CN112605254A

CN112605254A - Manipulator and automatic production line

Info

Publication number: CN112605254A
Application number: CN202011609698.9A
Authority: CN
Inventors: 李亮; 贺腾飞; 曾锦桢; 周惠婷; 宋家涛; 郑海强
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-04-06
Anticipated expiration: 2040-12-30
Also published as: CN112605254B

Abstract

The invention provides a manipulator and an automatic production line, wherein the manipulator is positioned in a punch press, a die is arranged in the punch press, and the manipulator comprises: the first moving shaft can move along a first preset direction relative to the punch press; the second moving shaft is movably arranged on the first moving shaft along a second preset direction; the third moving shaft is movably arranged on the second moving shaft along a third preset direction; the third moving shaft comprises a sliding section and an installation section which are detachably connected, the sliding section is connected with the second moving shaft, and the installation section is used for installing a clamp; the movable supporting mechanism is arranged below the installation section and comprises a supporting seat and a supporting frame, the supporting seat is used for supporting the installation section, the supporting frame is connected with a mold rack, the supporting seat is slidably arranged on the supporting frame along a first preset direction, the installation section is moved between a first preset position and a second preset position, the mold and the clamp are replaced, and the problem that the operation of replacing the mold and replacing the clamp by a punch of an automatic production line in the prior art is inconvenient is solved.

Description

Manipulator and automatic production line

Technical Field

The invention relates to the field of automatic production, in particular to a manipulator and an automatic production line.

Background

The stamping progressive die needs to accurately and rapidly move a product and has a function of rapidly switching the product. The three-dimensional automatic production line comprises a punch press, a mechanical arm, a quick die changing system, a feeding system, a receiving system and a waste recycling mechanism. If the mechanisms are arranged on the ground, the occupied area of the mechanisms is large, the space distance between the mechanisms is lengthened, and the production beat is influenced.

However, the manipulator of the three-dimensional automatic production line has many parts to be replaced when switching between the mold and the clamp, and if the manipulator is installed inside the punch press, the positions of the parts are compact, which causes inconvenience in the operation of replacing the mold and the clamp.

Disclosure of Invention

The invention mainly aims to provide a manipulator and an automatic production line, and aims to solve the problem that in the prior art, the operation of replacing a mold and a clamp of a punch of the automatic production line is inconvenient.

In order to achieve the above object, according to one aspect of the present invention, there is provided a robot provided inside a punch press having a mold mounted therein, the robot comprising: the first moving shaft is movably arranged along a first preset direction relative to the punching machine; the second moving shaft is movably arranged on the first moving shaft along a second preset direction; the third moving shaft is movably arranged on the second moving shaft along a third preset direction; the third moving shaft comprises a sliding section and a mounting section which are detachably connected, the sliding section and the second moving shaft are mutually connected, and the mounting section is used for mounting the clamp; the movable supporting mechanism is arranged below the mounting section; the movable supporting mechanism comprises a supporting seat and a supporting frame, the supporting seat is used for supporting the installation section, one end of the supporting frame is connected with the die rack, and the supporting seat is slidably arranged on the supporting frame along a first preset direction so as to move the installation section between a first preset position and a second preset position to replace a die and a clamp.

Further, the movement support mechanism further includes: the guide rail is arranged on the support frame and is parallel to the first preset direction; the slider, slider and guide rail sliding connection, the slider setting is on the supporting seat to make the supporting seat slide for the support frame.

Further, the supporting seat comprises a base and a boss portion arranged on the base, the base is connected with the supporting frame in a sliding mode, and the boss portion is used for being in contact with the installation section to support the installation section.

Further, at least a portion of the boss portion is tapered, the diameter of the boss portion gradually decreasing in a direction toward the mounting section.

Furthermore, the manipulator further comprises a quick-change device, the quick-change device comprises a first connecting part and a second connecting part, and the first connecting part and the second connecting part are detachably connected; the first connecting portion are used for being connected with the sliding section, and the second connecting portion are used for being connected with the installation section.

