CN111842688B - High-speed carrying device - Google Patents
High-speed carrying device Download PDFInfo
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- CN111842688B CN111842688B CN202010512521.0A CN202010512521A CN111842688B CN 111842688 B CN111842688 B CN 111842688B CN 202010512521 A CN202010512521 A CN 202010512521A CN 111842688 B CN111842688 B CN 111842688B
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- rotating
- vertical beam
- rotating mechanism
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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
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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
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention discloses a high-speed carrying device which comprises a cross beam and a vertical beam, wherein the cross beam is arranged between two adjacent presses, the cross beam is connected with the vertical beam in a sliding manner, an X-axis driving device for driving the vertical beam to move along the X-axis direction is arranged on the cross beam, a Z-axis driving device is arranged on the vertical beam, the high-speed carrying device also comprises a workpiece grabbing device and a rotating mechanism for driving the workpiece grabbing device to rotate, the rotating mechanism is connected with the output end of the Z-axis driving device, the requirement of high-speed carrying of workpieces between the adjacent presses can be met by adopting a mode of combining linear motion of the vertical beam and rotating motion of the workpiece grabbing device, and compared with the traditional six-freedom-degree joint robot, the carrying speed is higher, and the beat is better.
Description
Technical Field
The invention relates to the technical field of workpiece carrying of automatic production lines, in particular to a high-speed carrying device.
Background
The stamping process is a production technology for obtaining product parts with certain shape, size and performance by directly applying deformation force to a plate in a die by means of the power of conventional or special stamping equipment and deforming the plate.
Most of devices used for conveying workpieces between presses in the current automobile stamping workshop are universal six-degree-of-freedom articulated robots, the requirements of production lines on the conveying track and the postures of the workpieces are not high, and the high flexibility characteristic of the six-axis robot cannot exert the advantages of the six-degree-of-freedom articulated robots.
The existing six-degree-of-freedom joint robot applied to workpiece conveying in a stamping production line has the following problems that the 1 and six-axis joint robot does not have the characteristics of high rigidity and high speed, and the production line has higher requirements on the comprehensive speed and the acceleration in the conveying direction, so that the requirement on more efficient production cannot be met. 2. Because of the limitation of the mechanical structure of the six-joint robot, the six-joint robot is easy to interfere with a die and a press during carrying, thereby influencing the stamping rhythm of the press. 3. Particularly, the robot is limited by the self stroke, the working efficiency is seriously influenced by the distance between the pressing machines, and the robot is low in efficiency or cannot be used in the conveying of workpieces with large distance.
Disclosure of Invention
The invention aims to solve the problems and provides a high-speed conveying device which can realize large-distance conveying of workpieces, realize high-speed conveying of the workpieces and ensure compact stamping rhythm of a press.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a high-speed handling device, includes the crossbeam and erects the roof beam, and the crossbeam is installed between two adjacent presses, and sliding connection between crossbeam and the perpendicular roof beam is equipped with the drive on the crossbeam and erects the X axle drive arrangement that the roof beam removed along X axle direction, erects to be equipped with Z axle drive arrangement on the roof beam, still includes work piece grabbing device and the rotatory rotary mechanism of drive work piece grabbing device, and rotary mechanism is connected with Z axle drive arrangement's output.
Furthermore, the X-axis driving device comprises a first belt, a first servo motor and a first sliding block, the first servo motor drives the first belt to rotate, first belt pulleys are arranged at two ends of the cross beam, the first belt is meshed with the first belt pulleys, the first servo motor is installed on the cross beam, the output end of the first servo motor is connected with the first belt pulleys, the first sliding block is connected with the first belt, and the first sliding block is connected with the cross beam in a sliding mode.
Further, Z axle drive arrangement includes second belt, drive second belt moving second servo motor, second slider, both ends are equipped with the second belt pulley about erecting the roof beam, and the second belt meshes with the second belt pulley, and second servo motor installs on erecting the roof beam, and second servo motor output is connected with the second belt pulley, and second belt front end is connected with the second slider, erects the roof beam rear end and is connected with first slider, second slider and perpendicular roof beam front end sliding connection.
