CN203426304U - Three-dimensional manipulator conveying equipment for stamping equipment - Google Patents

Three-dimensional manipulator conveying equipment for stamping equipment Download PDF

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Publication number
CN203426304U
CN203426304U CN201320476689.6U CN201320476689U CN203426304U CN 203426304 U CN203426304 U CN 203426304U CN 201320476689 U CN201320476689 U CN 201320476689U CN 203426304 U CN203426304 U CN 203426304U
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CN
China
Prior art keywords
lifting
drive
equipment
nut seat
clip arm
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CN201320476689.6U
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Chinese (zh)
Inventor
张宇波
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东莞市井田自动化设备有限公司
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Priority to CN201320476689.6U priority Critical patent/CN203426304U/en
Application granted granted Critical
Publication of CN203426304U publication Critical patent/CN203426304U/en

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Abstract

The utility model relates to the technical field of automation of stamping, in particular to three-dimensional manipulator conveying equipment used in coordination with stamping equipment. The three-dimensional manipulator conveying equipment comprises clamp arms and a transmission body, wherein the transmission body comprises a rack; the rack is provided with supporting arms, a lifting transmission mechanism and a clamp opening transmission mechanism; the lifting transmission mechanism can drive the supporting arms to move up and down; the clamp opening transmission mechanism can drive the supporting arms to move inside and outside; the supporting arms are slidably connected with the clamp arms; the clamp arms are provided with clamps capable of clamping a stamping part; the supporting arms are provided with left-right side-sway transmission mechanisms capable of driving the clamp arms to move left and right; the numbers of both the supporting arms and the clamp arms are two; the supporting arms and the clamp arms are symmetrically arranged on the front and rear sides of the rack. The utility model provides the three-dimensional manipulator conveying equipment for the stamping equipment, so that the lifting conveying force can be more balanced, the space occupied by the side-sway conveying part is reduced, and the equipment can be used in coordination with large-sized stamping equipment.

Description

Three-D manipulator transfer equipment for pressing equipment
Technical field
The utility model relates to punching automation technical field, espespecially a kind of three-D manipulator transfer equipment being used in conjunction with pressing equipment.
Background technology
Diel, is in Cold Press Working, material (metal or nonmetal) is processed into a kind of technological equipment of part (or semi-finished product), is called cold punching die (being commonly called as cold-punching mould).Punching press, is at room temperature, utilizes the mould being arranged on forcing press to exert pressure to material, makes it produce separation or plastic deformation, thereby obtains a kind of pressure processing method of required stamping parts.
The form of diel is a lot, according to operation combined level, diel comprises progressive die (also claiming the progressive die) and single die, wherein progressive die is on the feed direction of blank, there are two or more stations, in the one stroke of forcing press, on different stations, successively complete the mould of twice or the above stamping procedure of twice, the production efficiency of this kind of mould is higher, can produce continuously.Single die is in the one stroke of forcing press, only completes the mould of one stamping procedure, and the production efficiency of this kind of mould is lower.
For some stamping parts, because the restriction of self structure can only adopt a plurality of single die tools independently to produce, some three axle transfer robots that can transmit stamping parts are also disclosed in prior art, but the following defect of ubiquity:
(1) due to as the center of the active force of lifting transmission at main equipment, and the end of drive disk assembly (load) is larger with respect to the center size of main body, can cause the imbalance of main body two ends transmission force, and when running part exists gap, can cause the end of drive disk assembly to rock, unstable;
(2) existing traversing transmission is all separate transmission, and while causing traversing transmission step pitch larger, traversing running part size is larger, need take very large installing space, and need bear larger the moment of inertia;
(3) appearance and size of large-scale pressing equipment is huge, and workpiece lays particular stress on, and causes the aluminium section bar clip arm that transmits use that span is installed large, and the aluminium section bar clip arm of selling on the market is at present generally less than normal, is not too applicable to the transmission of large-scale stamping parts.
Summary of the invention
For solving above technical problem, the utility model provides the three-D manipulator transfer equipment of a kind of innovative drive mechanism for pressing equipment, can make lifting and traversing transmission strength more balanced, greatly shorten the space that traversing translator unit takies, and can be used in conjunction with large-scale pressing equipment.
For reaching above object, the utility model for the three-D manipulator transfer equipment of pressing equipment mainly by the following technical solutions:
A kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that can drive clip arm to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame.
