CN110405100A - A kind of manipulator general assembly - Google Patents
A kind of manipulator general assembly Download PDFInfo
- Publication number
- CN110405100A CN110405100A CN201910761671.2A CN201910761671A CN110405100A CN 110405100 A CN110405100 A CN 110405100A CN 201910761671 A CN201910761671 A CN 201910761671A CN 110405100 A CN110405100 A CN 110405100A
- Authority
- CN
- China
- Prior art keywords
- axis
- platform
- manipulator
- general assembly
- altimetric compensation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or 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
- 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
-
- 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
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- 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
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator general assembly, including reclaimer robot device and for the altimetric compensation platform of transfer；Reclaimer robot device includes tool there are two the manipulator of mechanical arm, on the Z axis movable base plate that manipulator can be vertically moved up or down and move left and right at one；Two mechanical arm motion tracks are respectively Automatic-feeding platform to transfer altimetric compensation platform, transfer altimetric compensation platform to compressor operation platform；Weighing sensor is arranged in transfer altimetric compensation platform, including lifting device, platform board, platform board lower section, and platform board upper surface is provided with multiple guide-localization seats for fine positioning.Manipulator is vertically moved and is moved left and right by driving device driving by the present invention, can be realized simultaneously tablet from feeding platform grab fine positioning on altimetric compensation platform, altimetric compensation and accurate positioning are carried out, and the good tablet of fine positioning is transmitted to press and is suppressed.Realize that the transmitting of workpiece improves yield to guarantee the quality of punching press.
Description
Technical field
The invention belongs to technical fields of mechanical processing, are that Automobile Parts automatic punching device supplies more particularly to one kind
The manipulator general assembly of material.
Background technique
In stamped industry, punching machine processing technology generally use it is artificial carry out feeding and pickup, first it is long because of worker when
Between work after can generate fatigue so not can guarantee in safety, second because artificial feeding and discharging speed be by depending on worker,
It not can guarantee in yield and quality, while increasing the life of company in this way if to improve yield and must increase personnel and shift yet
Produce cost.So there is an urgent need to one kind can greatly reduce labor intensity for the sector, while it can guarantee productivity again and producing
Quality improves production stability and safety, the automation equipment for the production efficiency that reduces that increased production cost.
It needs that press will be sent to after raw steel precise positioning that Automatic-feeding platform provides in automatic press system
Carry out punching press.
Summary of the invention
Automatic-feeding platform can be mentioned by providing one kind present invention aims at the needs for automatic stamping assembly line
The manipulator general assembly that press carries out punching press is sent to after the raw steel precise positioning of confession.
The present invention to achieve the above object, adopts the following technical scheme that
A kind of manipulator general assembly, it is characterised in that: it includes reclaimer robot device and is arranged in the reclaimer robot device
The altimetric compensation platform in front；
The reclaimer robot device includes tool there are two the manipulator of mechanical arm, and the manipulator setting can vertically rise at one
Drop and the Z axis movable base plate that moves left and right on；Two mechanical arm motion tracks are respectively preceding road Automatic-feeding platform to institute
State altimetric compensation platform, the altimetric compensation platform to rear road compressor operation platform；
The altimetric compensation platform, including lifting device are provided with platform board on the lifting device, set below the platform board
It is equipped with weighing sensor, the platform board upper surface is provided with multiple guide-localization seats.
It is further characterized by: the reclaimer robot device includes
Manipulator, the manipulator are arranged on Z axis movable base plate, and the manipulator includes X-axis guide rail and is arranged in the X-axis
Two mechanical arms on guide rail；It is moved horizontally by the X-axis driving device driving being arranged on the Z axis movable base plate, makes two
Mechanical arm moves between two stations；The mechanical arm is used for grabbing workpiece；
Z axis movable base plate, the Z axis movable base plate are arranged in Z axis cabinet general assembly, are vertically moved by the driving of Z axis driving device；
Pedestal, the Z axis movable base plate setting is on the base.
Further: the X-axis driving device of the Z axis movable base plate is the X of X-axis shift servo motor driven rotation
Axis driving gear is provided with rack gear in the X-axis guide rail；The X-axis driving gear is meshed with the rack gear；The Z axis moves
Being horizontally disposed on dynamic bottom plate has multiple X-axis slide blocks, and the X-axis guide rail is directed to movement in the X-axis slide block.
The Z axis ball screw rotated by Z axis lift servo motor driven, institute are vertically installed in the Z axis cabinet general assembly
Z axis movable base plate is stated to be connected on the Z axis ball screw.
It is vertically installed with multiple Z axis sliding blocks on the Z axis movable base plate, is vertically installed with two in the Z axis cabinet general assembly
A Z axis guide rail, the Z axis movable base plate are vertically moved along the Z axis guide rail.
