CN117047101B - Automatic change stamping production line with transport manipulator - Google Patents
Automatic change stamping production line with transport manipulator Download PDFInfo
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- CN117047101B CN117047101B CN202311320016.6A CN202311320016A CN117047101B CN 117047101 B CN117047101 B CN 117047101B CN 202311320016 A CN202311320016 A CN 202311320016A CN 117047101 B CN117047101 B CN 117047101B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 22
- 230000008859 change Effects 0.000 title claims description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 238000003756 stirring Methods 0.000 claims abstract description 124
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004080 punching Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 description 25
- 230000006872 improvement Effects 0.000 description 9
- 239000000843 powder Substances 0.000 description 9
- 244000309464 bull Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 235000009074 Phytolacca americana Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/003—Apparatus, e.g. furnaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/005—Loading or unloading powder metal objects
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Abstract
The invention relates to the technical field of stamping and carrying, in particular to a carrying manipulator for an automatic stamping production line. The workpiece clamping and conveying device comprises a positioning mechanism, wherein a receiving mechanism is arranged on the positioning mechanism, a stirring mechanism is arranged on the receiving mechanism, the receiving mechanism and the stirring mechanism clamp and convey workpieces, the stirring mechanism moves on the receiving mechanism when being driven by the positioning mechanism, and in the moving process of the stirring mechanism, the stirring mechanism stirs the workpieces through the limitation of the receiving mechanism. According to the invention, the supporting mechanism is driven to swing through the stirring mechanism, after the stamping device is stamped, the workpiece after stamping is completed is stirred between the swinging supporting mechanism and the stirring mechanism, so that the workpiece is stirred onto the supporting mechanism by the stirring mechanism to be transferred, the trouble of using a hydraulic rod to drive the workpiece to move and then carrying the workpiece is avoided, the time for carrying the workpiece is shortened, the waiting time after the stamping device is stamped is shortened, and the stamping speed of the stamping device to the workpiece is accelerated.
Description
Technical Field
The invention relates to the technical field of stamping and carrying, in particular to a carrying manipulator for an automatic stamping production line.
Background
The manipulator is a device for carrying articles instead of manpower in the process of article processing, so as to accelerate the speed of article carrying and improve the speed of article production, on a stamping production line, there is a process of leading metal powder into a die and then forming the metal powder into metal blocks in a stamping mode, so as to manufacture mechanical accessories, after the metal powder is stamped into the metal blocks, a hydraulic rod is needed to push the metal blocks out of the lower surface of a stamping machine, then the metal blocks are carried away by the manipulator, the hydraulic rod is needed to push the metal blocks, the manipulator returns to the original position again, then the manipulator can carry the metal blocks, the step is wider, the waiting time of the stamping device after stamping the metal powder is prolonged, the speed of the stamping device for manufacturing the metal blocks is reduced, the productivity of workpieces is reduced, and in order to accelerate the productivity of the stamping device for the metal blocks, the carrying manipulator for the automated stamping production line is designed to carry the workpieces, the carrying time for the workpieces is accelerated, and the production speed of the stamping device for the workpieces is improved.
Disclosure of Invention
The invention aims to provide a carrying manipulator for an automatic stamping production line, which solves the problems in the background technology.
In order to achieve the above-mentioned purpose, a carrying manipulator for an automatic stamping production line is provided, the manipulator comprises a positioning mechanism, a carrying mechanism is arranged on the positioning mechanism, a stirring mechanism is arranged on the carrying mechanism, the carrying mechanism and the stirring mechanism carry out clamping and carrying on a workpiece, the stirring mechanism moves on the carrying mechanism when being driven by the positioning mechanism, in the moving process of the stirring mechanism, the stirring mechanism stirs the workpiece through the limitation of the carrying mechanism, the workpiece stirred by the stirring mechanism is carried by the carrying mechanism, after the carrying mechanism carries the workpiece, the part of the stirring mechanism, which carries the workpiece, drives the carrying mechanism to lift up, so that the workpiece is limited on the carrying mechanism, and simultaneously, after the stirring mechanism moves to a certain position, the stirring mechanism drives the carrying mechanism to move, so that the workpiece is driven to a specified position, and after the stirring mechanism moves to the specified position, the stirring mechanism moves reversely, so that the stirring mechanism releases the limitation on the carrying mechanism, and after the workpiece falls down from the carrying mechanism, the carrying mechanism carries the workpiece through the reduction of the stirring position of the stirring mechanism.
