode. On the one hand, the specific gravity of the metal plate is large, so that the labor intensity of workers is high, the edge of the plate is sharp, scratches are easily caused, the bending pressure is large, and if hands are carelessly put under the knife edge, fingers are pressed off, so that the working environment is extremely bad. On the other hand, it is difficult to improve the quality of the product because the level of skill, proficiency and fatigue of the worker all cause uneven quality of the product. The corner posts are important components of the container, the bending process is mainly divided into 2 steps, the first step is to form a U-shaped plate, and the second step is to turn the U-shaped plate 180 degrees to realize second bending. At present, most of plate bending lines used for welding corner posts still rely on manpower to load and unload materials and overturn U-shaped plates, and a few of plate bending lines adopt a general six-axis robot to realize loading and unloading materials, and because a workpiece is longer, a turnover device is still needed, and the efficiency is low. Therefore, the feeding and discharging robot of the bending machine, which can finish overturning and is used for producing corner post plates, has high practical significance, and can provide reference and a certain theoretical basis for automatic upgrading of the whole container production in the future.
Disclosure of Invention
The invention aims to provide a blanking robot for a container corner post plate bending line, which drives the tail end of a grabbing mechanism to horizontally move left and right and up and down through a 2-degree-of-freedom plane parallel mechanism. In the process of horizontally moving and transferring the workpiece by the robot, the workpiece is turned over by utilizing the rotating mechanism at the tail end of the grabbing mechanism, so that the time for individually turning over the workpiece in the past is saved, and the production efficiency of the bending production line is improved.
The invention aims at realizing the following technical scheme:
The invention relates to a loading and unloading robot for a container corner post plate bending line, which consists of a lower grabbing mechanism and a 2-degree-of-freedom plane moving mechanism, wherein the 2-degree-of-freedom plane moving mechanism mainly comprises a slide block guide rail, a lead screw motor and a transverse moving carrier plate. The long guide rail A and the long guide rail B are respectively arranged on the upper side and the lower side of the side face of the cross beam, the long lead screw A and the long lead screw B are arranged between the two guide rails, two ends of the lead screw are supported by bearing seats, the lead screw motor A is connected with the long lead screw A through a coupler, and the lead screw motor A is arranged at the left end of the long lead screw A. The screw motor B is connected with the long screw rod B through a coupler, and the screw motor B is arranged at the right end of the long screw rod B. The movable carrier plate A and the movable carrier plate B slide left and right along the long guide rail through the sliding blocks A and B fixed at the lower parts of the movable carrier plate A and the movable carrier plate B. The lower end of the movable carrier plate A is fixed with a screw ball bushing A, the screw ball bushing A is matched with the long screw rod A, and the long screw rod A is driven to rotate by a screw motor A to drive the movable carrier plate A to move left and right. The lower end of the movable carrier plate B is fixed with a screw ball bushing B, the screw ball bushing B is matched with the long screw B, and the long screw B is driven to rotate by a screw motor B to drive the movable carrier plate B to move left and right. The upper revolute pair support is fixed on the lower side of the movable carrier plate and is connected with the connecting rod in a shaft fit manner.
The lower part snatchs the mechanism and mainly includes snatching the mechanism support, cylinder, rotating electrical machines, centre gripping manipulator, slider guide rail. The short guide rail slide block mechanism is fixed on two sides of the lower part of the grabbing mechanism bracket, and the clamping carrier plate is connected with the slide block. The cylinder is fixed in the side of grabbing mechanism support, and the piston rod front end of cylinder is fixed to the centre gripping carrier plate, and the centre gripping carrier plate realizes controlling the removal and then realizes centre gripping and release action through the shrink of cylinder piston rod. The rotation motor is arranged on the outer side of the clamping carrier plate and drives the clamping manipulator to rotate through the coupler. The lower revolute pair support is arranged on the upper part of the grabbing mechanism support and is connected with the connecting rod through shaft fit. Thus, the upper moving mechanism and the lower grabbing mechanism are connected into a whole through four parallel connecting rods.
The connecting rods are two-by-two connected with the two movable carrier plates and the left end and the right end of the grabbing mechanism bracket respectively, and are combined with the guide rail sliding blocks to form a 2-degree-of-freedom plane parallel mechanism, so that the vertical translation and the horizontal translation are realized.
The front end of the clamping manipulator is provided with a U-shaped plate, and when the clamping manipulator performs clamping action, the corner post plate workpiece is clamped in the U-shaped plate groove.