It is provided with vacuum chuck on two mechanical arms, is used for grabbing workpiece；It is set side by side with by the vacuum chuck
Proximity sensor.
It is further characterized by: the platform board of the altimetric compensation platform is two layers, and the weighing sensor is set
It sets between two layers of platform board；The lifting device includes altimetric compensation platform base, is set on the altimetric compensation platform base
It is equipped with lower axle center support base, is fixedly installed servo motor below the lower axle center support base, the lower axle center support base passes through
Axis rod is connect with upper axle center support base；Have between the upper axle center support base and lower axle center support base by the servo motor
Drive the altimetric compensation platform screw rod of rotation；It is threadedly engaged on the altimetric compensation platform screw rod and is provided with nut, the nut
It is arranged on the support base of platform axle center, platform axle center support base is connected by more axis rods with the platform board.
It is preferred: the guide-localization bar that the guide-localization seat includes pedestal and is arranged on the pedestal；The guiding
Locating rod includes vertical section and tilting section, and the vertical section is fixedly connected with the pedestal, and described tilting section one end is hung down with described
Straight section is connected, and the other end is inclined outwardly.
Multiple shock absorbing rings are provided on platform board between multiple guide-localization seats.
The present invention, which will have to drive there are two the manipulator of mechanical arm by driving device, to be vertically moved and moves left and right,
The raw steel of feeding platform provided is grabbed on altimetric compensation platform, altimetric compensation and accurate positioning is carried out, is transmitting
It is suppressed to press.The transmitting for realizing workpiece, to guarantee the quality of punching press.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is reclaimer robot apparatus structure schematic diagram.
Fig. 3 is robot manipulator structure schematic diagram.
Fig. 4,5 are Z axis movable base plate front and back sides structural schematic diagram.
Fig. 6 is Z axis cabinet general assembly structural schematic diagram.
Fig. 7,8 be two proximity sensors scheme of installation.
Fig. 9 is altimetric compensation platform positive structure diagram.
Figure 10 is Fig. 9 A-A diagrammatic cross-section.
Figure 11 is altimetric compensation platform schematic perspective view.
Specific embodiment
As shown in Figure 1, a kind of manipulator general assembly, including reclaimer robot device I and setting are before reclaimer robot device I
The altimetric compensation platform II of side.
As shown in Figure 2,3, reclaimer robot device, including manipulator 1, Z axis movable base plate 2, pedestal 3.
Manipulator 1 is arranged on Z axis movable base plate 2, and manipulator 1 includes X-axis guide rail 11 and is arranged in X-axis guide rail 11
Two mechanical arms 12.Rack gear 15 is provided in X-axis guide rail 11, Z axis movable base plate 2 has to be driven by X-axis shift servo motor 21
The dynamic X-axis driving gear 22 of turn.X-axis driving gear 22 is meshed with rack gear 15 drives X-axis guide rail 11 to move horizontally, and makes two
Mechanical arm 12 moves between two stations.It is provided with vacuum chuck 13 on two mechanical arms 12, is used for grabbing workpiece.Vacuum chuck
Proximity sensor 14 is set side by side with by the of 13.
As Figure 4-Figure 6, Z axis movable base plate 2 is arranged in Z axis cabinet general assembly 4.It is vertically arranged in Z axis cabinet general assembly 4
Have by the Z axis ball screw 42 of the driving rotation of Z axis lift servo motor 41, Z axis movable base plate 2 is connected to Z axis ball screw 42
On.It is vertically moved by the drive of Z axis ball screw 42.Multiple Z axis sliding blocks 23, Z axis cabinet are vertically installed on Z axis movable base plate 2
It is vertically arranged in general assembly 4 there are two Z axis guide rail 43, Z axis movable base plate 2 is vertically moved along Z axis guide rail 43.Z axis movable base plate 2
Upper be horizontally disposed with has multiple X-axis slide blocks 24, and X-axis guide rail 11 is directed to movement in X-axis slide block 24.
Pedestal 3, Z axis movable base plate 2 are set on the base.
As shown in Figure 7,8, side has Z axis sensor detection lug 61,4 side of Z axis cabinet general assembly on Z axis movable base plate 2
It is provided with Z axis proximity sensor 62, Z axis sensor detection lug 61 and Z axis proximity sensor 62 are matched to be moved for positioning Z axis
The Z axis of dynamic bottom plate 2 is to position.It is provided with X-axis proximity sensor 51 on Z axis movable base plate 2, X-axis biography is provided in X-axis guide rail 11
Sensor detection lug 52, X-axis sensor detection lug 52 and X-axis proximity sensor 51 match the X axis for positioning mechanical arm 1
Position.
