CN204278014U - Punching press conveying robot - Google Patents
Punching press conveying robot Download PDFInfo
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- CN204278014U CN204278014U CN201420646040.9U CN201420646040U CN204278014U CN 204278014 U CN204278014 U CN 204278014U CN 201420646040 U CN201420646040 U CN 201420646040U CN 204278014 U CN204278014 U CN 204278014U
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Abstract
The utility model discloses a kind of punching press conveying robot, comprise frame, described frame is provided with chassis rotator structure and connected horicontal motion mechanism, described chassis rotator structure comprises motor and whirligig, described whirligig is connected with motor by turning cylinder, also be connected with decelerator between described turning cylinder and servomotor, described whirligig rotates in the horizontal direction under motor drives, thus drives horicontal motion mechanism to rotate.Punching press conveying robot of the present utility model, provides power transmission by screw mandrel, ensures the phenomenon that there will not be any swing in mechanism's running; Increase moment of torsion by decelerator, moment of torsion is brought up to more than 30 times simultaneously; And the positioning gap error repeated only has 0.1 arc to divide, rotating mechanism additionally provides a rotary freedom simultaneously, and can use more convenient, it is more accurate to locate, and saves investment in machinery, mould investment more than 40%.
Description
Technical field
The utility model relates to a kind of manipulator, is specifically related to a kind of punching press conveying robot.
Background technology
Punching press is that a kind of depended on pressure machine and mould apply pressure to sheet material, coiled material, tubing and section bar etc., makes it to produce plastic deformation or separation, thus obtains the forming and machining method of required form and dimension workpiece.The blank of punching press is hot rolling and cold rolling steel plate and steel band mainly; In global steel, have 60 ~ 70% to be sheet material, wherein major part makes finished product through punching press.The skeleton of printer duplicator, the vehicle body of transmission mechanism, automobile, chassis, fuel tank, radiator fin, steel disc etc. are all punch process.In the products such as instrument and meter, household electrical appliance, bicycle, office machinery, household utensil, also there is a large amount of stamping parts.
But, the mode that current China mould punching industry great majority adopt artificial loading, reload, before each punch press work, workman puts into material in punch press, after treating that punching machine presses work completes, then is taken out by workman; There is larger potential safety hazard in the mode of this kind artificial loading, feeding, often there will be and staff is broken industrial accidents such as disabling; And production efficiency is also relatively lower, also often occurs unstable phenomenon during production.
Although also have some conveying robots at present, in use easily there is dancing in these manipulators, can not arbitrarily rotate as required, locates inaccurate, and the torque ratio of rotating is lower.
Summary of the invention
For solving the problems of the technologies described above, the purpose of this utility model is to provide a kind of punching press conveying robot, thus manipulator not only can be made in use to there will not be the phenomenon of any swing, and can regulate according to actual needs, locate more accurate, and the moment of torsion rotated improves greatly, and economize energy, uses more convenient.
For achieving the above object, the technical solution of the utility model is as follows:
The utility model provides a kind of punching press conveying robot, comprise frame, described frame is provided with chassis rotator structure and connected horicontal motion mechanism, described chassis rotator structure comprises motor and whirligig, described whirligig is connected with motor by turning cylinder, also be connected with decelerator between described turning cylinder and motor, described whirligig rotates in the horizontal direction under motor drives, thus drives horicontal motion mechanism to rotate.
Punching press conveying robot of the present utility model, provides power transmission by screw mandrel, ensures the phenomenon that there will not be any swing in mechanism's running, increases moment of torsion by decelerator, moment of torsion is brought up to more than 30 times simultaneously; And the positioning gap error repeated only has 0.1 arc to divide, rotating mechanism additionally provides a rotary freedom simultaneously, and use more convenient, it is more accurate to locate, and saves investment in machinery, mould investment more than 40%.
On the basis of technique scheme, the utility model can also make following improvement:
As preferred scheme, described horicontal motion mechanism comprises horizontal extension arm, line style ball leading screw driving device and drive unit, described horizontal extension arm is arranged on line style ball leading screw driving device, and described line style ball leading screw driving device drives horizontal extension arm to move forward and backward in the horizontal direction under the driving of drive unit.