As a further improvement of the technical scheme, the bearing mechanism comprises a moving rod, a stirring groove is formed in one end of the moving rod, the stirring mechanism comprises a stirring rod, a rotating rod is fixed at one end of the stirring rod, the rotating rod penetrates through the moving rod to be away from the side wall of one end of the stirring groove, a stirring block is connected to one end of the stirring rod in a rotating mode, and the stirring block is arranged in the stirring groove in a sliding mode.
As a further improvement of this technical scheme, positioning mechanism includes the stand pipe, the one end rotation that the groove was stirred in the movable rod was kept away from sets up on the stand pipe, the bull stick link up the stand pipe and extend away, driving motor is installed to the downside of stand pipe, driving motor's pivot and bull stick are connected, and driving motor drives the bull stick and rotate in the stand pipe.
As the further improvement of this technical scheme, the movable rod downside is close to the position that stirs the groove tip and is fixed with two connecting rods, two articulated have between the connecting rod to accept the board, it is close to the position of tip to accept the board with the articulated position setting of connecting rod, makes to accept the board and separates into long section and short section, and long section sets up the downside at stirring the groove, and the short section sets up the position of stirring the groove in keeping away from, long section is used for accepting the work piece, one side of connecting rod is provided with the locating part, the locating part restricts the short section of accepting the board, controls the angle of accepting the downward sloping of long section of board.
As a further improvement of the technical scheme, the lower side of the poking block is provided with a hinge frame, a hinge rod is hinged to the hinge frame, one end of the hinge rod is provided with a poking plate, one end of the poking plate is hinged to a moving rod at the other end of the poking groove, the hinge rod pulls the poking plate, and when the poking rod rotates, the hinge rod drives the poking plate to rotate around the position where the poking plate is hinged to the moving rod.
As a further improvement of the technical scheme, a side chute is formed in the middle of the shifting plate, one end of the hinge rod is arranged in the side chute in a sliding mode, when the shifting rod is close to the shifting plate, the hinge rod moves towards one end of the shifting plate, which is far away from the moving rod, and pushes the shifting plate to rotate towards the direction, which is far away from the shifting groove, and when the shifting rod is far away from the shifting plate, the hinge rod moves towards the direction, which is close to the shifting plate, and drives the shifting plate to rotate towards the direction, which is close to the shifting groove.
As a further improvement of the technical scheme, the long section is far away from the two ends of one side of the short section to form a groove, the shovel blocks are fixed at the bottom of the poking plate in the direction close to the poking groove, the shovel blocks are fixed at the two sides of the shovel blocks, and when the poking plate rotates in the direction close to the poking groove, the shovel blocks scoop up and push a workpiece to be pushed onto the bearing plate, and meanwhile the shovel blocks are contacted with the groove to drive one end of the bearing plate to rotate upwards by the shovel blocks.
As a further improvement of the technical scheme, the sliding groove is formed in the stirring groove, the sliding plate is arranged in the sliding groove in a sliding manner, the middle groove is formed in the middle of the sliding plate, the middle groove is matched with the stirring groove in a matched manner, the stirring block is arranged in the middle groove in a sliding manner, the two ends of the middle groove are provided with the protruding blocks, when one protruding block enters the sliding groove, the other protruding block comes out of the sliding groove, and the stirring block enables the sliding plate to slide in the sliding groove through the protruding blocks.
As a further improvement of the technical scheme, the limiting piece comprises a supporting block, the bottom of the supporting block is an inclined plane, the bottom of the supporting block is contacted with the short section of the bearing plate, the inclined angle of the bearing plate is limited, a connecting rod is fixed on the upper side of the supporting block, a clamping block is fixed on the connecting rod, the clamping block is arranged in a sliding groove in a sliding manner, a chute is formed in one side of the clamping block, a bevel opening is formed in the position, corresponding to the sliding plate and the clamping block, of the sliding plate, the chute and the bevel opening are buckled together in the moving process, and the bevel opening drives the supporting block to move upwards through pushing the chute, so that the supporting block does not limit the rotating angle of the bearing plate.
As a further improvement of the technical scheme, when the poking block drives the sliding plate to be close to the limiting piece, the sliding plate drives the limiting piece to move upwards, so that the limiting piece does not limit the bearing plate, and when the poking block drives the sliding plate to be far away from the limiting piece, the sliding plate releases the limitation on the limiting piece, so that the limiting piece falls down to limit the bearing plate.
