CN112453246A

CN112453246A - A quadratic element manipulator for multistation processing

Info

Publication number: CN112453246A
Application number: CN202011174193.4A
Authority: CN
Inventors: 李磊; 余兆勇; 韩智源
Original assignee: Mingguang Jin Century Machinery Technology Co ltd
Current assignee: Mingguang Jin Century Machinery Technology Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-03-09

Abstract

The invention relates to the field of manipulators, in particular to a two-dimensional manipulator for multi-station machining, which comprises a workbench, an underframe, a guide rail, a first mechanical frame and a second mechanical frame, wherein the workbench is positioned in the middle of the underframe, two bottom sliding grooves are formed in the top of the underframe, bottom sliding plates are respectively arranged on the two bottom sliding grooves, and a support frame is fixedly arranged on the tops of the two bottom sliding plates. The manipulator can solve the problems that the direction, the angle and the position of the existing manipulator for multi-station processing need to be continuously adjusted in the processes of material grabbing and feeding, the direction of a tool for conveying materials needs to be adjusted even in the process of material switching, so that the operation is extremely troublesome, the work efficiency of the whole manipulator in the use process is greatly reduced, the direction, the angle and the position of the whole manipulator need to be adjusted by a plurality of driving devices, and the production cost and the use cost of the whole manipulator are greatly increased.

Description

A quadratic element manipulator for multistation processing

Technical Field

The invention relates to the field of manipulators, in particular to a two-dimensional manipulator for multi-station machining.

Background

The conventional manipulator is always used for multi-station stamping, multiple times of continuous stamping are needed, and stamping procedures are very multiple, so that the two-dimensional manipulator is needed to quickly and stably grab, feed and switch materials.

However, the existing two-dimensional manipulator for multi-station processing still has certain defects when in use, firstly, the direction, angle and position of the manipulator need to be continuously adjusted in the processes of material grabbing and feeding, and secondly, the direction of a tool for conveying materials even needs to be adjusted in the process of material switching, so that the operation is extremely troublesome, the working efficiency of the whole two-dimensional manipulator in the use process is greatly reduced, and the direction, angle and position of the whole manipulator need to be adjusted by a plurality of driving devices, so that the production and use costs of the whole two-dimensional manipulator are greatly increased.

Disclosure of Invention

The invention aims to provide a secondary element manipulator for multi-station processing, which can solve the problems that the direction, the angle and the position of the manipulator need to be continuously adjusted in the processes of material grabbing and feeding, and even the direction of a tool for conveying materials needs to be adjusted in the process of material switching, so that the operation is extremely troublesome, the working efficiency of the whole secondary element manipulator in the using process is greatly reduced, a plurality of driving devices for adjusting the direction, the angle and the position of the whole manipulator are needed, and the production and use costs of the whole secondary element manipulator are greatly increased.

The purpose of the invention can be realized by the following technical scheme:

a quadratic element manipulator for multi-station processing comprises a workbench, an underframe, guide rails, a first mechanical frame and a second mechanical frame, wherein the workbench is positioned in the middle of the underframe, two bottom chutes are arranged at the top of the underframe, a bottom sliding plate is respectively arranged on the two bottom chutes, two top parts of the bottom sliding plates are respectively fixedly provided with a support frame, two guide rails are fixedly arranged between the two support frames, the first mechanical frame is arranged on the outer wall of one side of each guide rail, the second mechanical frame is arranged on the outer wall of the other side of each guide rail, two side sliding plates positioned on the side wall of each guide rail are respectively arranged between the first mechanical frame and the second mechanical frame and the guide rails, a cylinder is respectively fixed on the side wall of each first mechanical frame and the side wall of each second mechanical frame, an air suction pump is respectively fixed on the side wall of the two cylinders, a pneumatic rod at the bottom of the cylinder is connected with a stamping plate with a sucker, the suction disc on the stamping plate with the suction disc is connected with the suction pump through a pipeline, the adjacent side walls of the first mechanical frame and the second mechanical frame are respectively provided with a toothed plate, the two toothed plates are staggered, the adjacent side walls of the two toothed plates are respectively provided with a tooth trace, a gear is meshed at the staggered position between the two toothed plates, the bottom of the gear is connected with a rotating shaft, the rotating shaft penetrates through a guide rail positioned below the rotating shaft, the rotating shaft is connected into the workbench, and the bottom end, connected into the workbench, of the rotating shaft is connected with a servo motor positioned in the workbench;

the stamping device is characterized in that two stamping stations are arranged on the workbench, one side, adjacent to the two stamping stations, of each stamping station is provided with a material taking station located on the workbench, a tray is arranged inside each material taking station, the two trays are located inside one material taking station at the beginning, the bottoms of the two trays are connected with a support rod of an L-shaped structure, one end of each support rod is connected with the rotating shaft, a first feed port is formed in the outer wall of one side of the workbench, a second feed port is formed in the outer wall of the other side of the workbench, a conveyor belt is arranged inside each of the first feed port and the second feed port, and the discharge ends of the two conveyor belts face towards one tray.