As preferred scheme, described line style ball leading screw driving device comprises ball screw and horizontal slide rail, described horizontal slide rail comprises side direction slide rail and main directive slide track, described side direction slide rail and main directive slide track are distributed in ball screw both sides and bottom respectively, described ball screw is also connected with load bearing seat, described horizontal extension arm is connected with load bearing seat, and described ball screw makes load bearing seat seesaw in the horizontal direction under the driving of drive unit, thus drives horizontal extension arm to seesaw.
Adopt above-mentioned preferred scheme, described manipulator horicontal motion mechanism adopts drive unit and line style ball leading screw driving, carries out correcting, ensure to there will not be jitter phenomenon when horizontal movement by three guide rails.
As preferred scheme, described drive unit is horizontal servo motor or horizontally rotates cylinder.
Adopt above-mentioned preferred scheme, suitable drive unit can be selected according to actual needs.
As preferred scheme, described drive unit and ball screw are equipped with the first timing belt pulley, described ball screw is also provided with nut, described nut is provided with fixed head, described load bearing seat is connected with fixed head, described drive unit drives the first timing belt pulley to rotate by synchronous belt, drives nut to seesaw, thus forms seesawing of horizontal extension arm.
Adopt above-mentioned preferred scheme, can facilitate, drive ball screw to seesaw simply, thus drive horizontal extension wall to seesaw.
As preferred scheme, described horicontal motion mechanism front end is also provided with rectification rotating mechanism, and described rectification rotating mechanism is connected with the fixed head on nut.
Adopt above-mentioned preferred scheme, by the design of straightening mechanism, product can be convenient to put into corresponding mould, increase a rotary freedom, it is more accurate to operate, accurate.
As preferred scheme, described rectification rotating mechanism comprises to be corrected motor and corrects rotating disc, and described rectification motor is installed on fixed head, and described rectification rotating disc is installed on horizontal extension arm front end, and described rectification rotating disc rotates under the driving of correcting motor.
As preferred scheme, described rectification motor and rectification rotating disc are all provided with the second timing belt pulley, and described rectification motor drives the second timing belt pulley to rotate by synchronous belt, thus drives rectification rotating mechanism to rotate.
Adopt above-mentioned preferred scheme, can facilitate, drive simply and correct whirligig rotation.
As preferred scheme, described rectification rotating mechanism is also provided with sucker, described sucker, is connected to by sucker stand and corrects on rotating disc, the height of described sucker stand and the height≤110mm of the second timing belt pulley.
Adopt above-mentioned preferred scheme, debugging when being convenient to produce, meets the needs of actual production.
As preferred scheme, between described horicontal motion mechanism and rotating mechanism, also elevating mechanism is installed.
Adopt above-mentioned preferred scheme, can be elevated according to actual needs.
As preferred scheme, described elevating mechanism comprises elevating screw and lifting drive, described elevating screw both sides are provided with lifting sliding rail, described elevating screw is connected with lifting slider, described horicontal motion mechanism is connected with lifting slider, described lifting drive drives elevating screw to move up and down, thus drives elevating mechanism to move up and down by lifting slider, and drives horizontal lifting mechanism to move up and down.
Adopt above-mentioned preferred scheme, increase one degree of freedom, use more convenient, repetitive positioning accuracy reaches +/-about 0.001.
As preferred scheme, outside described horicontal motion mechanism and elevating mechanism, be equipped with protector.
Adopt above-mentioned preferred scheme, use safer, reliable.
As preferred scheme, described protector comprises protective plate and organ drag chain.
As preferred scheme, described lifting drive is lifting motor or lifting rotation cylinder.
As preferred scheme, described decelerator is RV decelerator.
Adopt above-mentioned preferred scheme, this decelerator is robot conversion chassis decelerator, Stability Analysis of Structures.
As preferred scheme, described whirligig comprises the bracket, frame work top, thrust ball bearing and the robotic arm pedestal flange that connect according to this, and described bracket is connected with turning cylinder.