Preferably, the quantity of described transmission main body is two, and two transmission main bodys are symmetrical charging aperture and the discharging opening that is installed on pressing equipment respectively.
Preferably, described elevating drive mechanism comprises and is installed on the first lifting drive lead screw, the second lifting drive lead screw of frame and can drives the first lifting drive lead screw and the lifting driving motor of the second lifting drive lead screw synchronous rotary, the first lifting drive lead screw first lifting nut seat that has been threaded, the second lifting drive lead screw second lifting nut seat that has been threaded, the first lifting nut seat and the second lifting nut seat are all horizontally installed with the first line slideway, and two support arms are fixedly connected with the slide block of the first line slideway respectively.
Preferably, described elevating drive mechanism also comprises the some lifting load balance cylinders that are installed on frame, and the piston rod of some lifting load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.
Preferably, described open folder transmission mechanism comprise be installed on left-handed screw mandrel, the dextrorotation screw mandrel of frame and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, dextrorotation wire rod thread is connected with dextrorotation and opens folder nut seat, two support arms are all vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.
Preferably, described transverse moving left and right transmission mechanism comprises the traversing driving motor that is installed on the synchronous pulley of support arm and can drives synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, and the two ends of Timing Belt are fixedly connected with the two ends, left and right of clip arm respectively.
Preferably, described two clip arms are all horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.
Preferably, the described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, and fixed head is also provided with the complete machine elevating drive mechanism can drive chassis sliding up and down along the 4th line slideway.
Preferably, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor that is installed on fixed head, worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives and is connected with the horizontal direction power shaft of worm and gear lift, and the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame.
Preferably, described clip arm is provided with can interconnective the first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with a through hole that can insert for locating piece, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidably connected, described Connection Block is provided with stopper slot, when the first clip arm is connected with the second clip arm, some limited blocks are supported stopper slot.
Brief description the utility model is used for the operation principle of the three-D manipulator transfer equipment of pressing equipment:
A kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that can drive clip arm to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame.Wherein, symmetrically arranged two support arms can drive respectively two clip arms synchronously to move up and down and inside and outside move, and two clip arms can synchronously move left and right along two support arms respectively under the drive of transverse moving left and right transmission mechanism.Concrete, the utility model is installed on the feed inlet end of pressing equipment for the three-D manipulator transfer equipment of pressing equipment, the work top of pressing equipment inner side is provided with single operation (or multiple operation) mould, the slide block of pressing equipment drives single operation (or multiple operation) mould to carry out punch forming to material, in the one time punching molded process of single operation (or multiple operation) mould, the utility model is as follows for the course of action of the three-D manipulator transfer equipment of pressing equipment: 1, one time punching molded complete, the slide block of pressing equipment drives single die tool to open, 2, drive folder transmission mechanism and drive two support arms synchronously to move inward, two support arms drive two clip arms also synchronously to move inward, and two clip arms are by symmetrically arranged clamp stamping parts on it, 3, elevating drive mechanism drives two support arms to drive two clip arms synchronously to move up, until stamping parts departs from single die tool, 4, the transverse moving left and right transmission mechanism arranging on support arm drives two clip arms synchronously to move right, and two clip arms drive fixture to move to the second stamping procedure position by the first stamping procedure position, and now stamping parts is positioned at the top position of the second stamping procedure, 5, elevating drive mechanism drives two support arms to drive two clip arms synchronously to move down, until stamping parts is positioned at the stamping position of single die tool, 6, drive folder transmission mechanism and drive two support arms synchronous outwards mobile, two support arms drive two clip arms also synchronous outwards mobile, and on two clip arms, symmetrically arranged fixture unclamps stamping parts, 7, transverse moving left and right transmission mechanism drives two clip arms to be synchronously moved to the left, and two clip arms drive fixture by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment drives single die tool closure and stamping parts is carried out to punching press, and the one action circulation of stamping parts finishes.