The invention has the advantages and effects that:
1. The 2 lead screws and the guide rail sliding block mechanism realize left-right translation, and simultaneously skillfully utilize the parallel mechanism to realize the movement of the grabbing mechanism in the vertical direction. In the process of horizontally moving and transferring the workpiece by the robot, the workpiece is turned 180 degrees by utilizing the rotating mechanism at the tail end of the grabbing mechanism, so that the time for turning the workpiece in the past is saved, and the production efficiency of the bending production line is improved. The 2-degree-of-freedom plane parallel mechanism is adopted, the mass of a moving part of the rectangular coordinate robot relative to the 2-degree-of-freedom plane parallel mechanism is greatly reduced, inertia is also greatly reduced, dynamic characteristics are better, and the rectangular coordinate robot has the characteristics of high speed, high precision and high reliability.
2. According to the invention, the synchronous overturning of the workpieces is realized in the process of feeding and discharging the workpieces, the time required by independent overturning is saved, and the production efficiency is greatly improved. Compared with the mechanical arm with multiple degrees of freedom, the invention has the advantages of simple structure, low price, simple operation, convenient maintenance and the like.
Drawings
FIG. 1 is a schematic diagram of the structural composition of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at I;
FIG. 3 is a schematic view of an upper moving mechanism of the present invention;
FIG. 4 is an enlarged view of a portion at II of FIG. 3;
Fig. 5 is a schematic view of the lower grabbing mechanism of the present invention.
The components in the figure: 1-a long guide rail A; 2-a filament bar A; 3-a long screw B; 4-long guide rail B; 5-moving the carrier plate B; 6-upper revolute pair support; 7-connecting rods; 8-a lower revolute pair support; 9-cylinder; 10-clamping the carrier plate; 11-a rotating motor; 12-clamping a manipulator; 13-bearing seats; 14-coupling; 15-a motor base; 16-lead screw motor a; 17-a gripping mechanism support; 18-a cross beam; 19-a lead screw motor B; 20-upright posts; 21-a bending machine B; 22-an automatic workpiece discharging mechanism; 23-bending machine A; 24-an automatic workpiece feeding mechanism; 25-a short guide rail slide block mechanism; 26-corner post plate workpieces to be transferred; 27-a slider a; 28-moving the carrier plate A; 29-lead screw ball bushing B; 30-a sliding block B; 31-lead screw ball bushing a.
Detailed Description
The invention will be further elucidated with reference to an embodiment shown in the drawings.
The invention is composed of a lower grabbing mechanism and a 2-degree-of-freedom plane parallel mechanism. The 2-degree-of-freedom planar parallel mechanism mainly comprises a slide block guide rail, a lead screw motor and a transverse moving carrier plate. The long guide rail A and the long guide rail B are respectively arranged on the upper part and the lower part of the side surface of the cross beam, the long screw rod A and the long screw rod B are arranged between the two guide rails, two ends of the screw rod are supported by bearing seats, the screw rod motor A is connected with the long screw rod A through a coupler, and the screw rod motor A is arranged at the left end of the long screw rod A. The screw motor B is connected with the long screw rod B through a coupler, and the screw motor B is arranged at the right end of the long screw rod B. The movable carrier plate A and the movable carrier plate B slide left and right along the long guide rail through the sliding blocks A and B fixed at the lower parts of the movable carrier plate A and the movable carrier plate B. The lower end of the movable carrier plate A is fixed with a screw ball bushing A, the screw ball bushing A is matched with the long screw rod A, and the long screw rod A is driven to rotate by a screw motor A to drive the movable carrier plate A to move left and right. The lower end of the movable carrier plate B is fixed with a screw ball bushing B, the screw ball bushing B is matched with the long screw B, and the long screw B is driven to rotate by a screw motor B to drive the movable carrier plate B to move left and right. The upper revolute pair support is fixed on the lower side of the movable carrier plate and is connected with the connecting rod in a shaft fit manner. The lower part snatchs the mechanism and mainly includes snatching the mechanism support, cylinder, rotating electrical machines, centre gripping manipulator, slider guide rail. The short guide rail slide block mechanism is fixed on two sides of the lower part of the grabbing mechanism bracket, and the clamping carrier plate is connected with the slide block. The cylinder is fixed in the side of grabbing mechanism support, and the piston rod front end of cylinder is fixed to the centre gripping carrier plate, and the centre gripping carrier plate realizes controlling the removal and then realizes centre gripping and release action through the shrink of cylinder piston rod. The rotation motor is arranged on the outer side of the clamping carrier plate and drives the clamping manipulator to rotate through the coupler. The lower revolute pair support is arranged on the upper part of the grabbing mechanism support and is connected with the connecting rod through shaft fit. Thus, the upper moving mechanism and the lower grabbing mechanism are connected into a whole through four parallel connecting rods.