As preferred scheme, described frame is also provided with touch-screen, described touch-screen controls the action of whole manipulator by sports cards.
Adopt above-mentioned preferred scheme, adopt PLC to control the difference of oneself with other brand; This kind of control can walk the instructions such as corresponding circular interpolation.And operating more convenient, new employee learns than comparatively fast; Connect with the online interlocking of punch press is relatively good; Can complete outside the carrying action that normal mechanical hand can complete; Also there is piling function, use the finished product personnel of putting of the bin of front end during this manipulator and rear end to save, because it has automatic piling function.Its two it also have and drag the function of teaching, with some external famous brands as the dragging tutorial function of the robot of ABB is, exactly when reach drag tutorial function time, the arm that personnel haul manipulator is free to movement; When think move into place after automatically can preserve and put position accordingly; Thus reach fast velocity modulation machine to point.Because considering safety factor, manipulator of the present utility model only has three degree of freedom to drag teaching, is the rectification rotating mechanism of chassis rotator structure, horicontal motion mechanism and front end respectively.And elevating mechanism by artificial by the enterprising line operate of touch-screen.Its three: this equipment use process in, be generally employing six point location: above feeding point, feeding above point, feeding holding point, blowing holding point, blowing point and tapping point; And corresponding point for subsequent use is had in the middle of corresponding difference; Lower of general status need be programmed corresponding six points.Its four: this equipment can have two aspect actions, and manipulator can from left to right, also can be from right to left; Only need choose the corresponding method of operation in touch-screen.Its five: this kind of machine everything links up operating settings 4 second once, exceedes manual operation and produces 4-%-50%, stops industrial injury and to disable accident.
Accompanying drawing explanation
Fig. 1 is the perspective view of punching press conveying robot of the present utility model;
Fig. 2 is the sectional view of punching press conveying robot of the present utility model;
Fig. 3 is the sectional view of the horicontal motion mechanism in punching press conveying robot of the present utility model;
Fig. 4 is the perspective view of the horicontal motion mechanism in punching press conveying robot of the present utility model;
Fig. 5 is the A-A sectional view of Fig. 4;
Fig. 6 is the decomposition texture schematic diagram of the rotating mechanism in punching press conveying robot of the present utility model;
Wherein,
1. frame, 101. touch-screen, 2. chassis rotator structure, 201. servomotor, 202. decelerator, 203. turning cylinder, 204. bracket, 205. frame work tops, 206. thrust ball bearing, 207. mechanical arm pedestal flanges, 3. horicontal motion mechanism, 301. horizontal extension arms, 302. drive unit, 303. ball screw, 304. side direction slide rails, 305. load bearing seat, 306. first synchronous belt gears, 307. nut, 308. fixed head, 309. main directive slide tracks, 4. elevating mechanism, 401. elevating screw, 402. lifting drive, 403. lifting slider, 5. interface arrangement, 6. correct rotating mechanism, 601. second synchronous belt gears, 602. correct servomotor, 603. correct decelerator, 604. synchronous belt, 605. correct rotating disc, 7. sucker stand, 8. sucker.
Detailed description of the invention
Preferred embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.
In order to reach the purpose of this utility model, in some embodiments, as shown in Fig. 1 to 5, punching press conveying robot of the present utility model, comprise frame 1, described frame 1 is provided with chassis rotator structure 2 and connected horicontal motion mechanism 3, described chassis rotator structure 2 comprises servomotor 201 and whirligig, described whirligig is connected with servomotor 201 by turning cylinder 203, decelerator 202 is also connected with between described turning cylinder 203 and servomotor 201, described whirligig rotates in the horizontal direction under the driving of servomotor 201, thus drive horicontal motion mechanism 3 to rotate.This punching press conveying robot, provides power transmission by screw mandrel, ensures the phenomenon that there will not be any swing in mechanism's running, increases moment of torsion by decelerator, moment of torsion is brought up to more than 30 times simultaneously; And the positioning gap error repeated only has 0.1 arc to divide, rotating mechanism also provides a rotary freedom simultaneously, and use more convenient, it is more accurate to locate, and saves investment in machinery, mould investment more than 40%.