Moving drag chain 6 is connected on manipulator 1 and Z axis movable base plate 2.
4 rear portion of Z axis cabinet general assembly is equipped with Z axis cabinet shield 5.
As shown in figs. 9-11, a kind of altimetric compensation platform, including lifting device and platform board 81.
Platform board 81 is two layers, is arranged on lifting device, is provided with weighing sensor 83 between two layers of platform board 81.It is flat
81 upper surface of platen is provided with multiple guide-localization seats 84.Guide-localization seat 84 includes pedestal 814 and is arranged on pedestal 814
Guide-localization bar 815；Guide-localization bar 815 includes vertical section and tilting section, and vertical section is fixedly connected with pedestal 814, tilting section
One end is connected with vertical section, and the other end is inclined outwardly.It is oriented to by tilting section, is accurately positioned by vertical section.
Multiple shock absorbing rings 85 are provided on platform board 81 between guide-localization seat 84.
Lifting device includes altimetric compensation platform base 82, and lower axle center support base is provided on altimetric compensation platform base 82
86, servo motor 89 is fixedly installed below lower axle center support base 86, lower axle center support base 86 passes through axis rod 88 and upper axle center
Support base 87 connects；Have between upper axle center support base 87 and lower axle center support base 86 by the height of the driving rotation of servo motor 89
Compensating platform screw rod 810；It is threadedly engaged on altimetric compensation platform screw rod 810 and is provided with nut 811, nut 811 is arranged in platform
On axle center support base 812, platform axle center support base 812 is connected by more axis rods 88 with platform board 81.Platform axle center branch
It supports between seat 812 and lower axle center support base 86, between platform axle center support base 812 and upper axle center support base 87, is respectively provided with limited
Position block 813.
When the invention works, manipulator 1 increases, and is moved to the left, when the mechanical arm 12 in left side is located at Automatic-feeding platform
When top, the mechanical arm 12 on right side is placed exactly in II top of altimetric compensation platform.At this point, manipulator 1 declines, left side mechanical arm 12
On vacuum chuck 13 draw the raw steel on Automatic-feeding platform, while vacuum chuck 13 on the mechanical arm 12 on right side is inhaled
Take the steel plate on altimetric compensation platform II.Then, mechanical arm 12 rises and moves right, and the mechanical arm 12 in left side is located at height and mends
When repaying II top of platform, the mechanical arm 12 on right side is placed exactly in above the workbench of press.Mechanical arm 12 declines, the machinery in left side
Raw steel is placed on the platform board 81 of altimetric compensation platform II by arm 12 carries out altimetric compensation and accurate positioning, the machine on right side
Raw steel is placed on the workbench of press by tool arm 12.And the guide-localization seat 84 on platform board can to raw steel into
Row is accurately positioned.Weighing sensor 85 can be used to prevent steel plate lamination.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitute or equivalent transformation shape
At technical solution, all fall within the protection scope of this patent requirement.
Claims (9)
1. a kind of manipulator general assembly, it is characterised in that: it includes that reclaimer robot device and setting are filled in the reclaimer robot
Set the altimetric compensation platform in front；
The reclaimer robot device includes tool there are two the manipulator of mechanical arm, and the manipulator setting can vertically rise at one
Drop and the Z axis movable base plate that moves left and right on；Two mechanical arm motion tracks are respectively preceding road Automatic-feeding platform to institute
State altimetric compensation platform, the altimetric compensation platform to rear road compressor operation platform；
The altimetric compensation platform, including lifting device are provided with platform board on the lifting device, set below the platform board
It is equipped with weighing sensor, the platform board upper surface is provided with multiple guide-localization seats.
2. manipulator general assembly as described in claim 1, it is characterised in that: the reclaimer robot device includes
Manipulator, the manipulator are arranged on Z axis movable base plate, and the manipulator includes X-axis guide rail and is arranged in the X-axis
Two mechanical arms on guide rail；It is moved horizontally by the X-axis driving device driving being arranged on the Z axis movable base plate, makes two
Mechanical arm moves between two stations；The mechanical arm is used for grabbing workpiece；
Z axis movable base plate, the Z axis movable base plate are arranged in Z axis cabinet general assembly, are vertically moved by the driving of Z axis driving device；
Pedestal, the Z axis movable base plate setting is on the base.
3. manipulator general assembly as claimed in claim 2, it is characterised in that: the X-axis driving device of the Z axis movable base plate
For the X-axis driving gear of X-axis shift servo motor driven rotation, rack gear is provided in the X-axis guide rail；The X-axis driving tooth
Wheel is meshed with the rack gear；Being horizontally disposed on the Z axis movable base plate has multiple X-axis slide blocks, and the X-axis guide rail is in the X
Movement is directed in axis sliding block.