Example 1
As shown in the figure, the structure of the invention mainly comprises a 2-degree-of-freedom plane parallel mechanism and a lower grabbing mechanism: the 2-degree-of-freedom planar parallel mechanism mainly comprises a slide block guide rail, a screw rod motor, a transverse moving plate and 4 connecting rods. The long guide rail A1 and the long guide rail B4 are respectively arranged on the upper side and the lower side of the beam, the long lead screw A2 and the long lead screw B3 are arranged between the two guide rails, two ends of the lead screw are supported by bearing blocks 13, a lead screw motor A16 is connected with the long lead screw A through a coupler 14, and the lead screw motor A16 is arranged at the left end of the long lead screw A. The screw motor B19 is connected with the long screw B through the coupler 14, and the screw motor B19 is arranged at the right end of the long screw B. The movable carrier a28 and the movable carrier B5 slide laterally along the long rail by the sliders a27 and B30 fixed to the lower portions thereof. The lower end of the movable carrier plate A28 is fixed with a screw ball bushing A31, the screw ball bushing A31 is matched with the long screw A2, and the long screw A2 is driven to rotate by a screw motor A16 to drive the movable carrier plate A28 to move left and right. The lower end of the movable carrier plate B5 is fixedly provided with a screw ball bushing B29, the screw ball bushing B29 is matched with the long screw B3, and the long screw B3 is driven to rotate by the screw motor B19 to drive the movable carrier plate B5 to move left and right. The upper revolute pair support 6 is fixed on the lower side of the movable carrier plate and is connected with the connecting rod 7 through shaft fit.
The lower part snatchs the mechanism and mainly includes snatching the mechanism support, cylinder, rotating electrical machines, centre gripping manipulator, slider guide rail. The short guide rail slide block mechanism 23 is fixed on two sides of the lower part of the grabbing mechanism bracket 17, and the clamping carrier plate 10 is connected with the slide blocks. The cylinder 9 is fixed on the side surface of the grabbing mechanism bracket 17, the front end of a piston rod of the cylinder is fixed on the clamping carrier plate 10, and the clamping carrier plate 10 moves left and right through contraction of the piston rod of the cylinder so as to realize clamping and releasing actions. The rotating motor 11 is installed on the outer side of the clamping carrier plate 10, and drives the clamping manipulator 12 to rotate through a coupler. The lower revolute pair support 8 is arranged on the upper part of the grabbing mechanism support 17 and is connected with the connecting rod 7 through shaft fit.
When the loading and unloading robot works, the workpiece plate is firstly sent to the bending machine A23 by the automatic workpiece loading mechanism 24 to be bent in a U shape, and the first bending operation is completed. After bending, the robot moves to the upper part of a workpiece, the lead screw motor A16 and the lead screw motor B19 drive the long lead screw A2 and the long lead screw B3 to simultaneously drive the movable carrier plate A28 and the movable carrier plate B5 to move inwards relatively, the lower grabbing mechanism is driven to move downwards, after the lower grabbing mechanism moves in place, the air cylinders 9 on two sides push the clamping carrier plates 10 on two sides to move inwards to clamp the workpiece, the lead screw motor A16 and the lead screw motor B19 drive the long lead screw A2 and the long lead screw B3 to simultaneously drive the movable carrier plate A28 and the movable carrier plate B5 to move outwards relatively, the lower grabbing mechanism is driven to move upwards, when a specified height is moved, the lead screw motor A16 and the lead screw motor B19 drive the long lead screw A2 and the long lead screw B3 to simultaneously drive the movable carrier plate A28 and the movable carrier plate B5 to move outwards, translation is realized at the moment, meanwhile, the two sides rotate the mechanical arm 12 to rotate 180 degrees, and after the translation is in place, the lead screw motor A16 and the lead screw motor B19 drive the long lead screw A2 and the long lead screw B3 to simultaneously drive the movable carrier plate A28 and the movable carrier plate B5 to move inwards, the lead screw motor B9 and the long lead screw B2 and the long lead screw B3 to move outwards relatively, and the long lead screw B3 to drive the long lead screw B2 and the long lead screw B5 to move outwards to move the movable carrier plate B2 and the movable carrier plate B5 to move outwards relatively to move the opposite the movable carrier plate A and the lead screw B2 and the holding mechanism to move outwards and the lower 2 and the holding plate B2 to move outwards and the holding plate B2. Then the robot resets, and the grabbing mechanism stops above the first bending and is ready to grab the next workpiece.