Compared with the prior art, the invention has the beneficial effects that:
1. in this automatic change transport manipulator for punching production line, drive the mechanism of accepting through the toggle mechanism and swing, after stamping device punching press is accomplished, stir the work piece that will punch out between the mechanism of accepting and the toggle mechanism of swing, make the work piece stir by the toggle mechanism and shift to accepting on the mechanism, avoided using the hydraulic stem to drive the work piece and remove, then carry the trouble of carrying to the work piece again, shorten the time to the work piece transport, and then reduce the latency after stamping device punching press is accomplished for stamping device to the punching press speed of work piece.
2. In this automatic change transport manipulator for punching press production line, when the device removes to the work piece, dial the board and overturn towards the direction of keeping away from stirring the groove, the locating part is restricted the angle that holds the board slope this moment, make the long section slope setting of holding the board, after the work piece removes suitable position, stir the piece through changing the direction of removal, make dial the board stir the work piece, make the work piece stir on holding the board, rethread perk is accepted the one end of holding the board, make the work piece stable place on holding the board, accomplish the stable transfer to the work piece, after the work piece removes appointed position, stir the piece through the counter-rotation, make stir the piece and drive the locating part and remove the restriction to holding the board, and dial the board and keep away from holding the board, it is downward overturned through the effect of gravity to hold the board, make the work piece fall down like this, accomplish the transport of work piece like this, the holding board that overturns forms the inclined state through the restriction of locating part after locating part and sliding plate contact simultaneously, be convenient for hold the board and accept the continuation to the work piece.
Drawings
FIG. 1 is a schematic view of the overall device receiving work piece structure of the present invention;
FIG. 2 is a schematic view of the whole device of the present invention without receiving a workpiece;
FIG. 3 is a schematic view of a portion of an overall device according to the present invention;
FIG. 4 is a second schematic diagram of a portion of an overall device according to the present invention;
FIG. 5 is a schematic view of a receiving mechanism according to the present invention;
FIG. 6 is a schematic diagram of a toggle mechanism according to the present invention;
FIG. 7 is a schematic view of a limiting member according to the present invention;
FIG. 8 is a schematic view of a sliding plate structure according to the present invention;
FIG. 9 is a schematic view of an apparatus of the present invention receiving a workpiece;
FIG. 10 is a schematic illustration of a toggle mechanism for a workpiece with the apparatus of the present invention.
The meaning of each reference sign in the figure is:
1. a receiving mechanism; 11. a moving rod; 12. a toggle groove; 13. a sliding groove; 14. a connecting rod; 15. a receiving plate; 16. side baffles; 17. balancing weight; 18. grooving;
2. a toggle mechanism; 21. a deflector rod; 22. a rotating rod; 23. a poking block; 24. a poking plate; 25. a hinge rod; 26. a side chute; 27. a shovel block; 28. tilting blocks;
3. a sliding plate; 31. a middle groove; 32. a bevel opening;
4. a limiting piece; 41. abutting blocks; 42. a connecting rod; 43. a clamping block; 44. a chute; 45. a spring;
5. a positioning tube;
6. and driving the motor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1
The manipulator is a device for carrying articles instead of manpower in the process of article processing, so as to accelerate the speed of article carrying and improve the speed of article production, on a stamping production line, there is a process of leading metal powder into a die and then forming the metal powder into metal blocks in a stamping mode, so as to manufacture mechanical accessories, after the metal powder is stamped into the metal blocks, a hydraulic rod is needed to push the metal blocks out of the lower surface of a stamping machine, then the metal blocks are carried away by the manipulator, the hydraulic rod is needed to push the metal blocks, the manipulator returns to the original position again, then the manipulator can carry the metal blocks, the step is wider, the waiting time of the stamping device after stamping the metal powder is prolonged, the speed of the stamping device for manufacturing the metal blocks is reduced, the productivity of workpieces is reduced, and in order to accelerate the productivity of the stamping device for the metal blocks, the carrying manipulator for the automated stamping production line is designed to carry the workpieces, the carrying time for the workpieces is accelerated, and the production speed of the stamping device for the workpieces is improved.