In order to optimize implementation result of the present utility model further, described horicontal motion mechanism 3 comprises horizontal extension arm 301, line style ball leading screw driving device and drive unit 302, described horizontal extension arm 301 is arranged on line style ball leading screw driving device, and described line style ball leading screw driving device drives horizontal extension arm 301 to move forward and backward in the horizontal direction under the driving of drive unit 302.
In order to optimize implementation result of the present utility model further, described line style ball leading screw driving device comprises ball screw 303 and horizontal slide rail, described horizontal slide rail comprises side direction slide rail 304 and main directive slide track 309, side direction slide rail 304 and main directive slide track 309 are distributed in ball screw 303 both sides and bottom respectively, described ball screw 303 is also connected with load bearing seat 305 by slide block, described horizontal extension arm 301 is connected with load bearing seat 305, described ball screw 303 makes load bearing seat 305 seesaw in the horizontal direction under the driving of drive unit 302, thus drive horizontal extension arm 301 to seesaw.This manipulator horicontal motion mechanism adopts drive unit and line style ball leading screw driving, carries out correcting, ensure to there will not be jitter phenomenon when horizontal movement by three guide rails.
In order to optimize implementation result of the present utility model further, described drive unit 302 is for horizontal motor or horizontally rotate cylinder.Suitable drive unit can be selected according to actual needs.
In order to optimize implementation result of the present utility model further, described drive unit 302 and ball screw 303 are equipped with the first timing belt pulley 306, described ball screw 303 is also provided with nut 307, described nut 307 is provided with fixed head 308, described load bearing seat 305 is connected with fixed head 308, described drive unit 302 drives the first timing belt pulley 306 to rotate by synchronous belt, drives nut 307 to seesaw, thus forms seesawing of horizontal extension arm 301.Can facilitate, drive ball screw to seesaw simply, thus drive horizontal extension wall to seesaw.
In order to optimize implementation result of the present utility model further, described horicontal motion mechanism 3 front end is also provided with corrects rotating mechanism 6, and described rectification rotating mechanism 6 is connected with the fixed head 308 on nut 307.By the design of straightening mechanism, product can be convenient to put into corresponding mould, increase a rotary freedom, it is more accurate to operate, accurate.
In order to optimize implementation result of the present utility model further, described rectification rotating mechanism 6 comprises to be corrected servomotor 602 and corrects rotating disc 605, described rectification servomotor 602 is installed on fixed head 308, described rectification rotating disc 605 is installed on horizontal extension arm 301 front end, and described rectification rotating disc 605 rotates under the driving of correcting servomotor 602.
In order to optimize implementation result of the present utility model further, described rectification servomotor 602 and rectification rotating disc 605 are all provided with the second timing belt pulley 601, described rectification servomotor 602 drives the second timing belt pulley 601 to rotate by synchronous belt 601, thus drives rectification rotating mechanism 6 to rotate.
In order to optimize implementation result of the present utility model further, described rectification rotating disc 605 is also provided with sucker 8, described sucker 8 is connected to by sucker stand 7 to be corrected on rotating disc 605, the height of described sucker stand 7 and the height≤110mm of the second timing belt pulley 601.Debugging when being convenient to produce, meets the needs of actual production.
In order to optimize implementation result of the present utility model further, between described horicontal motion mechanism 3 and rotating mechanism 2, elevating mechanism 4 is also installed, thus height can be regulated according to actual needs.
In order to optimize implementation result of the present utility model further, described elevating mechanism 4 comprises elevating screw 401 and lifting drive 402, described elevating screw 401 both sides are provided with slide rail, described elevating screw 401 is connected with lifting slider 403, described horicontal motion mechanism 2 is connected with lifting slider 403, described lifting drive 402 drives elevating screw 401 to move up and down, thus drives elevating mechanism 4 to move up and down by slide block, and drives horizontal lifting mechanism 2 to move up and down.Increase one degree of freedom, use more convenient, repetitive positioning accuracy reaches +/-about 0.001.