Claims (1)
1. The blanking robot for the container corner post plate bending line is characterized by comprising an upper 2-degree-of-freedom plane parallel mechanism and a lower grabbing mechanism; the upper moving part comprises a slide block guide rail, a screw rod motor and a transverse moving carrier plate; the long guide rail A (1) and the long guide rail B (4) are respectively arranged at the upper part and the lower part of the side surface of the cross beam, the long lead screw A (2) and the long lead screw B (3) are arranged between the two guide rails, two ends of the lead screw are supported by bearing blocks (13), a lead screw motor A (16) is connected with the long lead screw A (2) through a coupler (14), and the lead screw motor A (16) is arranged at the left end of the long lead screw A (2); the screw motor B (19) is connected with the long screw B (3) through a coupler (14), and the screw motor B (19) is arranged at the right end of the long screw B (3); the movable carrier A (28) and the movable carrier B (5) are connected with a long guide rail to dynamically slide left and right through a sliding block A (27) and a sliding block B (30) which are fixed at the lower part of the movable carrier A and the movable carrier B; a screw ball bushing A (31) is fixed at the lower end of the movable carrier plate A28, the screw ball bushing A31 is matched with the long screw A (2), and a screw motor A (16) is connected with the long screw A (2) and the movable carrier plate A (28); a screw ball bushing B (29) is fixed at the lower end of the movable carrier plate B (5), the screw ball bushing B (29) is matched with the long screw B (3), and a screw motor B (19) is connected with the long screw B (3) and the movable carrier plate B (5); the upper revolute pair support 6 is fixed on the lower side of the movable carrier plate and is connected with the connecting rod 7 through shaft fit;
The lower grabbing mechanism comprises a grabbing mechanism bracket, a cylinder, a rotating motor, a clamping manipulator and a sliding block guide rail; the short guide rail sliding block mechanism (23) is fixed on two sides of the lower part of the grabbing mechanism bracket (17), and the clamping carrier plate (10) is connected with the sliding block; the cylinder (9) is fixed on the side surface of the grabbing mechanism bracket (17), the front end of a piston rod of the cylinder is fixed on the clamping carrier plate (10), and the clamping carrier plate (10) is connected with the piston rod of the cylinder; the rotating motor (11) is arranged at the outer side of the clamping carrier plate (10) and is connected with the clamping manipulator (12) through a coupler; the lower revolute pair support 8 is arranged at the upper part of the grabbing mechanism bracket (17) and is connected with the connecting rod (7) through shaft fit; therefore, the 2-degree-of-freedom plane parallel mechanism and the lower grabbing mechanism are connected into a whole through four parallel connecting rods;
The connecting rods are connected with the left end and the right end of the two movable carrier plates and the grabbing mechanism bracket in a group-by-group mode, and are combined with the guide rail sliding blocks to form a 2-degree-of-freedom plane parallel mechanism;
The front end of the clamping manipulator is provided with a U-shaped plate, and the workpiece is clamped in the U-shaped plate groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810464817.2A CN108515119B (en) | 2018-05-16 | 2018-05-16 | Discharging robot for container corner post plate bending line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810464817.2A CN108515119B (en) | 2018-05-16 | 2018-05-16 | Discharging robot for container corner post plate bending line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108515119A CN108515119A (en) | 2018-09-11 |
| CN108515119B true CN108515119B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810464817.2A Active CN108515119B (en) | 2018-05-16 | 2018-05-16 | Discharging robot for container corner post plate bending line |
Country Status (1)
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| CN (1) | CN108515119B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624342A (en) * | 2019-01-28 | 2019-04-16 | 浙江工业大学之江学院 | A kind of seal strip for refrigerator door quadrangle bonding machine feeding grabbing device |
| CN116586478B (en) * | 2023-07-17 | 2023-09-26 | 河南丰收新能源车辆集团有限公司 | Automatic bending machine for bottom plate of tricycle carriage |
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| CN108515119A (en) | 2018-09-11 |
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