The utility model for the beneficial effect of the three-D manipulator transfer equipment of pressing equipment is: by the elevating drive mechanism arranging, drive folder transmission mechanism and transverse moving left and right transmission mechanism, can drive respectively two clip arms upper and lower, inside and outside and move left and right, two clip arms can be along X-axis, Y-axis and Z axis carry out space three-dimensional and move, realize stamping parts and in pressing equipment, between each station die, followed the synchronizing moving of pressing equipment crankshaft angles, full-automatic continuous operation operation, replaced manual feeding action, improved production efficiency, effectively prevented the generation of industrial accident, improved safe application performance of the present utility model, in addition, adopt two support arms drive clip arms up and down, inside and outside, move left and right, make whole drive mechanism stressed more balanced reliable in the process of lifting transmission, reduced stress raisers, by transverse moving left and right transmission mechanism is set on support arm, drive clip arm to move left and right, support arm needn't move left and right with clip arm, has reduced driven loads, has shortened the space that transverse moving left and right transmission mechanism takies, and clip arm can be used in conjunction with large-scale pressing equipment.
Accompanying drawing explanation
Fig. 1 is that the utility model is for the three-D manipulator transfer equipment of pressing equipment and the assembling schematic diagram of pressing equipment.
Fig. 2 is the perspective view of transmission main body of the present utility model.
Fig. 3 is the plan structure schematic diagram of transmission main body of the present utility model.
Fig. 4 is the structure for amplifying schematic diagram at the A place of Fig. 3.
Fig. 5 is the internal structure schematic diagram of transmission main body of the present utility model.
Fig. 6 is the internal structure schematic diagram of another angle of transmission main body of the present utility model.
Fig. 7 is the structure for amplifying schematic diagram at the B place of Fig. 6.
Fig. 8 is the structure for amplifying schematic diagram at the C place of Fig. 6.
Fig. 9 is the structural representation of opening folder connecting gear of the present utility model.
Figure 10 is the structure for amplifying schematic diagram at the D place of Fig. 9.
Figure 11 is the decomposition texture schematic diagram of the junction of the first clip arm of the present utility model and the second clip arm.
Number in the figure explanation: 1, pressing equipment, 2, clip arm, 3, transmission main body, 4, support arm, 5, fixture, 6, frame, 7, the first lifting drive lead screw, 8, the second lifting drive lead screw, 9, lifting driving motor, 10, the first lifting nut seat, 11, the second lifting nut seat, 12, the first line slideway, 121, the slide block of the first line slideway, 13, lifting load balance cylinder, 14, left-handed screw mandrel, 15, dextrorotation screw mandrel, 16, open folder driving motor, 17, left-handed folder nut seat, 18 of opening, folder nut seat, 19 are opened in dextrorotation, the second line slideway, 191, the slide block of the second line slideway, 20, synchronous pulley, 21, traversing driving motor, 22, lifting line slideway, 23, Timing Belt, 24, idle pulley, 25, the 3rd line slide rail, 251, the slide block of the 3rd line slide rail, 26, fixed head, 27, the 4th line slideway, 271, the slide block of the 4th line slideway, 28, oil cylinder, 29, base, 291, through hole, 292, the 5th fourth of the twelve Earthly Branches groove, 30, locating piece, 301, first surface of revolution, 31, limited block, 311, second surface of revolution, 32, Connection Block, 321, stopper slot, 33, complete machine lifting driving motor, 34, open intermediate straight line guide rail, 35, the first clip arm, 36, the second clip arm.
The specific embodiment
In the utility model, mention up and down, inside and outside, front and back and the left and right orientation of all take in Fig. 1 is benchmark.