Furthermore, a gravity balance mechanism is arranged on the vertical beam.
Further, the gravity balance mechanism comprises a balance cylinder and a third belt, the cylinder body end of the balance cylinder is installed on the side face of the vertical beam, and the output end of the balance cylinder is connected with the second sliding block.
Furthermore, erect the roof beam rear end and be equipped with the mount pad, mount pad and erect sliding connection between the roof beam, balance cylinder tailpiece of the piston rod end is connected with the mount pad, is equipped with the third belt pulley on the mount pad, erects the roof beam rear end and is located the mount pad top and is equipped with the hold-in range fixed plate, third belt rear end around behind the third belt pulley with hold-in range fixed plate fixed connection, third belt front end is connected with the second slider, erect the roof beam upper end and be equipped with the fourth belt pulley, third belt and fourth belt pulley meshing.
Further, the rotating mechanisms comprise a B1 rotating mechanism, a B2 rotating mechanism and a B3 rotating mechanism, the B1 rotating mechanism is installed on the second sliding block, the output end of the B1 rotating mechanism is connected with the input end of the B2 rotating mechanism, the B3 rotating mechanism is installed at the output end of the B2 rotating mechanism, and the output end of the B3 rotating mechanism is connected with the workpiece grabbing device.
Further, the B1 rotary mechanism includes a first swing arm and a B1 rotary driving mechanism for driving the first swing arm to swing, the B1 rotary driving mechanism is installed on the second slider, the B2 rotary mechanism includes a second swing arm and a B2 rotary driving mechanism for driving the second swing arm to swing, the B2 rotary driving mechanism is installed at the lower end of the first swing arm, the B3 rotary mechanism includes a B3 rotary driving mechanism for driving the workpiece gripping device to rotate, and the B3 rotary driving mechanism is installed at the lower end of the second swing arm.
Further, the B1 rotary driving mechanism comprises a third servo motor, the third servo motor is installed on the second sliding block, and the output end of the third servo motor is connected with the first swing arm.
Further, B2 rotary drive mechanism includes fourth servo motor, and fourth servo motor installs at first swing arm lower extreme, and the fourth servo motor output is connected with the second swing arm.
Furthermore, the second swing arm comprises a front arm and a rear wall, the rear wall is connected with the output end of the fourth servo motor, the front arm and the rear wall are connected in a rotating mode, and a C-axis rotation driving device is arranged between the front arm and the rear wall.
Furthermore, the C-axis rotation driving device comprises a fifth servo motor, a cavity is arranged in the rear wall, the fifth servo motor is located in the cavity, and the output end of the fifth servo motor is connected with the front arm.
Further, the B3 rotary driving mechanism comprises a sixth servo motor, the sixth servo motor is installed at the lower end of the front arm, a first bevel gear is arranged at the output end of the sixth servo motor, a second bevel gear is arranged on a rotating shaft of the workpiece grabbing device, the first bevel gear is meshed with the second bevel gear, and the workpiece grabbing device is connected with the front arm in a rotating mode.
Furthermore, the B3 rotary driving mechanism includes a seventh servo motor and a fourth synchronous belt, the seventh servo motor is installed at the lower end of the forearm, a fifth synchronous pulley is arranged at the output end of the seventh servo motor, the workpiece grabbing device is rotationally connected with the lower end of the forearm, a sixth synchronous pulley is arranged on the rotating shaft of the workpiece grabbing device, and the fifth synchronous pulley is connected with the sixth synchronous pulley through the fourth synchronous belt.
The invention has the beneficial effects that:
1. the invention aims to solve the defects that the existing automatic production line carrying device is low in carrying speed, influences the production rhythm of an automatic production line and is low in processing efficiency. The requirement of high-speed conveying of workpieces between adjacent presses can be met by adopting a mode of combining linear motion of the vertical beam and rotary motion of the workpiece grabbing device, and the conveying speed is higher compared with that of a traditional six-degree-of-freedom joint robot; meanwhile, interference between the stamping die and a press is avoided, and the stamping rhythm is compact.