4. manipulator general assembly as claimed in claim 2, it is characterised in that: be vertically installed in the Z axis cabinet general assembly by Z axis
The Z axis ball screw of lift servo motor driven rotation, the Z axis movable base plate are connected on the Z axis ball screw.
5. manipulator general assembly as claimed in claim 4, it is characterised in that: be vertically installed with multiple Z on the Z axis movable base plate
Axis sliding block is vertically arranged in the Z axis cabinet general assembly there are two Z axis guide rail, and the Z axis movable base plate hangs down along the Z axis guide rail
Translation is dynamic.
6. manipulator general assembly as described in any one in claim 1-5, it is characterised in that: be provided on two mechanical arms true
Suction disk is used for grabbing workpiece；Proximity sensor is set side by side with by the vacuum chuck.
7. manipulator general assembly as described in any one in claim 1-5, it is characterised in that: the described of the altimetric compensation platform is put down
Platen is two layers, and the weighing sensor is arranged between two layers of platform board；The lifting device includes altimetric compensation platform bottom
, it is provided with lower axle center support base on the altimetric compensation platform base, is fixedly installed and watches below the lower axle center support base
Motor is taken, the lower axle center support base is connect by axis rod with upper axle center support base；The upper axle center support base and lower axle center
Have between support base by the altimetric compensation platform screw rod of servo motor driving rotation；On the altimetric compensation platform screw rod
It is threadedly engaged and is provided with nut, the nut is arranged on the support base of platform axle center, and platform axle center support base passes through more
Axis rod is connected with the platform board.
8. manipulator general assembly as claimed in claim 7, it is characterised in that: the guide-localization seat includes pedestal and is arranged in institute
State the guide-localization bar on pedestal；The guide-localization bar includes vertical section and tilting section, and the vertical section and the pedestal are solid
Fixed connection, described tilting section one end are connected with the vertical section, and the other end is inclined outwardly.
9. manipulator general assembly as claimed in claim 8, it is characterised in that: on the platform board between multiple guide-localization seats
It is provided with multiple shock absorbing rings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910761671.2A CN110405100A (en) | 2019-08-18 | 2019-08-18 | A kind of manipulator general assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910761671.2A CN110405100A (en) | 2019-08-18 | 2019-08-18 | A kind of manipulator general assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110405100A true CN110405100A (en) | 2019-11-05 |
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ID=68367799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910761671.2A Pending CN110405100A (en) | 2019-08-18 | 2019-08-18 | A kind of manipulator general assembly |
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| CN (1) | CN110405100A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182449A (en) * | 2021-04-13 | 2021-07-30 | 安徽宏洋包装集团股份有限公司 | Intelligent mechanical arm for stamping forming and stable in conveying |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006013264A1 (en) * | 2004-07-02 | 2006-02-09 | Arcelor Steel Service Centres | Device and methods for transporting blanks |
| CN202591464U (en) * | 2012-06-04 | 2012-12-12 | 昆山市三众模具制造有限公司 | Portal four-station automatic feeding manipulator |
| WO2014171064A1 (en) * | 2013-04-17 | 2014-10-23 | 株式会社エイチアンドエフ | Workpiece transfer apparatus and workpiece transfer method using same |
| CN204461561U (en) * | 2014-12-25 | 2015-07-08 | 惠州市仨联自动化设备有限公司 | A kind of automatic Weighing recognition device |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
| CN110000300A (en) * | 2019-03-23 | 2019-07-12 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of intelligent multifunctional stand alone type line manipulator |
-
2019
- 2019-08-18 CN CN201910761671.2A patent/CN110405100A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006013264A1 (en) * | 2004-07-02 | 2006-02-09 | Arcelor Steel Service Centres | Device and methods for transporting blanks |
| CN202591464U (en) * | 2012-06-04 | 2012-12-12 | 昆山市三众模具制造有限公司 | Portal four-station automatic feeding manipulator |
| WO2014171064A1 (en) * | 2013-04-17 | 2014-10-23 | 株式会社エイチアンドエフ | Workpiece transfer apparatus and workpiece transfer method using same |
| CN204461561U (en) * | 2014-12-25 | 2015-07-08 | 惠州市仨联自动化设备有限公司 | A kind of automatic Weighing recognition device |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
| CN110000300A (en) * | 2019-03-23 | 2019-07-12 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of intelligent multifunctional stand alone type line manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113182449A (en) * | 2021-04-13 | 2021-07-30 | 安徽宏洋包装集团股份有限公司 | Intelligent mechanical arm for stamping forming and stable in conveying |
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