As shown in Fig. 1 ~ 11, a kind of three-D manipulator transfer equipment for pressing equipment, comprise clip arm 2 and transmission main body 3, transmission main body 3 comprises frame 6, described frame 6 is provided with support arm 4, the elevating drive mechanism that support arm 4 moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm 4 can be driven, support arm 4 is slidably connected with clip arm 2, clip arm 2 is provided with the fixture 5 that can clamp stamping parts, described support arm 4 is provided with the transverse moving left and right transmission mechanism that can drive clip arm 2 to move left and right, the quantity of described support arm 4 and clip arm 2 is two, support arm 4 and clip arm 2 are all symmetricly set in the both sides, front and back of frame 6.Wherein, symmetrically arranged two support arms 4 can drive respectively two clip arms 2 synchronously to move up and down and inside and outside move, and two clip arms 2 can synchronously horizontally slip along two support arms 4 respectively under the drive of transverse moving left and right transmission mechanism.Concrete, the utility model is installed on the feed inlet end/discharge port end of pressing equipment 1 for the three-D manipulator transfer equipment of pressing equipment, the work top of pressing equipment 1 inner side is provided with single die tool, the slide block of pressing equipment 1 drives single die tool to carry out punch forming to material, in the one time punching molded process of single die tool, the utility model is as follows for the course of action of the three-D manipulator transfer equipment of pressing equipment: 1, one time punching molded complete, the slide block of pressing equipment 1 drives single die tool to open; 2, drive folder transmission mechanism and drive two support arms 4 synchronously to move inward, two support arms 4 drive two clip arms 2 also synchronously to move inward, and two clip arms 2 clamp stamping parts by symmetrically arranged fixture 5 on it; 3, elevating drive mechanism drives two support arms 4 to drive two clip arms 2 synchronously to move up, until stamping parts departs from single die tool; 4, the transverse moving left and right transmission mechanism arranging on support arm 4 drives two clip arms 2 synchronously to move right, two clip arms 2 drive fixture 5 to move to the second stamping procedure position by the first stamping procedure position, and now stamping parts is positioned at the top position of the second stamping procedure; 5, elevating drive mechanism drives two support arms 4 to drive two clip arms 2 synchronously to move down, until stamping parts is positioned at the stamping position of single die tool; 6, drive folder transmission mechanism and drive two support arms 4 synchronous outwards mobile, two support arms 4 drive two clip arms 2 also synchronous outwards mobile, and on two clip arms 2, symmetrically arranged fixture 5 unclamps stamping parts; 7, transverse moving left and right transmission mechanism drives two clip arms 2 to be synchronously moved to the left, and two clip arms 2 drive fixture 5 by the second stamping procedure position travelling backwards to the first stamping procedure position.8, the slide block of pressing equipment 1 drives single die tool closure and stamping parts is carried out to punching press, and the one action circulation of stamping parts finishes.The utility model is provided with motion controller and encoder for the three-D manipulator transfer equipment of pressing equipment, encoder is installed in pressing equipment 1 and is connected with the bent axle of pressing equipment 1, encoder is mainly used for following the angle position of bent axle, encoder converts the angular displacement of bent axle in a punching stroke process to pulse signal and passes to motion controller, after motion controller reception signal, give respectively elevating drive mechanism, open folder transmission mechanism and transverse moving left and right transmission mechanism transmitted signal, elevating drive mechanism, drive folder transmission mechanism and transverse moving left and right transmission mechanism and receive that to control respectively stamping parts after signal upper and lower, inside and outside and side-to-side movement, thereby realize the gripping to stamping parts in a punching stroke, rise, traversing feeding, decline, blowing, each action of opening and returning, coordinate pressing equipment 1 to realize automated production.Elevating drive mechanism by arranging, drive folder transmission mechanism and transverse moving left and right transmission mechanism, can drive respectively two clip arms 2 up and down, inside and outside and move left and right, two clip arms 2 can carry out space three-dimensional along X-axis, Y-axis and Z axis and move, realize stamping parts and in pressing equipment 1, between each station die, followed the synchronizing moving of pressing equipment 1 crankshaft angles, full-automatic continuous operation operation, replaced manual feeding action, improved production efficiency, effectively prevent the generation of industrial accident, improved safe application performance of the present utility model; In addition, adopt two support arms 4 drive clip arms 2 up and down, inside and outside, move left and right, make stamping parts stressed more even in the process of lifting transmission, reduced stress raisers; By transverse moving left and right transmission mechanism is set on support arm 4, drive clip arm 2 to move left and right, support arm 4 needn't move left and right with clip arm 2, has reduced driven loads, has shortened the space that transverse moving left and right transmission mechanism takies; And clip arm 2 can be used in conjunction with large-scale pressing equipment 1.
The quantity of described transmission main body 3 is two, and two transmission main bodys 3 are symmetrical charging aperture and the discharging opening that is installed on pressing equipment 1 respectively.Concrete, two transmission main bodys 3 can synchronously drive two clip arms 2 to do up and down respectively, inside and outside and side-to-side movement, because two transmission main bodys 3 are charging aperture and discharging openings that symmetry is installed on pressing equipment 1, each clip arm 2 now has two symmetrical connections of support arm 4, make the stressed more balanced of single clamp arm 2, balance the load of each running part, reduced the stress raisers of clip arm 2, strengthened the stability of clip arm 2 in the process of horizontally slipping.