Furthermore, one side of the first connecting part, which is close to the second connecting part, is provided with a plugging part, a plurality of through holes are arranged at intervals in the circumferential direction of the outer circumferential surface of the plugging part, a plurality of movable steel balls are arranged in the plurality of through holes in a one-to-one correspondence manner, and the diameter of each steel ball is greater than the length of the corresponding through hole; a cylinder is arranged on one side, away from the second connecting part, of the inserting part of the first connecting part, and a piston rod of the cylinder extends into a cavity of the inserting part to push the steel balls to move; the second connecting part comprises an accommodating cavity and an opening part which is communicated with the accommodating cavity and faces the first connecting part, and the accommodating cavity and the inserting part are correspondingly arranged; a groove is arranged in the accommodating cavity and corresponds to the through hole, so that the first connecting part and the second connecting part are connected when the piston rod pushes the part of the steel ball to move into the groove outside the through hole.

Furthermore, a positioning pin is arranged on the first connecting part; the second connecting portion includes a pin hole provided corresponding to the positioning pin to position the connection between the first connecting portion and the second connecting portion.

Further, the robot includes: the first moving shaft is movably arranged on the fixed frame along a first preset direction; one end of the connecting frame is connected with the fixing frame, and the other end of the connecting frame is connected with the punch press.

Further, the connecting frame comprises a first plate body portion and a second plate body portion which are perpendicular to each other, the first plate body portion is connected with the fixing frame through a first fastening piece, and the second plate body portion is connected with the punch through a second fastening piece.

According to another aspect of the invention, an automatic production line is provided, which comprises a manipulator, wherein the manipulator is the manipulator.

By applying the technical scheme, the manipulator provided by the invention has the advantages that the third moving shaft is divided into the sliding section and the mounting section which are detachably connected, the movable supporting mechanism is arranged for supporting the mounting section, the mounting section is moved from the first preset position to the second preset position, so that the manipulator positioned in the punch press is separated from the punch press when the die or the manipulator is replaced by the punch press, the movable supporting mechanism drives the mounting section to move to the outer side of the punch press, the die and the manipulator are conveniently replaced by the punch press, the manipulator is moved into the punch press by the movable supporting mechanism after the die and the clamp are replaced on the outer side of the punch press, and then the manipulator and the movable supporting mechanism are combined to form the complete third moving shaft, so that the problem that the die and the manipulator of the automatic production line in the prior art are inconvenient to replace the die and.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

figure 1 shows a schematic structural view of an embodiment of a robot according to the invention;

FIG. 2 shows a side view of the robot shown in FIG. 1;

fig. 3 is a schematic view showing a structure of a movement supporting mechanism in the robot arm shown in fig. 1;

fig. 4 shows a schematic structural view of the quick-change device in the manipulator shown in fig. 1;

fig. 5 shows a schematic view of a first coupling part of the quick-change device shown in fig. 4;

fig. 6 shows a schematic view of the second coupling part of the quick-change device shown in fig. 4;

fig. 7 shows a cross-sectional view of the quick-change device shown in fig. 4 in the direction a-a; and

figure 8 shows a schematic view of the robot of figure 1 installed in a punch press.

Wherein the figures include the following reference numerals:

1. a first moving axis; 2. a second moving axis; 3. a third moving axis; 31. a sliding section; 32. an installation section; 4. a mobile support mechanism; 41. a supporting seat; 411. a base; 412. a boss portion; 42. a support frame; 43. a guide rail; 44. a slider; 5. a quick-change device; 51. a first connection portion; 511. a plug-in part; 512. a through hole; 513. steel balls; 514. a cylinder; 5140. a piston rod; 515. positioning pins; 52. a second connecting portion; 521. an accommodating chamber; 522. a groove; 6. a fixed mount; 7. a connecting frame; 10. a manipulator; 20. and (5) punching.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 8, the present invention provides a robot disposed inside a punch 20, the punch 20 having a mold mounted therein, the robot including: a first moving shaft 1, wherein the first moving shaft 1 is movably arranged along a first preset direction relative to the punch 20; the second moving shaft 2 is arranged on the first moving shaft 1 in a movable mode along a second preset direction; a third moving shaft 3, wherein the third moving shaft 3 is movably arranged on the second moving shaft 2 along a third preset direction; the third moving shaft 3 comprises a sliding section 31 and a mounting section 32 which are detachably connected, the sliding section 31 and the second moving shaft 2 are mutually connected, and the mounting section 32 is used for mounting a clamp; the movable supporting mechanism 4, the movable supporting mechanism 4 is arranged below the mounting section 32; the movable support mechanism 4 includes a support base 41 and a support bracket 42, the support base 41 is used for supporting the mounting segment 32, one end of the support bracket 42 is connected with the mold bed, and the support base 41 is slidably disposed on the support bracket 42 along a first preset direction to move the mounting segment 32 between a first preset position and a second preset position for replacing the mold and the clamp.

