CN204714053U - A kind of workpiece automatic conveying device - Google Patents

Abstract

The utility model relates to the field of automatic stamping production of silicon steel sheets, in particular to an automatic workpiece handling device, which includes a handling robot, an adsorption system, and a mobile support mechanism. superior. The handling robot is a two-axis robot, and the two-axis robot includes a horizontal motion mechanism and a vertical motion mechanism, and the vertical motion mechanism is fixedly connected to the horizontal motion mechanism by screws; Group synchronous drive mode, the horizontal transport process has the characteristics of high speed, high rigidity, high load capacity, and long transport distance, which can adapt to the high-speed production frequency of existing punching machines and improve production efficiency. <u/>

Description

A workpiece automatic handling device

technical field

The utility model relates to the field of stamping automatic production of silicon steel sheets, in particular to an automatic workpiece conveying device.

Background technique

The production process of silicon steel sheet mainly includes stamping, deburring, baking varnish and so on. Most of the existing silicon steel sheet production adopts old-fashioned stamping machine tools, which are not equipped with corresponding unloading mechanisms. It is necessary to manually pick up, stack and process waste materials, and then send them to the burr detection equipment one by one, and finally send them to the baking paint one by one. furnace. The whole process has been manually picked up, transported and stacked for many times. The long-term repetitive actions make the labor intensity of the workers increase, and they are prone to fatigue and other problems. There are serious safety hazards and low production efficiency. At the same time, the shape and specification of the silicon steel sheet change greatly, and it is easy to be interlaced with the waste when stamping and separating, which increases the difficulty of the automatic grasping equipment of the silicon steel sheet.

There are many automatic workpiece grabbing devices. For example, the application number is 200820093357.9, and the application date is 2008-04-15. Grab and move up and down, the suction cup position has a certain range of adjustment. The utility model solves the problem of automatic grabbing of workpieces, but cannot realize the handling and stacking of workpieces.

Another example is the application number 201210394383.6, the application date is 2012-10-17, and the invention patent titled "a robot with an automatic grasping device and automatic grasping" provides an automatic grasping device for electric vehicle battery replacement. Picking device, which can realize the automatic grabbing and replacement of electric vehicle batteries, but the structure is relatively complicated, and it cannot be directly applied to the handling and grabbing process of silicon steel sheets.

For another example, the application number is 201120482421.4, the application date is 2011-11-28, and the utility model patent named "Automatic Feeding Device for Deburring Machine" provides a silicon steel sheet using a stage, a swing arm, a telescopic mechanism and a conveying mechanism. Automatic feeding and receiving equipment for the deburring process. The utility model solves the problems of high labor cost and low efficiency in the silicon steel sheet deburring process, but the device is not suitable for automatic blanking of the silicon steel sheet stamping process.

To sum up, the existing workpiece handling devices have the problems of complex structure, low working efficiency, and inapplicability to grasping and handling during blanking of silicon steel sheet stamping process.

Utility model content

In order to solve the problems of complex structure, low work efficiency, and unsuitability for grasping and handling of silicon steel sheet stamping process in the existing workpiece handling device, a method is proposed to solve the hidden safety hazards of silicon steel sheet production workshop blanking and reduce the number of workers. It is an automatic workpiece handling device that reduces labor intensity, improves production efficiency, and realizes the automation of the silicon steel sheet production line.

For realizing above-mentioned technical effect, the technical scheme of the utility model is as follows:

An automatic workpiece conveying device includes a conveying robot, an adsorption system, and a mobile support mechanism. The adsorption system is arranged at the bottom of the conveying robot, and the conveying robot is arranged on the mobile support mechanism.

The handling robot is a two-axis robot, and the two-axis robot includes a horizontal kinematic mechanism and a vertical kinematic mechanism, and the vertical kinematic mechanism is fixedly connected to the horizontal kinematic mechanism kinematic mechanism by screws;

Further, the horizontal motion mechanism includes a synchronous belt module, a beam, a support frame, a transmission shaft and a servo drive system. The two synchronous belt modules are installed in parallel on the same horizontal plane, and the adjacent ends of the two synchronous belt modules pass Beam connection.

The synchronous belt module includes a synchronous belt and a transmission box, and a synchronous pulley is installed inside the transmission box, and the synchronous pulley is engaged with the synchronous belt.

The synchronous pulleys in the upper transmission case of the two synchronous belt modules are connected to the same axis through a transmission shaft, and the transmission shaft is driven by a servo drive system.