In order to accelerate the workpiece carrying and make the device capable of carrying circularly, as shown in fig. 1-4, the embodiment aims at providing a carrying manipulator for an automatic stamping production line, which comprises a positioning mechanism, wherein the positioning mechanism is provided with a carrying mechanism 1, the carrying mechanism 1 is provided with a stirring mechanism 2, the carrying mechanism 1 and the stirring mechanism 2 carry the workpiece in a clamping manner, so that the workpiece is carried away, the workpiece transferring effect is achieved, but in order to accelerate the workpiece carrying speed, the workpiece carrying time is shortened, the stirring mechanism 2 moves on the carrying mechanism 1 when driven by the positioning mechanism, in the moving process of the stirring mechanism 2, the workpiece stirred by the stirring mechanism 2 is carried by the carrying mechanism 1 through the limitation of the carrying mechanism 1, after the workpiece is carried by the carrying mechanism 1, the part of the toggle mechanism 2, which toggles the workpiece, drives the part of the receiving mechanism 1, which receives the workpiece, to lift upwards, so that the workpiece is limited on the receiving mechanism 1, meanwhile, after the toggle mechanism 2 moves to a certain position, the toggle mechanism 2 drives the receiving mechanism 1 to move, so that the workpiece is driven to a specified position, and after the workpiece moves to the specified position, the toggle mechanism 2 moves reversely, so that the toggle mechanism 2 removes the limitation on the receiving mechanism 1, the workpiece falls from the receiving mechanism 1, and after the workpiece falls, the position of the receiving mechanism 1, which receives the workpiece, is restored by the toggle of the toggle mechanism 2, so that the trouble of using a hydraulic rod to drive the workpiece to move and then carry the workpiece is avoided, the time for carrying the workpiece is shortened, and the waiting time after the stamping of the stamping device is completed is further reduced, the stamping speed of the stamping device to the workpiece is increased.
The following details of the specific structures of the receiving mechanism 1, the toggle mechanism 2 and the positioning mechanism are shown in fig. 5 to 10:
the bearing mechanism 1 comprises a moving rod 11, a stirring groove 12 is formed in one end of the moving rod 11, the stirring mechanism 2 comprises a stirring rod 21, a rotating rod 22 is fixed at one end of the stirring rod 21, the stirring rod 22 penetrates through the moving rod 11 and is far away from the side wall of one end of the stirring groove 12, a stirring block 23 is rotatably connected to one end of the stirring rod 21, the stirring block 23 is slidably arranged in the stirring groove 12, meanwhile, the positioning mechanism comprises a positioning tube 5, one end of the moving rod 11 far away from the stirring groove 12 is rotatably arranged on the positioning tube 5, the rotating rod 22 penetrates through the positioning tube 5 and extends out, a driving motor 6 is arranged on the lower side of the positioning tube 5, a rotating shaft of the driving motor 6 is connected with the rotating rod 22, the driving motor 6 drives the rotating rod 22 to rotate in the positioning tube 5, when the rotating rod 22 rotates, one end of the rotating stirring rod 21 drives a stirring block 23 to slide along the track of the stirring groove 12, and after the stirring block 23 moves to one end of the stirring groove 12, the stirring block 23 presses the side wall of the stirring groove 12, and the stirring block 23 drives the moving rod 11 to rotate along the stirring rod 21, so that the rotating rod 21 rotates along with the stirring rod 21, and the bearing mechanism 2 can carry workpieces.
In order to enable the receiving mechanism 1 to receive the workpiece punched by the punching device, two connecting rods 14 are fixed at the position, close to the end part of the toggle groove 12, of the lower side of the moving rod 11, a receiving plate 15 is hinged between the two connecting rods 14, the hinged position of the receiving plate 15 and the connecting rods 14 is arranged at the position, close to the end part, of the receiving plate 15, so that the receiving plate 15 is divided into a long section and a short section, the long section is arranged at the lower side of the toggle groove 12, the short section is arranged at the position, far from the toggle groove 12, the long section is used for receiving the workpiece, one side of the connecting rods 14 is provided with a limiting piece 4, the limiting piece 4 limits the short section of the receiving plate 15, and the angle of downward inclination of the long section of the receiving plate 15 is controlled, so that the workpiece is convenient to move to the long section of the receiving plate 15 when the toggle mechanism 2 pushes the workpiece.