Preferably, when the gear rotates by 180 degrees, the first mechanical frame and the second mechanical frame are separated from two ends of the guide rail, the two stamping plates with the suckers face one stamping station respectively, when the gear rotates by a rotating angle to reset, the first mechanical frame and the second mechanical frame are close to each other, and the two stamping plates with the suckers face one material taking station respectively.

Preferably, a plurality of uniformly distributed placing grooves are formed in each of the two conveying belts, partition plates are arranged on two sides of each placing groove, and a driving motor is mounted on one side wall of one end of each conveying belt.

Preferably, the liftable punching plate is arranged in the punching station, and the hydraulic cylinder for adjusting the height is arranged at the bottom of the liftable punching plate.

Preferably, the guide rail is connected with a first mechanical frame and a second mechanical frame in a sliding manner through a bottom sliding plate and an underframe, and the first mechanical frame and the second mechanical frame are connected with the guide rail in a sliding manner through a side sliding plate, a toothed plate and a gear.

The invention has the beneficial effects that: because the toothed plates with tooth marks are arranged on the adjacent side walls of the first mechanical frame and the second mechanical frame, and the gear matched with the toothed plates is arranged between the two toothed plates, the first mechanical frame and the second mechanical frame are in a close state initially, so that the gear can rotate forwards for 180 degrees when the servo motor drives the rotating shaft to rotate forwards, the two toothed plates are separated from each other in the rotating process of the gear, the first mechanical frame and the second mechanical frame are separated from each other and move to the position above the stamping station, at the moment, the air suction pump and the air cylinder are controlled by an external PLC controller to release materials and stamp in the stamping station, when the servo motor drives the rotating shaft to rotate backwards for 180 degrees, the gear rotates backwards for 180 degrees, the two toothed plates are close to each other and reset gradually in the rotating process, and the material taking of the first mechanical frame and the second mechanical frame can be realized only by controlling the servo motor to drive the forward and backward rotation of the gear, The position adjustment in the stamping process is realized, and the direction and the angle of a manipulator do not need to be continuously adjusted in the material taking and feeding processes, so that the operation is more convenient and quicker, and the stability and the accuracy are extremely high;

the two trays are respectively connected with the rotating shaft through a support rod, so that when the rotating shaft drives the gear to rotate forwards, the positions of the two trays are exchanged, the two conveying belts are controlled by an external PLC (programmable logic controller) to continuously convey materials, the materials borne by the two trays are in a mutual exchange state with the materials borne by the two trays at the beginning, after stamping is completed, the servo motor is controlled to rotate reversely by the PLC, the rotating shaft is driven to rotate reversely by 180 degrees to reset in the reverse rotation process of the servo motor, so that the first mechanical frame and the second mechanical frame are driven to reset, the two trays are reset simultaneously, at the moment, the materials borne by the two trays are mutually exchanged, automatic exchange of the materials in the material taking process is realized, the materials are switched without adjusting feeding tools or adjusting the directions of the first mechanical frame and the second mechanical frame, The angle is adjusted, and the switching of material and the control of adjustment first mechanical frame, second mechanical frame work simultaneously under same servo motor's control moreover, when saving operating time, a motor that drive used can realize a series of actions and functions of whole quadratic element manipulator for the cost greatly reduced of whole quadratic element manipulator.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the guide rail of the present invention;

FIG. 3 is a front view of the guide rail of the present invention;

FIG. 4 is a schematic view of a workbench according to the present invention;

fig. 5 is a schematic view of a toothed plate structure of the present invention;

FIG. 6 is a schematic view of a rotating shaft structure according to the present invention;

FIG. 7 is a schematic representation of the conveyor belt of the present invention;

in the figure: 1. a work table; 2. a first feed port; 3. a conveyor belt; 4. a stamping station; 5. a material taking station; 6. a chassis; 7. a bottom chute; 8. a support frame; 9. a guide rail; 10. a first machine frame; 11. a second machine frame; 12. a side slide plate; 13. a cylinder; 14. punching the plate with the sucker; 15. a getter pump; 16. a rotating shaft; 17. a toothed plate; 18. a bottom slide plate; 19. a second feed port; 20. tooth marks; 21. a gear; 22. a stay bar; 23. a tray; 24. a servo motor; 25. a partition plate; 26. a placement groove; 27. the motor is driven.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