The drive shaft is connected to a servo drive system.

The servo drive system refers to a motor or a reducer that drives the transmission shaft to rotate.

The two transmission boxes are equipped with a support frame that moves linearly along with the transmission box along the synchronous belt module.

The supporting frame is a rectangular structure.

Further, the vertical motion mechanism includes a cylinder, a guide shaft, a linear bearing, an expansion sleeve and an end support frame. Reciprocating motion in the vertical direction, the upper end of the guide shaft is provided with a limit buffer device, the end of the guide shaft is fixedly connected with the end support frame through an expansion sleeve, and the center of the end support frame is equipped with a The shaft is fixedly connected with the piston rod of the cylinder.

The cylinder body of the cylinder is connected to the support frame of the horizontal motion mechanism, and the linear bearing is symmetrically installed on the support frame of the horizontal motion mechanism with the cylinder as the center.

There are four guide shafts, and four linear bearings.

The shaft is fixedly connected with the piston rod of the cylinder through a fish-eye joint.

The parallelism of the axes of multiple guide shafts can be guaranteed by means of expansion sleeves.

The adsorption system includes a suction cup, a height buffer, a transverse beam and a longitudinal beam, the longitudinal beam and the transverse beam are vertically arranged and connected to each other, the longitudinal beam is located below the transverse beam, and the height buffer is installed on the longitudinal beam, The suction cup is installed at the end of the height buffer.

A plurality of waist-shaped holes are opened on the longitudinal beam, and the height buffer is installed in the waist-shaped holes of the longitudinal beam.

T-shaped slots are arranged on the transverse beams, and the longitudinal beams are installed in the T-shaped slots on the transverse beams.

A T-shaped slot nut is arranged on the longitudinal crossbeam to be clamped in the T-shaped slot.

The height buffer is equipped with a spring damping structure for buffering the gripping force of the workpiece by the vertical motion mechanism.

The suction cup is located at the end of the spring damping structure.

The transverse crossbeam is fixed on the end support frame of the vertical motion mechanism by screws for linkage in both horizontal and vertical directions with the end support frame.

The mobile support mechanism includes a horizontal movement mechanism installation beam, a column, an installation base and a lifting device, and the two ends of the horizontal movement mechanism installation beam are respectively provided with columns, and the bottom of the column is provided with an installation base for fixing to the ground. The columns at the two ends of the guide rail crossbeam are connected with a lifting device installation crossbeam, a lifting device is installed below the lifting device installation crossbeam, and rollers are installed at the end of the lifting device.

Ribs are welded between the column and the rail beam.

There are hoisting holes on the rib plate.

Two upright posts are respectively arranged at both ends of the guide rail crossbeam.

There is a hole in the center of the installation base.

The end of described lifting device is equipped with the roller that realizes to pack up and put down function.

The mobile supporting mechanism is welded by section steel.

The guide rail beam is connected with two synchronous belt modules of the horizontal motion mechanism.

The working principle of the utility model: the two synchronous belt modules are driven by the same servo drive system, which ensures that the two synchronous belt modules can be driven synchronously. The two transmission boxes are equipped with a supporting frame, which can move linearly along with the transmission box along the synchronous belt module.

Driven by the cylinder, the end support frame moves linearly in the vertical direction, guided by the guide shaft and linear bearing to ensure the rigidity of the movement, and at the same time, the entire vertical motion mechanism can realize linear motion in the horizontal direction with the support frame of the horizontal motion mechanism .

When the silicon steel sheet handling system is working, the mobile support mechanism spans above the workpiece grabbing position and stacking position, and is fixed on the ground through the installation base; when the workpiece grabbing position and stacking position are changed, the mobile support mechanism can Scroll wheel to adjust the position. When the roller is put down, the roller passes through the waist-shaped hole of the installation base and contacts with the ground.

The utility model has the advantages of:

1. The horizontal direction of the utility model adopts the synchronous driving method of double synchronous belt modules. The horizontal transportation process has the characteristics of high speed, high rigidity, high load capacity and long transportation distance. It can adapt to the high-speed production frequency of existing punching machines and improve production efficiency.

2. The utility model adopts a cylinder and multiple guide shafts in the vertical direction, which greatly improves the handling stiffness and load capacity in the vertical direction.