The hinge frame is arranged on the lower side of the toggle block 23 in a sliding manner, the hinge frame slides on the lower side of the toggle block 23, meanwhile, a hinge rod 25 is hinged on the hinge frame, one end of the hinge rod 25 is provided with a toggle plate 24, one end of the toggle plate 24 is hinged on a moving rod 11 at the other end of the toggle groove 12, the hinge rod 25 pulls the toggle plate 24, when the toggle plate 21 rotates, the hinge rod 25 drives the toggle plate 24 to rotate around the position hinged with the moving rod 11, in order to ensure that the toggle plate 24 is driven by the hinge rod 25 to normally overturn, a side sliding groove 26 is formed in the middle of the toggle plate 24, one end of the hinge rod 25 is slidably arranged in the side sliding groove 26, when the toggle plate 21 is close to the toggle plate 24, the hinge rod 25 moves towards one end of the moving rod 11, pushes the toggle plate 24 to rotate towards the direction away from the toggle groove 12, and when the toggle plate 21 is far away from the toggle plate 24, the hinge rod 25 moves towards the direction close to the toggle plate 24, and drives the toggle plate 24 to rotate towards the direction close to the toggle groove 12.
When the poking plate 24 rotates towards the direction close to the poking groove 12, the poking plate 24 pokes the workpiece to enable the workpiece to move towards the bearing plate 15, after the workpiece moves onto the bearing plate 15, in order to enable the device to take away the workpiece, the lifting grooves 18 are formed in the two ends of one side of the long section far away from the short section, the shovel blocks 27 are fixed at the bottom of the poking plate 24 in the direction close to the poking groove 12, the tilting blocks 28 are fixed at the two sides of the shovel blocks 27, when the poking plate 24 rotates towards the direction close to the poking groove 12, the shovel blocks 27 scoop up and push the workpiece to enable the workpiece to be pushed onto the bearing plate 15, meanwhile, the tilting blocks 28 are in contact with the lifting grooves 18, one end of the bearing plate 15 is driven to rotate upwards by the tilting blocks 28, the bearing plate 15 moves towards the horizontal direction, the horizontally arranged bearing plate 15 can stably place the workpiece, and meanwhile, the poking plate 24 blocks the workpiece on one side of the bearing plate 15, and the workpiece is ensured not to drop from the bearing plate 15 when moving.
In order to make the limiting piece 4 can carry out the restriction of inclination to the bearing plate 15 according to the position of shifting block 23, make the bearing plate 15 bear and drop the work piece according to the position of work piece movement, the sliding tray 13 has been seted up to the inside of shifting the groove 12, sliding plate 3 is provided with in the sliding tray 13, well groove 31 has been seted up at the middle part of sliding plate 3, well groove 31 and shifting groove 12 looks adaptation, shifting block 23 slides and sets up in well groove 31, and the both ends of well groove 31 are provided with the lug, when one of them lug enters into sliding tray 13, another lug comes out from sliding tray 13, shifting block 23 makes sliding plate 3 slide in sliding tray 13 through the extrusion lug, simultaneously refine the structure of limiting piece 4, limiting piece 4 includes butt piece 41, be fixed with side shield 16 between two connecting rods 14, butt piece 41 slides and sets up on the lateral wall of side shield 16, simultaneously side shield 16 also blocks the work piece that sets up on bearing plate 15, and when bearing plate 15 overturns, the biggest angle of control bearing plate 15 upset.
In order to limit the overturning angle of the bearing plate 15 by the abutting block 41, the bottom of the abutting block 41 is set to be an inclined plane, when the bottom of the abutting block 41 is contacted with the short section of the bearing plate 15, the inclined angle of the bearing plate 15 is limited, a connecting rod 42 is fixed on the upper side of the abutting block 41, a clamping block 43 is fixed on the connecting rod 42, the clamping block 43 is arranged in the sliding groove 13 in a sliding manner, a chute 44 is formed in one side of the clamping block 43, an inclined opening 32 is formed in a position corresponding to the sliding plate 3 and the clamping block 43, the chute 44 and the inclined opening 32 are buckled together in the moving process of the sliding plate 3, and the inclined opening 32 pushes the chute 44 to enable the clamping block 43 to drive the abutting block 41 to move upwards, so that the abutting block 41 does not limit the rotating angle of the bearing plate 15.
In order to facilitate the bearing plate 15 to limit the angle of the bearing plate 15 when the angle is not limited, the falling abutting block 41 limits the angle of the bearing plate 15, so that the short section of the bearing plate 15 rotates downwards, the balancing weight 17 is arranged on the short section of the bearing plate 15, the balancing weights at two ends of the bearing plate 15 are changed through the balancing weight 17, at the moment, the weight of the long section of the bearing plate 15 is larger than that of the short section, but the weight difference between the two is small, when the abutting block 41 moves downwards to squeeze the short section of the bearing plate 15, the short section of the bearing plate 15 rotates downwards conveniently, one end of the long section of the bearing plate 15 moves upwards, and the inclination angle of the bearing plate 15 is reduced, so that the bearing plate 15 is convenient for bearing workpieces.