According to the manipulator, the third moving shaft 3 is divided into the sliding section 31 and the mounting section 32 which are detachably connected, the moving support mechanism 4 is arranged for supporting the mounting section 32, the mounting section 32 is moved between the first preset position and the second preset position, the manipulator located in the punch 20 is separated from the punch 20 when the punch 20 changes a mold or changes a clamp of the manipulator, the moving support mechanism 4 drives the mounting section 32 to move to the outer side of the punch 20, the mold and the clamp of the manipulator are convenient to change for the punch 20, the manipulator moves into the punch 20 through the moving support mechanism 4 after the mold and the clamp are changed on the outer side of the punch 20, and then the manipulator and the corresponding sliding section 31 are combined and assembled into the complete third moving shaft 3, so that the problem that the mold and the clamp of an automatic punch production line are inconvenient to change in operation is solved.

Specifically, in the first moving axis 1, the second moving axis 2, and the third moving axis 3, the moving directions of any two moving axes are perpendicular to each other.

The manipulator is a three-dimensional manipulator and comprises two parallel third moving shafts 3, two ends of each third moving shaft 3 are respectively and correspondingly provided with one second moving shaft 2, and each second moving shaft 2 is respectively and correspondingly arranged with one first moving shaft 1. The first preset direction of the movement direction of the first moving shaft 1 is the Y-Y direction in fig. 1, the second preset direction of the movement direction of the second moving shaft 2 is the Z-Z direction in fig. 1, the third preset direction of the movement direction of the third moving shaft 3 is the X-X direction in fig. 1, the third moving shaft 3 is divided into two sliding sections 31 and an installation section 32 located between the two sliding sections 31, and two ends of the installation section 32 are detachably connected with the corresponding sliding sections 31 respectively.

Specifically, the first predetermined location is inside the punch press and the second predetermined location is outside the punch press.

As shown in fig. 2, the movement support mechanism 4 further includes: the guide rail 43 is arranged on the support frame 42, and the guide rail 43 is parallel to the first preset direction; and the slide block 44 is connected with the guide rail 43 in a sliding manner, and the slide block 44 is arranged on the supporting seat 41 so that the supporting seat 41 slides relative to the supporting frame 42.

A guide rail 43 and a slider 44 are provided between the support base 41 and the support bracket 42 to achieve relative sliding between the support base 41 and the support bracket 42.

Specifically, the supporting base 41 includes a base 411 and a boss portion 412 provided on the base 411, the base 411 is slidably connected to the supporting frame 42, and the boss portion 412 is used for contacting the mounting section 32 to support the mounting section 32.

Preferably, each installation section 32 corresponds to two movable supporting mechanisms 4, the two movable supporting mechanisms 4 are arranged at intervals along a third preset direction, the installation section 32 is dismounted from the manipulator inside the punch press 20 and is placed on the two movable supporting mechanisms 4, the two movable supporting mechanisms 4 support the installation section 32, then the two movable supporting mechanisms 4 drive the installation section 32 to move to the outside of the punch press 20 so as to quickly replace the mold and the fixture, finally the installation section 32 is driven to move to the inside of the punch press 20 to be connected with the manipulator, and the two movable supporting mechanisms 4 realize the moving function and the two-point accurate positioning function of the installation section 32.

Preferably, at least a portion of the boss portion 412 is tapered, with the diameter of the boss portion 412 decreasing in a direction approaching the mounting section 32. The tapered end face with the smaller diameter of the boss portion 412 is used for contacting with the mounting section 32, so that the supporting effect on the mounting section 32 is guaranteed, meanwhile, the problem that the mounting section 32 is not stably supported due to the fact that the machining precision of the end face of the boss portion 412 is not enough is avoided, and the machining difficulty of the end face is reduced. When the end face for contact with the mounting section 32 is sufficiently small, the provision of two moving support mechanisms 4 achieves a two-point accurate positioning function for the mounting section 32.