Described elevating drive mechanism comprises and is installed on the first lifting drive lead screw 7, the second lifting drive lead screw 8 of frame and can drives the first lifting drive lead screw 7 and the lifting driving motor 9 of the second lifting drive lead screw 8 synchronous rotaries, lifting driving motor 9 is installed on the centre position of the first lifting drive lead screw 7 and the second lifting drive lead screw 8, concrete, the outer surface of the main shaft of lifting driving motor 9, the first lifting drive lead screw 7 and the second lifting drive lead screw 8 is all arranged with lifting synchronous pulley, and the outside of lifting synchronous pulley is arranged with Timing Belt, lifting driving motor 9 drives the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotaries by Timing Belt, the first lifting drive lead screw 7 first lifting nut seat 10 that has been threaded, the second lifting drive lead screw 9 second lifting nut seat 11 that has been threaded, the first lifting drive lead screw 7 and the first lifting nut seat 10 and the second lifting drive lead screw 8 and the second lifting nut seat 11 form respectively feed screw nut's structure, when the first lifting drive lead screw 7 and the second lifting drive lead screw 8 synchronous rotary, the first lifting nut seat 10 is distinguished synchronously along the first lifting drive lead screw 7 and the vertical slip of the second lifting drive lead screw 8 with the second lifting nut seat 11, the first lifting nut seat 10 and the second lifting nut seat 11 are all horizontally installed with 12, two support arms 4 of the first line slideway and are fixedly connected with the slide block 121 of the first line slideway 12 respectively.Concrete, the first line slideway 12 of installing by level, two support arms 4 interfix in vertical direction with nut seat, two support arms 4 are hung on respectively nut seat, the first lifting nut seat 10 slides up and down together with can driving respectively two support arms 4 with the second lifting nut seat 11, two support arms 4 drive clip arm 2 to slide up and down together, thereby realize the function that elevating drive mechanism drives support arm 4 to move up and down, by this kind of frame mode, two support arms 4 are hung installation in vertical direction, can save installing space, reduced the volume of the utility model for the three-D manipulator transfer equipment of pressing equipment, in addition, two support arms 4 also can inside and outside move along the first line slideway 12 under the drive of driving folder transmission mechanism, thereby make sliding up and down and inside and outside sliding non-interference of two support arms 4.
Described elevating drive mechanism also comprises that at right angle setting is in some lifting line slideways 22 of frame 6, the first lifting nut seat 10 is fixedly connected with the slide block of some lifting line slideways 22 respectively with the second lifting nut seat 11, and some lifting line slideways 22 can provide good guiding and supporting role for moving up and down of support arm 4.
Described elevating drive mechanism also comprises the some lifting load balance cylinders 13 that are installed on frame 6, and the piston rod of some lifting load balance cylinders 13 is fixedly connected with the second lifting nut seat 11 with the first lifting nut seat 10 respectively.Concrete, the first lifting nut seat 10 and the second lifting nut seat 11 are all hung with support arm 4 and clip arm 2, support arm 4 and clip arm 2 can apply a downward pulling force to the first lifting nut seat 10 and the second lifting nut seat 11 under the effect of self gravitation, during 9 running of lifting driving motor, can be very light when the first lifting nut seat 10 and the second lifting nut seat 11 move downward, again can be very painstaking when the first lifting nut seat 10 and the second lifting nut seat 11 move upward.By the some lifting load balance cylinders 13 that arrange, some lifting load balance cylinders 13 can apply respectively the power making progress to the first lifting nut seat 10 and the second lifting nut seat 11, to offset the impact of self gravitation, make the first lifting nut seat 10 and the second lifting nut seat 11 stressed balance that reaches in vertical direction respectively, thereby lifting driving motor 9 can drive moving up and down of the first lifting nut seat 10 and the second lifting nut seat 11 steady and continuous, reduced load, reduce energy consumption, improved the service life of part.