In order to ensure that the supporting block 41 can stably move downwards to squeeze the bearing plate 15 after the bevel 32 and the chute 44 are separated, the inclined angle of the bearing plate 15 is limited, the springs 45 are fixed at the upper ends of the two sides of the supporting block 41, the other ends of the springs 45 are fixed at the bottom of the moving rod 11, and when the sliding plate 3 is far away from the limiting piece 4, the springs 45 push the supporting block 41 to move downwards, so that the supporting block 41 limits the downward-offset angle of the bearing plate 15.
When the toggle block 23 drives the sliding plate 3 to approach the limiting piece 4, the sliding plate 3 drives the limiting piece 4 to move upwards, so that the limiting piece 4 does not limit the bearing plate 15, and when the toggle block 23 drives the sliding plate 3 to be far away from the limiting piece 4, the sliding plate 3 releases the limitation on the limiting piece 4, so that the limiting piece 4 falls down to limit the bearing plate 15.
When the device moves to a workpiece, the shifting plate 24 overturns towards the direction far away from the shifting groove 12, at the moment, the limiting piece 4 limits the inclined angle of the bearing plate 15, so that the long section of the bearing plate 15 is obliquely arranged, after the workpiece moves to a proper position, the shifting block 23 shifts the workpiece by changing the moving direction, the shifting plate 24 shifts the workpiece to the bearing plate 15, one end of the bearing plate 15 is borne by the warping block 28, the workpiece is stably placed on the bearing plate 15, stable transfer of the workpiece is achieved, after the workpiece moves to a designated position, the shifting block 23 drives the limiting piece 4 to release the limitation on the bearing plate 15 by rotating the shifting block 23 reversely, the bearing plate 24 is far away from the bearing plate 15, the bearing plate 15 overturns downwards under the action of gravity, so that the workpiece falls down, and meanwhile, the overturned bearing plate 15 forms an inclined state after the limiting piece 4 contacts with the sliding plate 3, the limitation of the limiting piece 4, so that the bearing plate 15 continuously bears the workpiece.
The specific use flow of the device is described below:
when the stamping device is used for stamping metal powder, the driving motor 6 drives the rotating rod 22 to rotate, the deflector rod 21 drives the stirring block 23 to move towards the direction close to the limiting piece 4, the state of the device is shown in fig. 1 and 3, after the bearing plate 15 moves to one side of a workpiece, the stirring block 23 reversely rotates, the stirring block 23 is far away from the limiting piece 4, in the process that the stirring block 23 is far away from the limiting piece 4, the stirring block 23 drives the hinge rod 25 to move, the hinge rod 25 pushes the stirring plate 24 to overturn towards the direction far away from the stirring groove 12, in the process that the stirring plate 24 is overturned, the shovel block 27, the warping block 28 and the bearing plate 15 are separated, the bottom end of the bearing plate 15 is contacted with a plane where the workpiece is placed, as shown in fig. 10, the limiting piece 15 is not limited by the limiting piece 4, the long section of the bearing plate 15 is overturned downwards, and when the stirring block 23 presses a lug at one end of the sliding plate 3 far away from the limiting piece 4, the sliding plate 3 is enabled to slide in the sliding groove 13 towards the direction far away from the limiting piece 4, the chute 44 and the inclined opening 32 are separated, and the supporting block 41 is driven by a spring 45 to move downwards and contact with the bearing plate 15, and the bearing plate 15 is enabled to move towards one end of the bearing plate 11, and the bearing plate 15 is enabled to move continuously, and the bearing plate 11 is far away from the limiting piece 11, and is enabled to move continuously;
when one end of the workpiece is contacted with one end of the supporting plate 15, the stirring block 23 rotates reversely, so that the stirring block 23 moves towards the direction close to the limiting piece 4, the stirring block 23 drives the hinge rod 25 to drag the stirring plate 24, the stirring plate 24 rotates towards the direction close to the stirring groove 12, the stirring plate 24 pushes the workpiece to move towards the supporting plate 15 in the rotating process of the stirring plate 24, in the process of pushing the workpiece by the shovel 27, the lifting block 28 contacts with the lifting groove 18, one end of the supporting plate 15 is supported by the lifting block 28, and along with the continuous rotation of the stirring plate 24, the lifting block 27 moves to the lower side of the supporting plate 15 to support the supporting plate 15, after the lifting block 28 supports the supporting plate 15, one end of the supporting plate 15 is lifted upwards, so that the supporting plate 15 moves towards the horizontal direction, and when the supporting plate 15 is horizontally arranged, the stirring block 23 moves to one end of the stirring groove 12, as shown in fig. 9.