As shown in fig. 4 to 7, the manipulator further includes a quick-change device 5, the quick-change device 5 includes a first coupling portion 51 and a second coupling portion 52, and the first coupling portion 51 and the second coupling portion 52 are detachably coupled; the first connecting portion 51 is used for connecting with the sliding section 31, and the second connecting portion 52 is used for connecting with the mounting section 32.

Specifically, one side of the first connecting portion 51 close to the second connecting portion 52 is provided with a plugging portion 511, a plurality of through holes 512 are arranged at intervals in the circumferential direction of the outer circumferential surface of the plugging portion 511, a plurality of movable steel balls 513 are arranged in the plurality of through holes 512 in a one-to-one correspondence manner, and the diameter of each steel ball 513 is larger than the length of the corresponding through hole 512; a cylinder 514 is arranged on one side of the insertion part 511 of the first connecting part 51, which is far away from the second connecting part 52, and a piston rod 5140 of the cylinder 514 extends into the cavity of the insertion part 511 to push the steel ball 513 to move; the second connecting portion 52 includes an accommodating cavity 521 and an opening portion communicating with the accommodating cavity 521 and facing the first connecting portion 51, and the accommodating cavity 521 is disposed corresponding to the insertion portion 511; a groove 522 is arranged in the accommodating cavity 521, the groove 522 is arranged corresponding to the through hole 512, and when the piston rod 5140 extends to push the steel ball 513 to enable part of the steel ball 513 to move into the groove 522 outside the through hole 512, the first connecting part 51 is connected with the second connecting part 52; or when the piston rod 5140 is retracted, the steel balls 513 can be disengaged from the grooves 522 to separate the first connecting parts 51 from the second connecting parts 52, thereby achieving quick connection or separation between the sliding section 31 and the mounting section 32.

The two sliding sections 31 of the third moving shaft 3 are connected with the middle mounting section 32 by the quick-change device 5, so that accurate positioning and automatic separation can be realized. When separating, the mounting segment 32 is firstly moved to the position right above the supporting seat 41 by the movement of the robot, and then the piston rods 5140 of the air cylinders 514 of the quick-change devices 5 at the two ends of the mounting segment 32 are retracted, so that the two sliding segments 31 at the two ends of the mounting segment 32 are separated from the mounting segment 32, and the mounting segment 32 is supported by the supporting seat 41.

Compared with the traditional bolt connection, the quick-change device 5 is easier to ensure the connection precision, and the switching speed of the die and the clamp is higher and the efficiency is higher.

As shown in fig. 5, the first connection portion 51 is provided with a positioning pin 515; the second connection portion 52 includes a pin hole provided corresponding to the positioning pin 515 to position the connection between the first connection portion 51 and the second connection portion 52.

Preferably, the first connection portion 51 includes two positioning pins 515 disposed diagonally, and two pin holes corresponding to the two positioning pins 515 are also disposed diagonally on the second connection portion 52, and before the first connection portion 51 and the second connection portion 52 are connected, the two positioning pins 515 are inserted into the corresponding pin holes in a step first, so as to accurately position the connection between the first connection portion 51 and the second connection portion 52.

As shown in fig. 1 and 8, the robot includes: the fixing frame 6 is arranged on the fixing frame 6, and the first moving shaft 1 can move along a first preset direction; one end of the connecting frame 7 is connected with the fixing frame 6, and the other end of the connecting frame 7 is connected with the punch 20.

Specifically, the robot is connected to the punch 20 and is located inside the punch 20. The manipulator is directly mounted on the punch 20 in a hanging manner, so that the manipulator and the punch 20 are combined into a whole, the space is saved, the cost is reduced, and the using beat of the punch 20 is improved.

Specifically, the connecting frame 7 includes a first plate body and a second plate body perpendicular to each other, the first plate body is connected to the fixed frame 6 by a first fastener, and the second plate body is connected to the punch 20 by a second fastener.

The connecting frame 7 further comprises rib plates respectively connected with the first plate body part and the second plate body part to enhance the stability of the first plate body part and the second plate body part, the first plate body part is connected with the fixing frame 6 through bolts, and the second plate body part is connected with the punch press 20 through bolts.

The invention also provides an automatic production line, which comprises the manipulator 10, wherein the manipulator 10 is the above manipulator.