2. The invention aims to solve the problem that the existing automatic production line conveying device cannot carry out large conveying distance, and is provided with a rotating mechanism, wherein the rotating mechanism comprises a B1 rotating mechanism, a B2 rotating mechanism and a B3 rotating mechanism, the B1 rotating mechanism comprises a first swing arm and a B1 rotating driving mechanism for driving the first swing arm to swing, a B1 rotating driving mechanism is arranged on a second sliding block, the B2 rotating mechanism comprises a second swing arm and a B2 rotating driving mechanism for driving the second swing arm to swing, the B2 rotating driving mechanism is arranged at the lower end of the first swing arm, the B3 rotating mechanism comprises a B3 rotating driving mechanism for driving a workpiece grabbing device to rotate, and the B3 rotating driving mechanism is arranged at the lower end of the second swing arm. The first swing arm is driven by a B1 rotary driving mechanism and swings relative to the second swing arm; the second swing arm is driven by a B2 rotary driving mechanism and swings relative to the first swing arm; the workpiece grabbing device is driven by a B3 rotating mechanism to rotate around the second swing arm. The linkage of each shaft increases the conveying stroke of the workpiece, saves the installation space of a machine set, is suitable for workpieces of different types, and can realize the high-speed stable conveying of the workpiece between adjacent presses.
3. The invention is provided with a gravity balance mechanism on the vertical beam. Gravity balance mechanism includes balance cylinder and third belt, and balance cylinder body end is installed and is being erected the roof beam side, it is equipped with the mount pad to erect the roof beam rear end, mount pad and perpendicular sliding connection between the roof beam, balance cylinder tailpiece of the piston rod end is connected with the mount pad, be equipped with the third belt pulley on the mount pad, it is equipped with the hold-in range fixed plate to erect the roof beam rear end and be located the mount pad top, third belt rear end around behind the third belt pulley with hold-in range fixed plate fixed connection, the third belt front end is connected with the second slider, it is equipped with the fourth belt pulley to erect the roof beam upper end, the third belt meshes with the fourth belt pulley, balance cylinder and third belt play the effect of counter weight power, in order to reach the mesh that reduces Z axle drive arrangement load, and service life is prolonged.
4. The C-axis rotation driving device comprises a fifth servo motor, a cavity is arranged in the rear arm, the fifth servo motor is located in the cavity, and the output end of the fifth servo motor is connected with the front arm. The forearm can swing for the postbrachium through C axle drive arrangement, increases work piece grabbing device degree of freedom can realize the adjustment of work piece position and gesture, and the work piece in the press of location that can be better has increased the flexibility when high-speed handling device uses.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a diagram illustrating an application state of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a cross beam according to an embodiment of the present invention;
FIG. 4 is a front view of an embodiment of the present invention at a vertical beam;
FIG. 5 is a rear view of an embodiment of the present invention at a vertical beam;
fig. 6 is a schematic structural diagram of a B1 rotation mechanism according to an embodiment of the present invention;
fig. 7 is a cross-sectional view of a B1 rotary mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a second swing arm according to an embodiment of the present invention;
fig. 9 is a sectional view of a second B3 rotation driving mechanism according to an embodiment of the present invention.