3. The design of the adsorption mechanism of the utility model is flexible, and the adsorption position can be adjusted according to the shape and specification of different silicon steel sheets, and multiple silicon steel sheets can be adsorbed at the same time, with high handling efficiency. Each silicon steel sheet has multiple adsorption points, and the adsorption is firm.

4. The utility model has a simple structure and is easy to move and install. It is applicable to automatic feeding, retrieving and stacking of silicon steel sheet stamping, deburring, baking varnish and other processes. It has a wide range of applications and is convenient for automatic transformation of the silicon steel sheet production process. Reduce the labor intensity of workers and ensure the personal safety of workers.

5. The height buffer of this utility model is equipped with a spring damping structure, which can buffer the grasping force of the workpiece by the vertical movement mechanism, and adapt to the height deviation of the workpiece or platform; the height buffer is installed in the waist-shaped hole of the longitudinal beam, and the installation position Adjustable; the longitudinal beam is installed in the T-shaped slot on the transverse beam, and the installation position of the longitudinal beam can be adjusted according to the workpiece.

6. The utility model can be used for automatic feeding and retrieving of silicon steel sheet stamping, deburring and paint baking, and is suitable for silicon steel sheets of different specifications and forms.

Description of drawings

Fig. 1 is a schematic diagram of the utility model automatic handling system.

Fig. 2 is a structural schematic diagram of the handling robot of the present invention.

Fig. 3 is a schematic structural diagram of the adsorption system of the present invention.

Fig. 4 is a structural schematic diagram of the mobile support mechanism of the present invention.

Fig. 5 is the working flow diagram of the utility model.

In the figure, 1 is the handling robot, 2 is the adsorption system, 3 is the mobile support mechanism, 4 is the synchronous belt module, 5 is the support frame, 6 is the cylinder, 7 is the linear bearing, 8 is the guide shaft, and 9 is the end support frame , 10 is the expansion sleeve, 11 is the servo drive system, 12 is the transmission box, 13 is the limit buffer device, 14 is the transmission shaft, 15 is the beam, 16 is the height buffer, 17 is the suction cup, 18 is the transverse beam, 19 is Longitudinal crossbeam, 20, horizontal movement mechanism installs crossbeam, 21, rib, 22, column, 23, lifting device installs crossbeam, 24, lifting device, 25, installation base, 26, roller.

Detailed ways

Example 1

An automatic workpiece conveying device includes a conveying robot 1 , an adsorption system 2 , and a mobile support mechanism 3 . The handling robot 1 is a two-axis robot, and the two-axis robot includes a horizontal motion mechanism and a vertical motion mechanism, and the vertical motion mechanism is fixedly connected to the horizontal motion mechanism through screws.

The utility model adopts the double synchronous belt module 4 synchronous driving mode in the horizontal direction. The horizontal conveying process has the characteristics of high speed, high rigidity, high load capacity and long conveying distance. It can adapt to the high-speed production frequency of existing punching machines and improve production efficiency.

Example 2

An automatic workpiece conveying device includes a conveying robot 1 , an adsorption system 2 , and a mobile support mechanism 3 . The handling robot 1 is a two-axis robot, and the two-axis robot includes a horizontal motion mechanism and a vertical motion mechanism, and the vertical motion mechanism is fixedly connected to the horizontal motion mechanism through screws.

The utility model adopts the double synchronous belt module 4 synchronous driving mode in the horizontal direction. The horizontal conveying process has the characteristics of high speed, high rigidity, high load capacity and long conveying distance. It can adapt to the high-speed production frequency of existing punching machines and improve production efficiency.

The horizontal motion mechanism includes a synchronous belt module 4, a crossbeam 15, a support frame 5, a transmission shaft 14 and a servo drive system 11. Two synchronous belt modules 4 are installed in parallel on the same horizontal plane, and two adjacent synchronous belt modules 4 The ends are respectively connected by beams 15. The synchronous belt module 4 includes a synchronous belt and a transmission case 12, and the synchronous belt pulley is installed inside the transmission case 12, and the synchronous belt wheel is engaged with the synchronous belt. The synchronous pulleys in the transmission case 12 on the two synchronous belt modules 4 are connected on the same axis through a transmission shaft 14 , and the transmission shaft 14 is driven by a servo drive system 11 . The drive shaft 14 is connected to a servo drive system 11 . The servo drive system 11 refers to a motor or a reducer that drives the transmission shaft 14 to rotate. The two transmission boxes 12 are equipped with a support frame 5 that moves linearly along the synchronous belt module 4 with the transmission boxes 12 . The supporting frame 5 is a rectangular structure.