Referring to fig. 1-7, a two-dimensional manipulator for multi-station processing includes a worktable 1, an underframe 6, guide rails 9, a first mechanical frame 10 and a second mechanical frame 11, the worktable 1 is located in the middle of the underframe 6, the top of the underframe 6 is provided with two bottom chutes 7, each of the two bottom chutes 7 is provided with a bottom sliding plate 18, the tops of the two bottom sliding plates 18 are respectively and fixedly provided with a supporting frame 8, two guide rails 9 are fixedly provided between the two supporting frames 8, the outer wall of one side of each of the two guide rails 9 is provided with the first mechanical frame 10, the outer wall of the other side of each of the two guide rails 9 is provided with the second mechanical frame 11, two side sliding plates 12 located on the side walls of the guide rails 9 are respectively provided between the first mechanical frame 10, the second mechanical frame 11 and the guide rails 9, the side walls of the first mechanical frame 10 and the second mechanical frame 11 are respectively provided with an air cylinder 13, the side walls of the two air cylinders 13, a pneumatic rod at the bottom of the air cylinder 13 is connected with a stamping plate 14 with a sucker, the sucker on the stamping plate 14 with the sucker is connected with a suction pump 15 through a pipeline, the adjacent side walls of the first mechanical frame 10 and the second mechanical frame 11 are respectively provided with a toothed plate 17, the two toothed plates 17 are staggered, the adjacent side walls of the two toothed plates 17 are respectively provided with a tooth trace 20, the staggered positions between the two toothed plates 17 are meshed with a gear 21, the bottom of the gear 21 is connected with a rotating shaft 16, the rotating shaft 16 penetrates through a guide rail 9 positioned below, the rotating shaft 16 is connected into the workbench 1, and the bottom end of the rotating shaft 16 connected into the workbench 1 is connected with a servo motor 24 positioned in the workbench 1;

be provided with two punching press stations 4 on the workstation 1, the adjacent one side of two punching press stations 4 all is provided with one and is located the workstation 1 and get material station 5, two are got material station 5 internally mounted and are all installed a tray 23, two trays 23 are located one respectively and are got material station 5 inside when initial, the vaulting pole 22 of an L type structure is connected respectively to the bottom of two trays 23, and the one end of vaulting pole 22 is connected with pivot 16, be provided with a first feed inlet 2 on the outer wall of workstation 1 one side, and be provided with a second feed inlet 19 on the outer wall of workstation 1 opposite side, first feed inlet 2, a conveyer belt 3 is all installed to second feed inlet 19 inside, the discharge end of two conveyer belts 3 is towards a tray 23 respectively.

When the gear 21 rotates 180 degrees, the first mechanical frame 10 and the second mechanical frame 11 are separated from two ends of the guide rail 9, the two stamping plates 14 with the suckers face one stamping station 4 respectively, when the rotation angle of the gear 21 is reset, the first mechanical frame 10 and the second mechanical frame 11 are close to each other, and the two stamping plates 14 with the suckers face one material taking station 5 respectively.

All be provided with a plurality of evenly distributed's standing groove 26 on two conveyer belts 3, the both sides of every standing groove 26 all are provided with baffle 25, all install a driving motor 27 on the one end lateral wall of two conveyer belts 3.

Punching press station 4 internally mounted liftable punching press dish, and liftable punching press dish bottom installs the pneumatic cylinder that is used for height-adjusting for punching press station 4 can be after accomplishing a punching press, can carry out subsequent punching press through the height of adjustment punching press dish.

The guide rail 9 is connected with the first mechanical frame 10 and the second mechanical frame 11 in a sliding manner through the bottom sliding plate 18 and the bottom frame 6, and the first mechanical frame 10 and the second mechanical frame 11 are connected with the guide rail 9 in a sliding manner through the side sliding plate 12, the toothed plate 17 and the gear 21.