In the figure: crossbeam 1, vertical beam 2, press 3, first swing arm 4, second swing arm 5, work piece grabbing device 6, first belt 7, first servo motor 8, first belt pulley 9, first slider 10, second belt 11, second servo motor 12, second slider 13, second belt pulley 14, balance cylinder 15, third belt 16, mount pad 17, third belt pulley 18, hold-in range fixed plate 19, fourth belt pulley 20, third servo motor 21, fourth servo motor 22, forearm 23, back arm 24, fifth servo motor 25, cavity 26, sixth servo motor 27, first bevel gear 28, second bevel gear 29, seventh servo motor 30, fourth hold-in range 31, fifth synchronous pulley 32, sixth synchronous pulley 33.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 and 2, a high-speed carrying device, including crossbeam 1 and perpendicular roof beam 2, crossbeam 1 installs between two adjacent presses 3, contain a set of horizontally linear guide rail at least on crossbeam 1, the length of crossbeam 1 can be adjusted according to the interval of adjacent press 3, with the transport demand of adaptation different press intervals, sliding connection between crossbeam 1 and the perpendicular roof beam 2, be equipped with the X axle drive arrangement that the drive perpendicular roof beam 2 removed along the X axle direction on crossbeam 1, be equipped with Z axle drive arrangement on the perpendicular roof beam 2, be equipped with a set of vertical linear guide rail at least on the perpendicular roof beam, still include work piece grabbing device 6 and the rotatory rotary mechanism of drive work piece grabbing device 6, rotary mechanism is connected with Z axle drive arrangement's output. Through the mode that adopts the linear motion of erecting roof beam 2 and 6 rotary motion of work piece grabbing device to combine together, can satisfy the demand of the high-speed transport of work piece between adjacent press, for traditional six degree of freedom joint robot, transport speed is faster, and the beat is better. The workpiece gripping device preferably consists of a transverse support with a suction device. Or alternatively, a clamp or an end effector.
As shown in fig. 2 and 3, the X-axis driving device includes a first belt 7, a first servo motor 8 for driving the first belt 7 to operate, and a first slider 10, wherein first belt pulleys 9 are disposed at two ends of the cross beam 1, the first belt pulley 9 is rotatably connected to the cross beam 1, the first belt 7 is engaged with the first belt pulley 9, the first servo motor 8 is mounted on the cross beam 1, the first servo motor 8 corresponds to the first belt pulley 9 at the left end of the cross beam 1, an output end of the first servo motor 8 is connected to the first belt pulley 9, an output end of the first servo motor 8 is provided with a speed reducer, the first slider 10 is connected to an open end of the first belt 7, the first slider 10 is slidably connected to the cross beam 1 through a guide rail slider pair, the first servo motor 8 drives the first slider 10 to slide along the X-axis direction through the first belt 7, the X-axis direction is a horizontal direction, when the workpiece grabbing device 6 grabs a workpiece, the linear movement of the workpiece in the X-axis direction is realized, and the moving speed is high. In this embodiment, the X-axis driving device preferably includes a servo motor, a speed reducer, a synchronous pulley, and a synchronous belt, or may be implemented by a combination of a servo motor, a speed reducer, a gear, and a rack, or may be implemented by a combination of a servo motor, a speed reducer, and a ball screw. Such forms of composition are known to those skilled in the art.
As shown in fig. 2, 4 and 5, the Z-axis driving device includes a second belt 11, a second servo motor 12 for driving the second belt 11 to operate, and a second slider 13, wherein the upper and lower ends of the vertical beam 2 are provided with a second belt pulley 14, the second belt pulley 14 is rotatably connected with the vertical beam 2, the second belt 11 is engaged with the second belt pulley 14, the second servo motor 12 is installed at the upper end of the vertical beam 2, the output end of the second servo motor 12 is connected with the second belt pulley 14, the output end of the second servo motor 12 is provided with a speed reducer, the second servo motors 12 are symmetrically distributed at the two ends of the vertical beam 2, the second servo motor 12 corresponds to the second belt pulley 14 at the upper end, the front end of the second belt 11 is connected with the second slider 13, the rear end of the vertical beam 2 is connected with the first slider 10 through a bolt, the second slider 13 is connected with the front end of the vertical beam 2 through a guide rail slider pair in a sliding manner, the direction of the slide rail is axially parallel to the vertical beam 2, i.e., the Z-axis direction, the second servo motor 12 drives the second slider 13 to move along the Z-axis direction through the second belt 11. After the workpiece grabbing device 6 grabs the workpiece, the workpiece is linearly moved in the Z-axis direction, that is, in the gravity direction, and the moving speed is high. In this embodiment, the servo motor, the speed reducer, the synchronous pulley, and the synchronous belt are selected for use, and may be implemented by a combination of the servo motor, the speed reducer, the gear, and the rack, or by a combination of the servo motor, the speed reducer, and the ball screw. Such forms of composition are known to those skilled in the art.