The two synchronous belt modules 4 are driven by the same servo drive system 11 to ensure that the two synchronous belt modules 4 can be driven synchronously. The two transmission boxes 12 are equipped with a support frame 5, and the support frame 5 can move linearly along with the transmission box 12 along the synchronous belt module 4.

The vertical motion mechanism includes a cylinder 6, a guide shaft 8, a linear bearing 7, an expansion sleeve 10 and an end support frame 9. The guide shaft 8 is arranged vertically and is sleeved in the linear bearing 7 for moving along a straight line. The bearing 7 reciprocates in the vertical direction, the upper end of the guide shaft 8 is provided with a limit buffer device 13, the end of the guide shaft 8 is fixedly connected with the end support frame 9 through the expansion sleeve 10, and the center of the end support frame 9 An axle fixedly connected with the end support frame 9 is housed, and the axle is fixedly connected with the piston rod of the cylinder 6 . The cylinder body of the cylinder 6 is connected on the support frame 5 of the horizontal motion mechanism, and the linear bearing 7 is symmetrically installed on the support frame 5 of the horizontal motion mechanism with the cylinder 6 as the center. There are four guide shafts 8, and there are four linear bearings 7. The shaft is fixedly connected with the cylinder 6 piston rod through the fisheye joint. The parallelism of the axes of the plurality of guide shafts 8 can be ensured by the expansion sleeve 10 .

Driven by the cylinder 6, the end support frame 9 moves linearly in the vertical direction, and is guided by the guide shaft 8 and the linear bearing 7 to ensure the rigidity of the movement. At the same time, the entire vertical motion mechanism can be realized with the support frame 5 of the horizontal motion mechanism. Linear motion in the horizontal direction.

Example 3

An automatic workpiece conveying device includes a conveying robot 1 , an adsorption system 2 , and a mobile support mechanism 3 . The handling robot 1 is a two-axis robot, and the two-axis robot includes a horizontal motion mechanism and a vertical motion mechanism, and the vertical motion mechanism is fixedly connected to the horizontal motion mechanism through screws.

The utility model adopts the double synchronous belt module 4 synchronous driving mode in the horizontal direction. The horizontal conveying process has the characteristics of high speed, high rigidity, high load capacity and long conveying distance. It can adapt to the high-speed production frequency of existing punching machines and improve production efficiency.

The horizontal motion mechanism includes a synchronous belt module 4, a crossbeam 15, a support frame 5, a transmission shaft 14 and a servo drive system 11. Two synchronous belt modules 4 are installed in parallel on the same horizontal plane, and two adjacent synchronous belt modules 4 The ends are respectively connected by beams 15. The synchronous belt module 4 includes a synchronous belt and a transmission case 12, and the synchronous belt pulley is installed inside the transmission case 12, and the synchronous belt wheel is engaged with the synchronous belt. The synchronous pulleys in the transmission case 12 on the two synchronous belt modules 4 are connected on the same axis through a transmission shaft 14 , and the transmission shaft 14 is driven by a servo drive system 11 . The drive shaft 14 is connected to a servo drive system 11 . The servo drive system 11 refers to a motor or a reducer that drives the transmission shaft 14 to rotate. The two transmission boxes 12 are equipped with a support frame 5 that moves linearly along the synchronous belt module 4 with the transmission boxes 12 . The supporting frame 5 is a rectangular structure.

The two synchronous belt modules 4 are driven by the same servo drive system 11 to ensure that the two synchronous belt modules 4 can be driven synchronously. The two transmission boxes 12 are equipped with a support frame 5, and the support frame 5 can move linearly along with the transmission box 12 along the synchronous belt module 4.

The vertical motion mechanism includes a cylinder 6, a guide shaft 8, a linear bearing 7, an expansion sleeve 10 and an end support frame 9. The guide shaft 8 is arranged vertically and is sleeved in the linear bearing 7 for moving along a straight line. The bearing 7 reciprocates in the vertical direction, the upper end of the guide shaft 8 is provided with a limit buffer device 13, the end of the guide shaft 8 is fixedly connected with the end support frame 9 through the expansion sleeve 10, and the center of the end support frame 9 An axle fixedly connected with the end support frame 9 is housed, and the axle is fixedly connected with the piston rod of the cylinder 6 . The cylinder body of the cylinder 6 is connected on the support frame 5 of the horizontal motion mechanism, and the linear bearing 7 is symmetrically installed on the support frame 5 of the horizontal motion mechanism with the cylinder 6 as the center. There are four guide shafts 8, and there are four linear bearings 7. The shaft is fixedly connected with the cylinder 6 piston rod through the fisheye joint. The parallelism of the axes of the plurality of guide shafts 8 can be ensured by the expansion sleeve 10 .