Because the toothed plates 17 with the tooth marks 20 are arranged on the adjacent side walls of the first mechanical frame 10 and the second mechanical frame 11, and the gear 21 matched with the toothed plates 17 is arranged between the two toothed plates 17, initially, the first mechanical frame 10 and the second mechanical frame 11 are in a close state, so that when the servo motor 24 drives the rotating shaft 16 to rotate forwards for 180 degrees, the gear 21 rotates forwards for 180 degrees, the two toothed plates 17 are separated from each other in the rotating process of the gear 21, the first mechanical frame 10 and the second mechanical frame 11 are separated from each other and moved to the position above the stamping station 4, at the moment, the external PLC controller is utilized to control the air suction pump 15 and the air cylinder 13 to release materials and perform stamping in the stamping station 4, when the servo motor 24 drives the rotating shaft 16 to rotate backwards for 180 degrees, the gear 21 rotates backwards for 180 degrees, the two toothed plates 17 are close to each other and reset gradually in the rotating process, and the servo motor 24 is controlled to drive the forward and reverse rotation of the gear 21, so that the first mechanical frame 10 and the reverse, The position of the second mechanical frame 11 is adjusted in the material taking and stamping processes, and the direction and the angle of the mechanical arm do not need to be continuously adjusted in the material taking and feeding processes, so that the operation is more convenient and faster, and the stability and the accuracy are extremely high;

because the two trays 23 are respectively connected with the rotating shaft 16 through the supporting rod 22, when the rotating shaft 16 drives the gear 21 to rotate forwards for 180 degrees, the two trays 23 realize the exchange of positions, at the moment, the external PLC controller is used for controlling the two conveyor belts 3 to continuously convey materials, the materials borne by the two trays 23 are in a mutual exchange state with the materials borne by the initial tray, after the punching is finished, the PLC controller is used for controlling the servo motor 24 to rotate reversely, the servo motor 24 drives the rotating shaft 16 to rotate reversely for 180 degrees in the reverse rotation process so as to drive the first mechanical frame 10 and the second mechanical frame 11 to reset, the two trays 23 also reset again while the first mechanical frame 10 and the second mechanical frame 11 reset, at the moment, the materials borne by the two trays 23 are mutually exchanged in a switching way, the automatic switching of the materials in the material taking process is realized, and the adjustment of a feeding tool is not needed when the materials are switched, the direction and the angle of the first mechanical frame 10 and the second mechanical frame 11 do not need to be adjusted, the first mechanical frame 10 and the second mechanical frame 11 are switched and adjusted to operate under the control of the same servo motor 24, operation time is saved, and meanwhile, a motor for driving can achieve a series of actions and functions of the whole secondary manipulator, so that the cost of the whole secondary manipulator is greatly reduced.