As shown in fig. 2, 4 and 5, a gravity balance mechanism is provided on the vertical beam 2. Gravity balance mechanism includes balance cylinder 15 and third belt 16, and the 15 cylinder body ends of balance cylinder are installed and are being erected 2 sides of roof beam, and balance cylinder 15 is equipped with two, and the distribution of two balance cylinder 15 symmetries is erecting 2 both sides of roof beam, balance cylinder 15 output is connected with second slider 13. The utility model discloses a Z axle drive device, including erecting roof beam 2, erect roof beam 2 rear end and being equipped with mount pad 17, mount pad 17 and erect between the roof beam 2 through the vice sliding connection of guide rail slider, balance cylinder 15 piston rod end is connected with mount pad 17, be equipped with third belt pulley 18 on the mount pad 17, 2 rear ends of erecting roof beam are located mount pad 17 top and are equipped with hold-in range fixed plate 19, hold-in range fixed plate 19 is fixed at 2 rear ends of erecting roof beam, 16 rear ends of third belt walk around behind third belt pulley 18 with hold-in range fixed plate 19 fixed connection, 16 front ends of third belt are connected with second slider 13, 2 upper ends of erecting roof beam are equipped with fourth belt pulley 20, third belt 16 meshes with fourth belt pulley 20, balance cylinder 15 and third belt 16 play the effect of counter weight, in order to reach the mesh that reduces Z axle drive device load, increase life.
As shown in fig. 2, the rotating mechanisms include a B1 rotating mechanism, a B2 rotating mechanism and a B3 rotating mechanism, the B1 rotating mechanism is installed on the second slider 13, the output end of the B1 rotating mechanism is connected with the input end of the B2 rotating mechanism, the B3 rotating mechanism is installed at the output end of the B2 rotating mechanism, and the output end of the B3 rotating mechanism is connected with the workpiece grabbing device 6. The rotating shafts of the B1 rotating mechanism, the B2 rotating mechanism and the B3 rotating mechanism are parallel to each other.
As shown in fig. 2, the B1 rotation mechanism includes a first swing arm 4 and a B1 rotation driving mechanism for driving the first swing arm 4 to swing, a B1 rotation driving mechanism is mounted on the second slider 13, the B2 rotation mechanism includes a second swing arm 5 and a B2 rotation driving mechanism for driving the second swing arm 5 to swing, a B2 rotation driving mechanism is mounted at the lower end of the first swing arm 4, the B3 rotation mechanism includes a B3 rotation driving mechanism for driving the workpiece gripping device 6 to rotate, and a B3 rotation driving mechanism is mounted at the lower end of the second swing arm 5. The first swing arm is driven by a B1 rotary driving mechanism and swings relative to the second swing arm; the second swing arm is driven by a B2 rotary driving mechanism and swings relative to the first swing arm; the workpiece grabbing device is driven by a B3 rotating mechanism to rotate around the second swing arm. The linkage of each shaft increases the conveying stroke of the workpiece, saves the installation space of a machine set, is suitable for workpieces of different types, and can realize the high-speed stable conveying of the workpiece between adjacent presses.