Driven by the cylinder 6, the end support frame 9 moves linearly in the vertical direction, and is guided by the guide shaft 8 and the linear bearing 7 to ensure the rigidity of the movement. At the same time, the entire vertical motion mechanism can be realized with the support frame 5 of the horizontal motion mechanism. Linear motion in the horizontal direction.

The adsorption system 2 comprises a suction cup 17, a height buffer 16, a transverse beam 18 and a longitudinal beam 19, the longitudinal beam 19 and the transverse beam 18 are vertically arranged and connected to each other, and the longitudinal beam 19 is positioned below the transverse beam 18, the The height buffer 16 is installed on the longitudinal beam 19, and the suction cup 17 is installed at the end of the height buffer 16.

A plurality of waist-shaped holes are opened on the longitudinal beam 19 , and the height buffer 16 is installed in the waist-shaped holes of the longitudinal beam 19 . The transverse beam 18 is provided with a T-shaped slot, and the longitudinal beam 19 is installed in the T-shaped slot on the transverse beam 18 . The longitudinal crossbeam 19 is provided with a T-shaped slot nut to be clamped in the T-shaped slot. The height buffer 16 is equipped with a spring damping structure for buffering the gripping force of the workpiece by the vertical motion mechanism. The suction cup 17 is located at the end of the spring damping structure. The transverse crossbeam 18 is fixed on the end support frame 9 of the vertical motion mechanism by screws for linkage in both horizontal and vertical directions with the end support frame 9 .

The height buffer 16 is equipped with a spring damping structure, which can buffer the grasping force of the workpiece by the vertical motion mechanism, and adapt to the height deviation of the workpiece or platform; the height buffer 16 is installed in the waist-shaped hole of the longitudinal beam 19, and the installation position Adjustable; the longitudinal beam 19 is installed in the T-shaped groove on the transverse beam 18, and the installation position of the longitudinal beam 19 can be adjusted according to the workpiece.

Example 4

An automatic workpiece conveying device includes a conveying robot 1 , an adsorption system 2 , and a mobile support mechanism 3 . The handling robot 1 is a two-axis robot, and the two-axis robot includes a horizontal motion mechanism and a vertical motion mechanism, and the vertical motion mechanism is fixedly connected to the horizontal motion mechanism through screws.

The utility model adopts the double synchronous belt module 4 synchronous driving mode in the horizontal direction. The horizontal conveying process has the characteristics of high speed, high rigidity, high load capacity and long conveying distance. It can adapt to the high-speed production frequency of existing punching machines and improve production efficiency.

The horizontal motion mechanism includes a synchronous belt module 4, a crossbeam 15, a support frame 5, a transmission shaft 14 and a servo drive system 11. Two synchronous belt modules 4 are installed in parallel on the same horizontal plane, and two adjacent synchronous belt modules 4 The ends are respectively connected by beams 15. The synchronous belt module 4 includes a synchronous belt and a transmission case 12, and the synchronous belt pulley is installed inside the transmission case 12, and the synchronous belt wheel is engaged with the synchronous belt. The synchronous pulleys in the transmission case 12 on the two synchronous belt modules 4 are connected on the same axis through a transmission shaft 14 , and the transmission shaft 14 is driven by a servo drive system 11 . The drive shaft 14 is connected to a servo drive system 11 . The servo drive system 11 refers to a motor or a reducer that drives the transmission shaft 14 to rotate. The two transmission boxes 12 are equipped with a support frame 5 that moves linearly along the synchronous belt module 4 with the transmission boxes 12 . The supporting frame 5 is a rectangular structure.

The two synchronous belt modules 4 are driven by the same servo drive system 11 to ensure that the two synchronous belt modules 4 can be driven synchronously. The two transmission boxes 12 are equipped with a support frame 5, and the support frame 5 can move linearly along with the transmission box 12 along the synchronous belt module 4.