The described folder transmission mechanism of opening comprises the left-handed screw mandrel 14 that is installed on frame 6, dextrorotation screw mandrel 15 and can drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotaries open folder driving motor 16, open folder driving motor 16 and be installed on left-handed screw mandrel 14 and the middle position of dextrorotation screw mandrel 15, concrete, left-handed screw mandrel 14 and dextrorotation screw mandrel 15 connect into an integral body by shaft coupling and connecting axle, connecting axle is all arranged with out folder synchronous pulley with the main shaft of opening folder driving motor 16, the outside of opening folder synchronous pulley is arranged with Timing Belt, open folder driving motor 16 and drive left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotaries by Timing Belt, left-handed screw mandrel 14 be threaded left-handed open folder nut seat 17, dextrorotation wire rod thread 15 is connected with dextrorotation and opens folder nut seat 18, left-handed screw mandrel 14 is opened folder nut seat 18 with dextrorotation and is formed respectively feed screw nut's structure with left-handed folder nut seat 17 and the dextrorotation screw mandrel 15 opened, because the thread of left-handed screw mandrel 14 and dextrorotation screw mandrel 15 is contrary, when left-handed screw mandrel 14 and dextrorotation screw mandrel 15 synchronous rotary, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and along left-handed screw mandrel 14, synchronize with dextrorotation screw mandrel 15 respectively and slide inwards or outwards slip, two support arms 4 are all vertically installed with the second line slideway 19, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with the slide block 191 of the second line slideway 19 respectively.Concrete, by vertically arranged the second line slideway 19, two support arms 4 interfix in the horizontal direction with nut seat, be left-handedly to open folder nut seat 17 and dextrorotation and open folder nut seat 18 and can drive respectively together with two support arms 4 and inside and outside slide, two support arms 4 drive clip arms 2 inside and outside to move together, thereby realize, drive folder transmission mechanism and drive inside and outside mobile function of support arm 4; In addition, two support arms 4 also can move up and down along the second line slideway 19 under the drive of elevating drive mechanism, thereby make the inside and outside slip of two support arms 4 and slide up and down non-interference.
The described folder transmission mechanism of opening also comprises that level is installed on some intermediate straight line guide rails 34 of opening of frame 6, left-handedly open folder nut seat 17 and dextrorotation and open folder nut seat 18 and be fixedly connected with some slide blocks of opening intermediate straight line guide rail 34 respectively, some intermediate straight line guide rails 34 of opening can provide good guiding and supporting role for the inside and outside mobile of support arm 4.
Described transverse moving left and right transmission mechanism comprises the traversing driving motor 21 that is installed on the synchronous pulley 20 of support arm 4 and can drives synchronous pulley 20 rotations, the outer surface of synchronous pulley 20 is arranged with Timing Belt 23, synchronous pulley 20 is intermeshing with Timing Belt 23, and the two ends of Timing Belt 23 are fixedly connected with the two ends, left and right of clip arm 2 respectively.Concrete, traversing driving motor 21 is driven and is connected with synchronous pulley 20 by the gear reduction unit arranging, traversing driving motor 21 drives synchronous pulley 20 rotations, synchronous pulley 20 is intermeshing with Timing Belt 23, synchronous pulley 20 drives Timing Belt 23 to move together, when traversing driving motor 21 forward, Timing Belt 23 drives clip arm 2 to be moved to the left, when traversing driving motor 21 reversion, Timing Belt 23 drives clip arm 2 to move right, thereby realizes the function that transverse moving left and right transmission mechanism drives clip arm 2 to move left and right.By the synchronous pulley 20 and the Timing Belt 23 that arrange, more steady during clip arm 2 side-to-side movement, the synchronism of two clip arms 2 is better; In addition, two support arms 4 drive clip arm 2 to move simultaneously, can balanced bear the inertia force of clip arm 2 in motion process, improve the kinetic stability of clip arm 2.
Described support arm 4 be also provided with 24, two idle pulleys 24 of two idle pulleys respectively symmetry be installed on synchronous pulley 20 both sides.By two idle pulleys 24 that arrange, can change the transmission direction of Timing Belt 23, also can position the position of Timing Belt 23 simultaneously, prevent that clip arm 2 is offset in the process of motion, has strengthened the stationarity that clip arm 2 moves left and right.
Described two clip arms 4 are all horizontally installed with 25, two support arms 4 of the 3rd line slide rail and are fixedly connected with the slide block 251 of the 3rd line slide rail 25 respectively.Concrete, the 3rd line slide rail 25 of installing by level, clip arm 2 can move left and right along support arm 4, and the 3rd line slide rail 25 can carry out effectively location and pre-guiding to clip arm 2, prevent that clip arm 2 is offset in mobile process, has strengthened the stationarity that clip arm 2 moves left and right.