As shown in fig. 2, fig. 6 and fig. 7, the B1 rotation driving mechanism includes a third servo motor 21, the third servo motor 21 is installed on the second slider 13, an output end of the third servo motor 21 is connected with the first swing arm 4, an output end of the third servo motor 21 is provided with a speed reducer, the speed reducer is installed and fixed on the second slider 13 through a screw, the upper end of the first swing arm 4 is provided with a circular through hole, and the speed reducer penetrates through the circular through hole and is connected with the second slider 13. The third servo motor 21 drives the speed reducer, and the first swing arm is driven to rotate after the torque is amplified by the speed reducer, so that the purpose of driving the first swing arm to swing relative to the second sliding block is achieved. In this embodiment, the B1 rotary driving mechanism is formed by a servo motor and a speed reducer, or formed by a servo motor and a planetary speed reducer.
As shown in fig. 2 and 8, the B2 rotary driving mechanism includes a fourth servo motor 22, the fourth servo motor 22 is installed at the lower end of the first swing arm 4, the output end of the fourth servo motor 22 is connected with the second swing arm 5, the lower end of the first swing arm 4 is provided with an installation hole, the output end of the third servo motor 21 is provided with a speed reducer, the speed reducer is fixed at the lower end of the first swing arm 4 through a screw, the third servo motor 21 drives the speed reducer, the first swing arm is driven to rotate after the torque is amplified by the speed reducer, and therefore the purpose of driving the first swing arm to swing relative to the second slider is achieved. In this embodiment, the B2 rotary driving mechanism is formed by a servo motor and a speed reducer, or formed by a servo motor and a planetary speed reducer.
As shown in fig. 2 and 8, the second swing arm 5 includes a front arm 23 and a rear arm 24, the rear arm 24 is connected to an output end of the fourth servo motor 22, the front arm 23 and the rear arm 24 are rotatably connected through a bearing, and a C-axis rotation driving device is disposed between the front arm 23 and the rear arm 24. C axle rotary driving device includes fifth servo motor 25, be equipped with cavity 26 in the postbrachium 24, fifth servo motor 25 is located cavity 26, fifth servo motor 25 output is connected with forearm 23, fifth servo motor 25 output shaft axis overlaps with forearm 23 axis, fifth servo motor 25 output is equipped with the speed reducer, the speed reducer is installed on cavity 26 inner wall, the speed reducer output shaft is connected with forearm 23, fifth servo motor 25 drives the speed reducer, drive forearm 23 after the moment of torsion is enlargied through the speed reducer and rotate, consequently, realized the forearm for postbrachium pivoted purpose. The forearm can swing for the postbrachium through C axle drive arrangement, increases work piece grabbing device degree of freedom can realize the adjustment of work piece position and gesture, and the work piece in the press of location that can be better has increased the flexibility when high-speed handling device uses. The C-axis rotation driving device is perpendicular to the B1 axis, the B2 axis and the B3 axis. In this embodiment, the C-axis rotation driving device is formed by a servo motor and a speed reducer, or formed by a servo motor and a planetary speed reducer.
As shown in fig. 2 and 8, the B3 rotary driving mechanism includes a sixth servo motor 27, the sixth servo motor 27 is installed at the lower end of the front arm 23, a first bevel gear 28 is installed at the output end of the sixth servo motor 27, a second bevel gear 29 is installed on the rotary shaft of the workpiece gripping device 6, the second bevel gear 29 is in key connection with the rotary shaft of the workpiece gripping device 6, the first bevel gear 28 is meshed with the second bevel gear 29, the workpiece gripping device 6 is rotatably connected with the front arm 23, a connecting plate is installed at the front end of the front arm 23, the rotary shaft of the workpiece gripping device 6 penetrates through the connecting plate and is rotatably connected with the connecting plate through a bearing, a speed reducer is installed at the output end of the sixth servo motor 27, and the first bevel gear 28 is in key connection with the output shaft of the speed reducer. The sixth servomotor 27 rotates by driving a speed reducer, which drives the workpiece gripping device to rotate relative to the second swing arm via a first bevel gear 28 and a second bevel gear 29. In this embodiment, the B3 rotary driving mechanism is implemented by using a servo motor, a speed reducer and a bevel gear, or by using a servo motor, a speed reducer, a synchronous pulley and a synchronous belt.