In order to optimize implementation result of the present utility model further, outside described horicontal motion mechanism 2 and elevating mechanism 4, be equipped with protector.Use safer, reliable.
In order to optimize implementation result of the present utility model further, described protector comprises protective plate and organ drag chain.
In order to optimize implementation result of the present utility model further, described lifting drive 402 is lifting motor or lifting rotation cylinder.
In order to optimize implementation result of the present utility model further, described decelerator 202 is RV decelerator.This decelerator is robot conversion chassis decelerator, Stability Analysis of Structures.
In order to optimize implementation result of the present utility model further, as shown in Figure 6, described whirligig comprises the bracket 204, frame work top 205, thrust ball bearing 206 and the robotic arm pedestal flange 207 that connect according to this, described bracket 204 is connected with turning cylinder 203, and described turning cylinder 203 is machine driving main shaft.
In order to optimize implementation result of the present utility model further, described robotic arm pedestal flange 207 is connected with elevating mechanism 4 by interface arrangement 5.
In order to optimize implementation result of the present utility model further, described frame 1 is also provided with touch-screen 101, described touch-screen 101 controls the action of whole manipulator by sports cards.PLC is adopted to control the difference of oneself with other brand; This kind of control can walk the instructions such as corresponding circular interpolation.And operating more convenient, new employee learns than comparatively fast; Connect with the online interlocking of punch press is relatively good; Can complete outside the carrying action that normal mechanical hand can complete; Also there is piling function, use the finished product personnel of putting of the bin of front end during this manipulator and rear end to save, because it has automatic piling function.Its two it also have and drag the function of teaching, with some external famous brands as the dragging tutorial function of the robot of ABB is, exactly when reach drag tutorial function time, the arm that personnel haul manipulator is free to movement; When think move into place after automatically can preserve and put position accordingly; Thus reach fast velocity modulation machine to point.Because considering safety factor, manipulator of the present utility model only has three degree of freedom to drag teaching, is the rectification rotating mechanism 6 of chassis rotator structure 2, horicontal motion mechanism 3 and front end respectively.And elevating mechanism 4 is by the enterprising line operate of touch-screen 101 by artificial.Its three: this equipment use process in, be generally employing six point location: above feeding point, feeding above point, feeding holding point, blowing holding point, blowing point and tapping point; And corresponding point for subsequent use is had in the middle of corresponding difference; Lower of general status need be programmed corresponding six points.Its four: this equipment can have two aspect actions, and manipulator can from left to right, also can be from right to left; Only need choose the corresponding method of operation in touch-screen.Its five: this kind of machine everything links up operating settings 4 second once, exceedes manual operation and produces 40%-50%, stops industrial injury and to disable accident.
During use, 1. start shooting: the feeder of this manipulator be 220v power supply, after switching on power, power switch is transferred to ON state, and now power supply indicator is bright; Touch-screen can be bright, thus carry out operation interface.
2. Aligning control is arranged: need the servo on first point touching screen to open instruction, then manual mode adjusted to by manual/auto switch; Online is unit; Now by automatic starting button; Then manipulator can automatic Aligning control, and initial point indicator lamp green light can be bright.
3. manually and single-set operation: after initial point got back to by manipulator, by each axle JOG+ and JOG-can manually before carry out and retrogressing, and can high speed to run with low speed according to the speed selected.
4. one stroke operation: first-selection will carry out corresponding setting coordinate at the debugging page, and namely, the setting of said six points, after setting, is transferred to dry running, and clicking starting will run automatically, and punch press does not now run.
5. automatic: generally running under the no problem situation of one stroke when opening automatic, just to open automatic operation; The track of automatic operation, for from initial point, first goes feeding in the mould on a punch press, then runs in another set of mould through corresponding six point coordinates, put product well, fall back on after treating tapping point; At this moment punch press will punching press.And have part-time to be manipulator and punch press action simultaneously, therefore velocity ratio is very fast; And after punching press completes, manipulator has just taken out product in another set of mould, the blowing again in Accreditation Waiting Area.That goes round and begins again according to this carries out operation.