When the poking block 23 moves to one end of the poking groove 12, which is close to the limiting piece 4, the bevel 32 is clamped with the chute 44, so that the abutting block 41 moves upwards, the limitation of the abutting block 41 on the position of the bearing plate 15 is relieved, and at the moment, the poking block 23 drives the moving rod 11 to leave the stamping device.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides an automatic change transport manipulator for punching press production line, includes positioning mechanism, is provided with on the positioning mechanism and accepts mechanism (1), be provided with toggle mechanism (2) on accepting mechanism (1), accept mechanism (1) and toggle mechanism (2) carry out centre gripping transport, its characterized in that to the work piece: the stirring mechanism (2) moves on the supporting mechanism (1) when being driven by the positioning mechanism, in the process of moving the stirring mechanism (2), the stirring mechanism (2) stirs a workpiece through the limitation of the supporting mechanism (1), the workpiece stirred by the stirring mechanism (2) is supported by the supporting mechanism (1), after the supporting mechanism (1) supports the workpiece, the part of the stirring mechanism (2) stirring the workpiece drives the part of the supporting mechanism (1) to lift upwards, so that the workpiece is limited on the supporting mechanism (1), meanwhile, after the stirring mechanism (2) moves to a certain position, the stirring mechanism (2) drives the supporting mechanism (1) to move, so that the workpiece is driven to a specified position, and after the stirring mechanism (2) moves to the specified position, the stirring mechanism (2) moves reversely, so that the limitation of the supporting mechanism (1) is relieved, the workpiece falls down from the supporting mechanism (1), and after the workpiece falls down, the position of the supporting mechanism (1) supports the workpiece through the stirring mechanism (2) to restore the position;
the bearing mechanism (1) comprises a moving rod (11), a stirring groove (12) is formed in one end of the moving rod (11), the stirring mechanism (2) comprises a stirring rod (21), a rotating rod (22) is fixed at one end of the stirring rod (21), the rotating rod (22) penetrates through the side wall of the moving rod (11) far away from one end of the stirring groove (12), a stirring block (23) is rotatably connected to one end of the stirring rod (21), and the stirring block (23) is slidably arranged in the stirring groove (12);
the positioning mechanism comprises a positioning tube (5), one end of the moving rod (11) far away from the toggle groove (12) is rotatably arranged on the positioning tube (5), the rotating rod (22) penetrates through the positioning tube (5) and extends out, a driving motor (6) is arranged on the lower side of the positioning tube (5), a rotating shaft of the driving motor (6) is connected with the rotating rod (22), and the driving motor (6) drives the rotating rod (22) to rotate in the positioning tube (5);
two connecting rods (14) are fixed at the lower side of the moving rod (11) close to the end part of the toggle groove (12), a bearing plate (15) is hinged between the two connecting rods (14), the hinged position of the bearing plate (15) and the connecting rods (14) is arranged at the position of the bearing plate (15) close to the end part, the bearing plate (15) is divided into a long section and a short section, the long section is arranged at the lower side of the toggle groove (12), the short section is arranged at the position far away from the toggle groove (12), the long section is used for bearing a workpiece, a limiting piece (4) is arranged at one side of the connecting rods (14), the limiting piece (4) limits the short section of the bearing plate (15), and the downward inclination angle of the long section of the bearing plate (15) is controlled;
the lower side of the stirring block (23) is slidably provided with a hinge frame, a hinge rod (25) is hinged on the hinge frame, one end of the hinge rod (25) is provided with a stirring plate (24), one end of the stirring plate (24) is hinged on a moving rod (11) at the other end of the stirring groove (12), the hinge rod (25) pulls the stirring plate (24), and when the stirring rod (21) rotates, the hinge rod (25) drives the stirring plate (24) to rotate around a position hinged with the moving rod (11);
a side sliding groove (26) is formed in the middle of the shifting plate (24), one end of the hinge rod (25) is slidably arranged in the side sliding groove (26), when the shifting rod (21) is close to the shifting plate (24), the hinge rod (25) moves towards one end of the shifting plate (24) far away from the moving rod (11) and pushes the shifting plate (24) to rotate towards the direction far away from the shifting groove (12), and when the shifting rod (21) is far away from the shifting plate (24), the hinge rod (25) moves towards the direction close to the shifting plate (24) and drives the shifting plate (24) to rotate towards the direction close to the shifting groove (12);