Example two:
as shown in fig. 9, the B3 rotation driving mechanism includes a seventh servo motor 30 and a fourth synchronous belt 31, the seventh servo motor 30 is installed at the lower end of the front arm 23, a fifth synchronous pulley 32 is installed at the output end of the seventh servo motor 30, a speed reducer is installed at the output end of the seventh servo motor 30, the fifth synchronous pulley 32 is connected with the speed reducer in a key connection manner, the workpiece gripping device 6 is connected with the lower end of the front arm 23 in a rotation manner, an installation frame is fixed at the lower end of the front arm 23, a rotating shaft of the workpiece gripping device 6 penetrates through the installation frame and is connected with the installation frame in a rotation manner through a bearing, a sixth synchronous pulley 33 is installed on the rotating shaft of the workpiece gripping device 6, the fifth synchronous pulley 32 is connected with the sixth synchronous pulley 33 through the fourth synchronous belt 31, and the seventh servo motor 30 drives the workpiece gripping device 6 to rotate through the fifth synchronous pulley 32, the fourth synchronous belt 31 and the sixth synchronous pulley 33.
The rest structure is the same as the first embodiment.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (5)
1. A high-speed carrying device comprises a cross beam (1) and a vertical beam (2), wherein the cross beam (1) is arranged between two adjacent presses (3), the cross beam (1) is in sliding connection with the vertical beam (2), an X-axis driving device for driving the vertical beam (2) to move along the X-axis direction is arranged on the cross beam (1), and a Z-axis driving device is arranged on the vertical beam (2), and the high-speed carrying device is characterized by further comprising a workpiece grabbing device (6) and a rotating mechanism for driving the workpiece grabbing device (6) to rotate, wherein the rotating mechanism is arranged at the output end of the Z-axis driving device;
the Z-axis driving device comprises a second belt (11), a second servo motor (12) and a second sliding block (13), wherein the second servo motor (12) drives the second belt (11) to run, the second sliding block (13) is arranged at the upper end and the lower end of the vertical beam (2), the second belt (11) is meshed with the second belt pulley (14), the second servo motor (12) is installed on the vertical beam (2), the output end of the second servo motor (12) is connected with the second belt pulley (14), the front end of the second belt (11) is connected with the second sliding block (13), the rear end of the vertical beam (2) is connected with the first sliding block (10), and the second sliding block (13) is connected with the front end of the vertical beam (2) in a sliding manner;
the vertical beam (2) is provided with a gravity balance mechanism;
the gravity balance mechanism comprises a balance cylinder (15) and a third belt (16), the cylinder body end of the balance cylinder (15) is installed on the side face of the vertical beam (2), and the output end of the balance cylinder (15) is connected with the second sliding block (13);
the rear end of the vertical beam (2) is provided with a mounting seat (17), the mounting seat (17) is connected with the vertical beam (2) in a sliding mode, the piston rod end of the balance cylinder (15) is connected with the mounting seat (17), a third belt pulley (18) is arranged on the mounting seat (17), the rear end of the vertical beam (2) is located above the mounting seat (17) and is provided with a synchronous belt fixing plate (19), the rear end of the third belt (16) is fixedly connected with the synchronous belt fixing plate (19) after bypassing the third belt pulley (18), the front end of the third belt (16) is connected with the second sliding block (13), the upper end of the vertical beam (2) is provided with a fourth belt pulley (20), and the third belt (16) is meshed with the fourth belt pulley (20);
the rotating mechanisms comprise a B1 rotating mechanism, a B2 rotating mechanism and a B3 rotating mechanism, the B1 rotating mechanism is installed on the second sliding block (13), the output end of the B1 rotating mechanism is connected with the input end of the B2 rotating mechanism, the B3 rotating mechanism is installed at the output end of the B2 rotating mechanism, and the output end of the B3 rotating mechanism is connected with the workpiece grabbing device (6);