The described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head 26 that can be installed on pressing equipment 1, fixed head 26 is vertically installed with the 4th line slideway 27, the slide block 271 of the 4th line slideway 27 is fixedly connected with frame 6, and fixed head 26 is also provided with the complete machine elevating drive mechanism can drive chassis 6 sliding up and down along the 4th line slideway 27.Concrete, complete machine elevating drive mechanism can drive chassis 6 move up and down along the 4th line slideway 27, and described elevating drive mechanism, drives folder transmission mechanism and transverse moving left and right transmission mechanism is all installed on frame 6 and can moves up and down with frame 6; By the complete machine elevating drive mechanism arranging, increased the vertical stroke displacement of two clip arms 2, make the utility model can be applied to the pressing equipment equipment of larger stroke, increased the scope of application of the utility model for the three-D manipulator transfer equipment of pressing equipment; In addition, when the workbench of pressing equipment 1 and mold integral move, complete machine elevating drive mechanism can drive clip arm 2 to move up and down, and clip arm 2 can be avoided smoothly under the state of not dismantling, and has strengthened its practical serviceability.
Preferably, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor 33 that is installed on fixed head 26, worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives and is connected with the horizontal direction power shaft of worm and gear lift, the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame, when 33 rotation of complete machine lifting driving motor, complete machine lifting driving motor 33 moves up and down by worm and gear elevator drives frame 6.
Described clip arm 2 is provided with can interconnective the first clip arm 35 and the second clip arm 36, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, described base 29 is provided with an oil cylinder 28, the piston rod of oil cylinder 28 is connected with a positioning block 30, the centre of base 29 is provided with a through hole 291 that can insert for locating piece 30, described locating piece 30 is provided with first surface of revolution 301 that an external diameter reduces from left to right gradually, described base 29 is also provided with some limited blocks 31, concrete, some limited blocks 31 are symmetrical arranged on base 29, limited block 31 is provided with second surface of revolution 311 that an outer shape and first surface of revolution 301 adapt, second surface of revolution 311 and first surface of revolution 301 of locating piece 30 of limited block 31 are slidably connected, concrete, base 29 is also provided with the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 is provided with the 5th tenon piece 312 that can insert the 5th fourth of the twelve Earthly Branches groove 292, limited block 31 is slidably connected with base 29, described Connection Block 32 is provided with stopper slot 321, when the first clip arm 35 is connected with the second clip arm 36, some limited blocks 31 are supported stopper slot 321.Concrete, the link of the first clip arm 35 and the second clip arm 36 is respectively equipped with base 29 and Connection Block 32, during connection, base 29 and Connection Block 32 docking, the some limited blocks 31 that arrange on base 29 insert the stopper slot 321 of Connection Block 32, now oil cylinder 28 starts action, the piston rod of oil cylinder 28 drives locating piece 30 to move right, first surface of revolution 301 and second surface of revolution 311 of limited block 31 that on locating piece 30, arrange are slidably connected, some limited blocks 31 outwards move along the 5th fourth of the twelve Earthly Branches groove 292 under the drive of locating piece 30, until some limited blocks 31 are supported the inner surface of stopper slot 321, some symmetrically arranged limited blocks 31 apply an outside tension force to the stopper slot 321 of Connection Block 32, side-friction force between Connection Block 32 and limited block 31 is increased, Connection Block 32 is by tightly fixing of some limited blocks 31, thereby realize being fixedly connected with of the first clip arm 35 and the second clip arm 36.Wherein, the outer shape of locating piece 30 can be also wedge, by the wedge shape arranging, also can reach the action effect identical with first surface of revolution 301, does not repeat them here.By the Automatic Link Establishment arranging, when mold exchange more, can realize full automatic working, save mould replacing time, increase work efficiency.
The above embodiment, it is better embodiment of the present utility model, be not to limit the utility model practical range, the equivalence of doing according to structure, feature and principle described in the utility model claim therefore all changes or modifies, and all should be included in the utility model patent claim.

Claims (10)

1. the three-D manipulator transfer equipment for pressing equipment, comprise clip arm and transmission main body, transmission main body comprises frame, it is characterized in that, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidably connected, clip arm is provided with the fixture that can clamp stamping parts, described support arm is provided with the transverse moving left and right transmission mechanism that can drive clip arm to move left and right, the quantity of described support arm and clip arm is two, support arm and clip arm are all symmetricly set in the both sides, front and back of frame.
2. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, is characterized in that, the quantity of described transmission main body is two, and two transmission main bodys are symmetrical charging aperture and the discharging opening that is installed on pressing equipment respectively.
3. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described elevating drive mechanism comprises the first lifting drive lead screw that is installed on frame, the second lifting drive lead screw and can drive the first lifting drive lead screw and the lifting driving motor of the second lifting drive lead screw synchronous rotary, the first lifting drive lead screw first lifting nut seat that has been threaded, the second lifting drive lead screw second lifting nut seat that has been threaded, the first lifting nut seat and the second lifting nut seat are all horizontally installed with the first line slideway, two support arms are fixedly connected with the slide block of the first line slideway respectively.
4. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 3, it is characterized in that, described elevating drive mechanism also comprises the some lifting load balance cylinders that are installed on frame, and the piston rod of some lifting load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.
5. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described open folder transmission mechanism comprise be installed on left-handed screw mandrel, the dextrorotation screw mandrel of frame and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, dextrorotation wire rod thread is connected with dextrorotation and opens folder nut seat, two support arms are all vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.
6. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described transverse moving left and right transmission mechanism comprises the traversing driving motor that is installed on the synchronous pulley of support arm and can drives synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, and the two ends of Timing Belt are fixedly connected with the two ends, left and right of clip arm respectively.
7. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 6, is characterized in that, described two clip arms are all horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.
8. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, the described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, and fixed head is also provided with the complete machine elevating drive mechanism can drive chassis sliding up and down along the 4th line slideway.
9. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 8, it is characterized in that, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor that is installed on fixed head, worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives and is connected with the horizontal direction power shaft of worm and gear lift, and the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame.
10. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described clip arm is provided with can interconnective the first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with a through hole that can insert for locating piece, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidably connected, described Connection Block is provided with stopper slot, when the first clip arm is connected with the second clip arm, some limited blocks are supported stopper slot.
CN201320476689.6U 2013-08-06 2013-08-06 Three-dimensional manipulator conveying equipment for stamping equipment CN203426304U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103357777A (en) * 2013-08-06 2013-10-23 东莞市井田自动化设备有限公司 Three-dimensional mechanical arm conveyer for stamping equipment
CN104353707A (en) * 2014-11-06 2015-02-18 重庆帅昌机械制造有限公司 Quick workpiece moving device of large-sized straightening machine
CN104438913A (en) * 2014-10-30 2015-03-25 东莞市青麦田数码科技有限公司 Quick workpiece moving device of hydraulic straightening machine
CN106144460A (en) * 2016-08-22 2016-11-23 湖北中航精机科技有限公司 Lifting slide unit
CN106424415A (en) * 2016-10-28 2017-02-22 济南奥图自动化股份有限公司 Press online multi-station servo feeding system
CN109433889A (en) * 2018-10-18 2019-03-08 上海意内西机械制造有限公司 A kind of component of rod category cold extrusion full-automatic molding system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103357777A (en) * 2013-08-06 2013-10-23 东莞市井田自动化设备有限公司 Three-dimensional mechanical arm conveyer for stamping equipment
CN103357777B (en) * 2013-08-06 2015-11-25 东莞市井田自动化设备有限公司 For the Three-dimensional mechanical arm conveyer of pressing equipment
CN104438913A (en) * 2014-10-30 2015-03-25 东莞市青麦田数码科技有限公司 Quick workpiece moving device of hydraulic straightening machine
CN104353707A (en) * 2014-11-06 2015-02-18 重庆帅昌机械制造有限公司 Quick workpiece moving device of large-sized straightening machine
CN106144460A (en) * 2016-08-22 2016-11-23 湖北中航精机科技有限公司 Lifting slide unit
CN106144460B (en) * 2016-08-22 2018-05-29 湖北中航精机科技有限公司 Lift slide unit
CN106424415A (en) * 2016-10-28 2017-02-22 济南奥图自动化股份有限公司 Press online multi-station servo feeding system
CN109433889A (en) * 2018-10-18 2019-03-08 上海意内西机械制造有限公司 A kind of component of rod category cold extrusion full-automatic molding system
CN109433889B (en) * 2018-10-18 2020-02-07 上海意内西机械制造有限公司 Full-automatic forming system for cold extrusion of rod parts

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