Specifically, the automatic production line of the invention is a three-dimensional automatic production line.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a manipulator, sets up inside punch press (20), punch press (20) internally mounted has the mould, its characterized in that, the manipulator includes:

a first moving shaft (1), wherein the first moving shaft (1) is movably arranged along a first preset direction relative to the punch (20);

the second moving shaft (2), the second moving shaft (2) is movably arranged on the first moving shaft (1) along a second preset direction;

a third moving shaft (3), wherein the third moving shaft (3) is movably arranged on the second moving shaft (2) along a third preset direction; the third moving shaft (3) comprises a sliding section (31) and a mounting section (32) which are detachably connected, the sliding section (31) and the second moving shaft (2) are mutually connected, and the mounting section (32) is used for mounting a clamp;

a mobile support mechanism (4), the mobile support mechanism (4) being disposed below the mounting section (32); the movable supporting mechanism (4) comprises a supporting seat (41) and a supporting frame (42), the supporting seat (41) is used for supporting the installation section (32), one end of the supporting frame (42) is connected with a mold rack, and the supporting seat (41) is slidably arranged on the supporting frame (42) along a first preset direction so as to move the installation section (32) between a first preset position and a second preset position to replace a mold and a clamp.

2. The manipulator according to claim 1, characterized in that the movement support mechanism (4) further comprises:

a guide rail (43), the guide rail (43) being disposed on the support frame (42), the guide rail (43) being parallel to the first preset direction;

the sliding block (44) is connected with the guide rail (43) in a sliding mode, and the sliding block (44) is arranged on the supporting seat (41) so that the supporting seat (41) can slide relative to the supporting frame (42).

3. The manipulator according to claim 1, characterized in that the support base (41) comprises a base (411) and a boss portion (412) provided on the base (411), the base (411) being slidably connected to the support frame (42), the boss portion (412) being adapted to contact the mounting section (32) to support the mounting section (32).

4. A manipulator according to claim 3, characterized in that at least part of the boss portion (412) is tapered, the diameter of the boss portion (412) decreasing in a direction towards the mounting section (32).

5. The manipulator according to claim 1, characterized in that the manipulator further comprises a quick change device (5), the quick change device (5) comprising a first coupling part (51) and a second coupling part (52), the first coupling part (51) and the second coupling part (52) being detachably coupled; the first connecting part (51) is used for being connected with the sliding section (31), and the second connecting part (52) is used for being connected with the mounting section (32).

6. The robot hand of claim 5,

an inserting part (511) is arranged on one side, close to the second connecting part (52), of the first connecting part (51), a plurality of through holes (512) are arranged at intervals in the circumferential direction of the outer circumferential surface of the inserting part (511), a plurality of movable steel balls (513) are arranged in the through holes (512) in a one-to-one correspondence mode, and the diameter of each steel ball (513) is larger than the length of the corresponding through hole (512); an air cylinder (514) is arranged on one side, away from the second connecting part (52), of the insertion part (511) of the first connecting part (51), and a piston rod (5140) of the air cylinder (514) extends into a cavity of the insertion part (511) to push the steel ball (513) to move;

the second connecting part (52) comprises an accommodating cavity (521) and an opening part which is communicated with the accommodating cavity (521) and faces the first connecting part (51), and the accommodating cavity (521) and the inserting part (511) are correspondingly arranged; a groove (522) is formed in the accommodating cavity (521), the groove (522) is arranged corresponding to the through hole (512), and when the piston rod (5140) pushes part of the steel ball (513) to move into the groove (522) outside the through hole (512), the first connecting part (51) is connected with the second connecting part (52).

7. The robot hand of claim 5,

a positioning pin (515) is arranged on the first connecting part (51);

the second connecting portion (52) includes a pin hole provided corresponding to the positioning pin (515) to position the connection between the first connecting portion (51) and the second connecting portion (52).

8. The robot hand of claim 1, wherein the robot hand comprises:

the first moving shaft (1) is movably arranged on the fixed frame (6) along a first preset direction;

one end of the connecting frame (7) is connected with the fixing frame (6), and the other end of the connecting frame (7) is connected with the punch (20).

9. The manipulator according to claim 8, characterized in that the connection frame (7) comprises a first plate body and a second plate body perpendicular to each other, the first plate body being connected to the fixed frame (6) by a first fastener, the second plate body being connected to the punch (20) by a second fastener.

10. An automated production line comprising a robot (10), characterized in that the robot (10) is a robot according to any one of claims 1 to 9.