the two ends of one side of the long section, which is far away from the short section, are provided with a lifting groove (18), a shovel block (27) is fixed at the bottom of the poking plate (24) in the direction close to the poking groove (12), a tilting block (28) is fixed at two sides of the shovel block (27), and when the poking plate (24) rotates in the direction close to the poking groove (12), the shovel block (27) scoops and pushes a workpiece, so that the workpiece is pushed onto the bearing plate (15), and meanwhile, the tilting block (28) is contacted with the lifting groove (18), so that one end of the bearing plate (15) is driven to rotate upwards by the tilting block (28);
the sliding groove (13) is formed in the toggle groove (12), the sliding plate (3) is arranged in the sliding groove (13) in a sliding manner, the middle groove (31) is formed in the middle of the sliding plate (3), the middle groove (31) is matched with the toggle groove (12), the toggle block (23) is arranged in the middle groove (31) in a sliding manner, the two ends of the middle groove (31) are provided with protruding blocks, when one protruding block enters the sliding groove (13), the other protruding block comes out of the sliding groove (13), and the toggle block (23) enables the sliding plate (3) to slide in the sliding groove (13) through the protruding blocks;
the limiting piece (4) comprises a supporting block (41), the bottom of the supporting block (41) is an inclined plane, the bottom of the supporting block (41) is contacted with a short section of the bearing plate (15), the inclined angle of the bearing plate (15) is limited, a connecting rod (42) is fixed on the upper side of the supporting block (41), a clamping block (43) is fixed on the connecting rod (42), the clamping block (43) is arranged in the sliding groove (13) in a sliding manner, a chute (44) is formed in one side of the clamping block (43), a bevel opening (32) is formed in the position, corresponding to the sliding plate (3) and the clamping block (43), of the sliding plate (3) is buckled with the bevel opening (32) in the moving process, and the bevel opening (32) drives the supporting block (41) to move upwards through pushing the chute (44), so that the supporting block (41) does not limit the rotating angle of the bearing plate (15).
2. The handling robot for an automated press line according to claim 1, wherein: when the stirring block (23) drives the sliding plate (3) to be close to the limiting piece (4), the sliding plate (3) drives the limiting piece (4) to move upwards, so that the limiting piece (4) does not limit the bearing plate (15), and when the stirring block (23) drives the sliding plate (3) to be far away from the limiting piece (4), the sliding plate (3) releases the limitation on the limiting piece (4), so that the limiting piece (4) falls down to limit the bearing plate (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311320016.6A CN117047101B (en) | 2023-10-12 | 2023-10-12 | Automatic change stamping production line with transport manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311320016.6A CN117047101B (en) | 2023-10-12 | 2023-10-12 | Automatic change stamping production line with transport manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN117047101A CN117047101A (en) | 2023-11-14 |
| CN117047101B true CN117047101B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311320016.6A Active CN117047101B (en) | 2023-10-12 | 2023-10-12 | Automatic change stamping production line with transport manipulator |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204748614U (en) * | 2015-07-23 | 2015-11-11 | 河北恒凯硬质合金科技有限公司 | Full -automatic powder forming press qu liao manipulator |
| CN207787536U (en) * | 2017-11-17 | 2018-08-31 | 合肥冠鸿光电科技有限公司 | A kind of automatic loading and unloading device of stamping mechanical arm |
| CN210450968U (en) * | 2019-09-17 | 2020-05-05 | 淅川县华扬精密科技有限公司 | Material taking manipulator for powder metallurgy forming device |
-
2023
- 2023-10-12 CN CN202311320016.6A patent/CN117047101B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204748614U (en) * | 2015-07-23 | 2015-11-11 | 河北恒凯硬质合金科技有限公司 | Full -automatic powder forming press qu liao manipulator |
| CN207787536U (en) * | 2017-11-17 | 2018-08-31 | 合肥冠鸿光电科技有限公司 | A kind of automatic loading and unloading device of stamping mechanical arm |
| CN210450968U (en) * | 2019-09-17 | 2020-05-05 | 淅川县华扬精密科技有限公司 | Material taking manipulator for powder metallurgy forming device |
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| Publication number | Publication date |
|---|---|
| CN117047101A (en) | 2023-11-14 |
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