When the automatic feeding device is used, firstly, the bottom sliding plate 18 slides on the bottom sliding chute 7 to adjust the position of the guide rail 9, after the completion, the bottom sliding plate 18 is fixed on the bottom sliding chute 7 by screws to fix the position of the guide rail 9, then, the air cylinder 13, the air suction pump 15, the servo motor 24 and the driving motor 27 are all connected with an external power supply through wires, the air cylinder 13, the air suction pump 15, the servo motor 24 and the driving motor 27 are all electrically connected with an external PLC (programmable logic controller) (type CPM1A), then, two materials are respectively placed on the placing grooves 26 of the conveyor belts 3 from the first feeding hole 2 and the second feeding hole 19, the two conveyor belts 3 respectively convey one material, the conveyor belts 3 in the first feeding hole 2 and the second feeding hole 19 respectively convey one material to the corresponding material taking station 5 at the beginning, the material is carried by the tray 23, and the first mechanical frame 10 at the beginning, The second mechanical frame 11 is in a state of being close to each other, the air cylinder 13 and the air suction pump 15 are controlled to be started by an external PLC controller at the moment, the materials are adsorbed by the stamping plate 14 with the sucker, after the materials are taken, the external PLC controller servo motor 24 is used for positively rotating, the servo motor 24 drives the rotating shaft 16 to positively rotate for 180 degrees, so that the two support rods 22 are driven to rotate for interchanging positions and drive the gear 21 to positively rotate for 180 degrees, the two toothed plates 17 are mutually separated in the rotating process of the gear 21, so that the first mechanical frame 10 and the second mechanical frame 11 are mutually separated and moved to the position above the stamping station 4, at the moment, the air suction pump 15 and the air cylinder 13 are controlled by the external PLC controller to release the materials and carry out stamping in the stamping station 4, meanwhile, the two conveyor belts 3 are controlled by the external PLC controller to continuously convey the materials, at the moment, the materials carried on the two trays 23 are in, after the punching is completed, the PLC controller is utilized to control the servo motor 24 to rotate reversely, the rotating shaft 16 is driven to rotate reversely for 180 degrees to reset in the process of reversing the servo motor 24, so that the first mechanical frame 10 is driven, the second mechanical frame 11 is driven to reset, the first mechanical frame 10 and the second mechanical frame 11 reset simultaneously, the two trays 23 also reset again, at the moment, the materials borne on the two trays 23 are switched and exchanged with each other, the automatic switching of the materials in the material taking process is realized, the switching materials are not required to be adjusted for feeding tools, the steps are repeated, the subsequent punching and material re-taking steps are realized.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A quadratic element manipulator for multi-station machining comprises a workbench (1), an underframe (6), guide rails (9), a first mechanical frame (10) and a second mechanical frame (11), and is characterized in that the workbench (1) is positioned in the middle of the underframe (6), two bottom chutes (7) are arranged at the top of the underframe (6), two bottom sliding plates (18) are respectively arranged on the two bottom chutes (7), a support frame (8) is respectively fixedly arranged at the top of the two bottom sliding plates (18), two guide rails (9) are fixedly arranged between the two support frames (8), one first mechanical frame (10) is arranged on the outer wall of one side of each guide rail (9), one second mechanical frame (11) is arranged on the outer wall of the other side of each guide rail (9), two side sliding plates (12) positioned on the side wall of each guide rail (9) are respectively arranged between the first mechanical frame (10), the second mechanical frame (11) and the guide rails (9), the side walls of the first mechanical frame (10) and the second mechanical frame (11) are respectively fixed with an air cylinder (13), the side walls of the two air cylinders (13) are respectively fixed with an air suction pump (15), a pneumatic rod at the bottom of the air cylinder (13) is connected with a stamping plate (14) with a sucker, a sucker on the stamping plate (14) with the sucker is connected with the air suction pump (15) through a pipeline, the adjacent side walls of the first mechanical frame (10) and the second mechanical frame (11) are respectively provided with a toothed plate (17), the two toothed plates (17) are staggered, two toothed plates (17) are respectively provided with a tooth mark (20) on the adjacent side wall of the toothed plate (17), the staggered positions between the two toothed plates (17) are meshed with a gear (21), the bottom of the gear (21) is connected with a rotating shaft (16), and the rotating shaft (16) penetrates through a guide rail (9) below, the rotating shaft (16) is connected into the workbench (1), and the bottom end of the rotating shaft (16) connected into the workbench (1) is connected with a servo motor (24) positioned in the workbench (1);

the stamping device is characterized in that two stamping stations (4) are arranged on the workbench (1), one side adjacent to each stamping station (4) is provided with a material taking station (5) positioned on the workbench (1), a tray (23) is arranged inside each material taking station (5), each tray (23) is positioned inside each material taking station (5) at the beginning, the bottoms of the two trays (23) are connected with a support rod (22) of an L-shaped structure respectively, one end of the stay bar (22) is connected with the rotating shaft (16), a first feeding hole (2) is arranged on the outer wall of one side of the workbench (1), and a second feeding hole (19) is arranged on the outer wall of the other side of the workbench (1), the conveying belt (3) is installed inside the first feeding hole (2) and the second feeding hole (19), and the discharging ends of the conveying belts (3) face to a tray (23) respectively.

2. A secondary element manipulator for multi-station processing according to claim 1, wherein when the gear (21) rotates 180 degrees, the first mechanical frame (10) and the second mechanical frame (11) are separated to two ends of the guide rail (9), the two stamping plates (14) with suckers face to one stamping station (4) respectively, when the rotation angle of the gear (21) is reset, the first mechanical frame (10) and the second mechanical frame (11) are close to each other, and the two stamping plates (14) with suckers face to one material taking station (5) respectively.

3. A secondary element manipulator for multi-station processing according to claim 2, wherein a plurality of uniformly distributed placing grooves (26) are formed in each of the two conveyor belts (3), partition plates (25) are arranged on two sides of each placing groove (26), and a driving motor (27) is mounted on one side wall of each of the two conveyor belts (3).

4. A two-dimensional manipulator for multi-station machining according to claim 3, wherein a liftable punching plate is arranged in the punching station (4), and a hydraulic cylinder for adjusting the height is arranged at the bottom of the liftable punching plate.

5. A secondary element manipulator for multi-station machining according to claim 4, characterized in that the guide rail (9) is connected with the first mechanical frame (10) and the second mechanical frame (11) through a bottom sliding plate (18) and is in sliding connection with the bottom frame (6), and the first mechanical frame (10) and the second mechanical frame (11) are in sliding connection with the guide rail (9) through a side sliding plate (12), a toothed plate (17) and a gear (21).