the B1 rotating mechanism comprises a first swing arm (4) and a B1 rotating driving mechanism for driving the first swing arm (4) to swing, a B1 rotating driving mechanism is installed on a second sliding block (13), the B2 rotating mechanism comprises a second swing arm (5) and a B2 rotating driving mechanism for driving the second swing arm (5) to swing, a B2 rotating driving mechanism is installed at the lower end of the first swing arm (4), the B3 rotating mechanism comprises a B3 rotating driving mechanism for driving the workpiece grabbing device (6) to rotate, and a B3 rotating driving mechanism is installed at the lower end of the second swing arm (5);
the B1 rotary driving mechanism comprises a third servo motor (21), the third servo motor (21) is installed on the second sliding block (13), and the output end of the third servo motor (21) is connected with the first swing arm (4);
the B2 rotary driving mechanism comprises a fourth servo motor (22), the fourth servo motor (22) is installed at the lower end of the first swing arm (4), and the output end of the fourth servo motor (22) is connected with the second swing arm (5);
the second swing arm (5) comprises a front arm (23) and a rear arm (24), the rear arm (24) is connected with the output end of the fourth servo motor (22), the front arm (23) is rotationally connected with the rear arm (24), and a C-axis rotary driving device is arranged between the front arm (23) and the rear arm (24);
the rotating shafts of the B1 rotating mechanism, the B2 rotating mechanism and the B3 rotating mechanism are parallel to each other;
the two balance cylinders (15) are symmetrically distributed on two sides of the vertical beam (2).
2. The high-speed carrying device as claimed in claim 1, wherein the X-axis driving device comprises a first belt (7), a first servo motor (8) for driving the first belt (7) to run, and a first slider (10), wherein a first belt pulley (9) is arranged at each end of the cross beam (1), the first belt (7) is meshed with the first belt pulley (9), the first servo motor (8) is mounted on the cross beam (1), the output end of the first servo motor (8) is connected with the first belt pulley (9), the first slider (10) is connected with the first belt (7), and the first slider (10) is connected with the cross beam (1) in a sliding manner.
3. A high-speed handling device according to claim 1, C-axis rotation drive means comprising a fifth servomotor (25), a cavity (26) being provided in the rear arm (24), the fifth servomotor (25) being located in the cavity (26), the output of the fifth servomotor (25) being connected to the front arm (23).
4. A high-speed conveying device according to claim 1, wherein the B3 rotary driving mechanism comprises a sixth servo motor (27), the sixth servo motor (27) is mounted at the lower end of the front arm (23), a first bevel gear (28) is arranged at the output end of the sixth servo motor (27), a second bevel gear (29) is arranged on the rotating shaft of the workpiece grabbing device (6), the first bevel gear (28) is meshed with the second bevel gear (29), and the workpiece grabbing device (6) is rotatably connected with the front arm (23).
5. The high-speed conveying device according to claim 1, wherein the B3 rotary driving mechanism comprises a seventh servo motor (30) and a fourth synchronous belt (31), the seventh servo motor (30) is mounted at the lower end of the front arm (23), a fifth synchronous pulley (32) is arranged at the output end of the seventh servo motor (30), the workpiece grabbing device (6) is rotatably connected with the lower end of the front arm (23), a sixth synchronous pulley (33) is arranged on the rotating shaft of the workpiece grabbing device (6), and the fifth synchronous pulley (32) and the sixth synchronous pulley (33) are connected through the fourth synchronous belt (31).
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| CN114273168B (en) * | 2021-12-18 | 2023-03-28 | 瑞安市杰峰智能科技有限公司 | Feeding assembly of full-automatic anaerobic adhesive glue injection machine |
| CN115673136A (en) * | 2022-12-27 | 2023-02-03 | 济南二机床集团有限公司 | Automatic device for workpiece carrying |
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| CN103878265B (en) * | 2014-04-04 | 2015-12-16 | 济南二机床集团有限公司 | A kind of workpiece automatic transmission system |
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