Above-described is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (10)
1. a punching press conveying robot, comprise frame, it is characterized in that, described frame is provided with chassis rotator structure and connected horicontal motion mechanism, described chassis rotator structure comprises servomotor and whirligig, and described whirligig is connected with motor by turning cylinder, is also connected with decelerator between described turning cylinder and motor, described whirligig rotates in the horizontal direction under motor drives, thus drives described horicontal motion mechanism to rotate.
2. punching press conveying robot according to claim 1, it is characterized in that, described horicontal motion mechanism comprises horizontal extension arm, line style ball leading screw driving device and drive unit, described horizontal extension arm is arranged on line style ball leading screw driving device, and described line style ball leading screw driving device drives horizontal extension arm to move forward and backward in the horizontal direction under the driving of drive unit.
3. punching press conveying robot according to claim 2, it is characterized in that, described line style ball leading screw driving device comprises ball screw and horizontal slide rail, described horizontal slide rail comprises side direction slide rail and main directive slide track, described side direction slide rail and main directive slide track are distributed in ball screw both sides and bottom respectively, described ball screw is also connected with load bearing seat, described horizontal extension arm is connected with load bearing seat, described ball screw makes load bearing seat seesaw in the horizontal direction under the driving of drive unit, thus drives horizontal extension arm to seesaw.
4. punching press conveying robot according to claim 3, it is characterized in that, described drive unit and ball screw are equipped with the first timing belt pulley, described ball screw is also provided with nut, described nut is provided with fixed head, and described load bearing seat is connected with fixed head, and described drive unit drives the first timing belt pulley to rotate by synchronous belt, drive nut seesaws, thus forms seesawing of horizontal extension arm.
5. punching press conveying robot according to claim 4, is characterized in that, described horicontal motion mechanism front end is also provided with rectification rotating mechanism, and described rectification rotating mechanism is connected with the fixed head on nut.
6. punching press conveying robot according to claim 5, it is characterized in that, described rectification rotating mechanism comprises to be corrected motor and corrects rotating disc, described rectification motor is installed on fixed head, described rectification rotating disc is installed on horizontal extension arm front end, and described rectification rotating disc rotates under the driving of correcting motor.
7. punching press conveying robot according to claim 6, it is characterized in that, described rectification servo and rectification rotating disc are all provided with the second timing belt pulley, and described rectification motor drives the second timing belt pulley to rotate by synchronous belt, thus drives rectification rotating mechanism to rotate.
8. punching press conveying robot according to claim 7, it is characterized in that, described rectification rotating mechanism is also provided with sucker, and described sucker is connected to by sucker stand to be corrected on rotating disc, the height of described sucker stand and the height≤110mm of the second timing belt pulley.
9. punching press conveying robot according to any one of claim 1 to 8, is characterized in that, is also provided with elevating mechanism between described horicontal motion mechanism and rotating mechanism.
10. punching press conveying robot according to claim 9, it is characterized in that, described elevating mechanism comprises elevating screw and lifting drive, described elevating screw both sides are provided with lifting sliding rail, described elevating screw is connected with lifting slider, and described horicontal motion mechanism is connected with lifting slider, and described lifting drive drives elevating screw to move up and down, thus drive elevating mechanism to move up and down by lifting slider, and horizontal lifting mechanism is driven to move up and down.
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| CN201420646040.9U CN204278014U (en) | 2014-10-31 | 2014-10-31 | Punching press conveying robot |
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| CN201420646040.9U CN204278014U (en) | 2014-10-31 | 2014-10-31 | Punching press conveying robot |
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| CN104907438A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Punching machine auxiliary machinery hand |
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| CN104907438A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Punching machine auxiliary machinery hand |
| CN105149474A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Material taking mechanical arm |
| CN105170825A (en) * | 2015-10-01 | 2015-12-23 | 合肥金海康五金机械制造有限公司 | Telescopic mechanism of material taking mechanical arm |
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