The vertical motion mechanism includes a cylinder 6, a guide shaft 8, a linear bearing 7, an expansion sleeve 10 and an end support frame 9. The guide shaft 8 is arranged vertically and is sleeved in the linear bearing 7 for moving along a straight line. The bearing 7 reciprocates in the vertical direction, the upper end of the guide shaft 8 is provided with a limit buffer device 13, the end of the guide shaft 8 is fixedly connected with the end support frame 9 through the expansion sleeve 10, and the center of the end support frame 9 An axle fixedly connected with the end support frame 9 is housed, and the axle is fixedly connected with the piston rod of the cylinder 6 . The cylinder body of the cylinder 6 is connected on the support frame 5 of the horizontal motion mechanism, and the linear bearing 7 is symmetrically installed on the support frame 5 of the horizontal motion mechanism with the cylinder 6 as the center. There are four guide shafts 8, and there are four linear bearings 7. The shaft is fixedly connected with the cylinder 6 piston rod through the fisheye joint. The parallelism of the axes of the plurality of guide shafts 8 can be ensured by the expansion sleeve 10 .

Driven by the cylinder 6, the end support frame 9 moves linearly in the vertical direction, and is guided by the guide shaft 8 and the linear bearing 7 to ensure the rigidity of the movement. At the same time, the entire vertical motion mechanism can be realized with the support frame 5 of the horizontal motion mechanism. Linear motion in the horizontal direction.

The adsorption system 2 comprises a suction cup 17, a height buffer 16, a transverse beam 18 and a longitudinal beam 19, the longitudinal beam 19 and the transverse beam 18 are vertically arranged and connected to each other, and the longitudinal beam 19 is positioned below the transverse beam 18, the The height buffer 16 is installed on the longitudinal beam 19, and the suction cup 17 is installed at the end of the height buffer 16.

A plurality of waist-shaped holes are opened on the longitudinal beam 19 , and the height buffer 16 is installed in the waist-shaped holes of the longitudinal beam 19 . The transverse beam 18 is provided with a T-shaped slot, and the longitudinal beam 19 is installed in the T-shaped slot on the transverse beam 18 . The longitudinal crossbeam 19 is provided with a T-shaped slot nut to be clamped in the T-shaped slot. The height buffer 16 is equipped with a spring damping structure for buffering the gripping force of the workpiece by the vertical motion mechanism. The suction cup 17 is located at the end of the spring damping structure. The transverse crossbeam 18 is fixed on the end support frame 9 of the vertical motion mechanism by screws for linkage in both horizontal and vertical directions with the end support frame 9 . the

The height buffer 16 is equipped with a spring damping structure, which can buffer the grasping force of the vertical movement mechanism on the workpiece, and adapt to the height deviation of the workpiece or platform; the height buffer 16 is installed in the waist-shaped hole of the longitudinal beam 19, and the installation position can be adjusted ; The longitudinal beam 19 is installed in the T-shaped groove on the transverse beam 18, and the installation position of the longitudinal beam 19 can be adjusted according to the workpiece.

The mobile support mechanism 3 comprises a horizontal movement mechanism mounting crossbeam 20, a column 22, an installation base 25 and a lifting device 24, and the two ends of the horizontal movement mechanism installation crossbeam 20 are respectively provided with a column 22, and the bottom of the column 22 is provided with a The installation base 25 fixedly connected to the ground, the column 22 at the two ends of the guide rail crossbeam 15 is connected with a lifting device installation crossbeam 23, and a lifting device 24 is installed below the lifting device installation crossbeam 23, and the end of the lifting device 24 is installed Roller 26 is arranged.

Ribs 21 are welded between the columns 22 and the rail beams 15 . Rib 21 has a hoisting hole. Two upright posts 22 are respectively arranged at both ends of the guide rail beam 15 . There is a hole in the center of the installation base 25 . The end of lifting device 24 is equipped with the roller 26 that realizes to pack up and put down function. The mobile supporting mechanism 3 is welded by section steel. The guide rail beam 15 is connected with two synchronous belt modules 4 of the horizontal motion mechanism.

The utility model can be used for automatic feeding and retrieving of silicon steel sheet stamping, deburring, baking paint and other processes, and is suitable for silicon steel sheets of different specifications and forms.

When the silicon steel sheet handling system is working, the mobile support mechanism 3 spans above the workpiece grabbing position and stacking position, and is fixed on the ground through the installation base 25; when the workpiece grabbing position and stacking position change, it can be supported by moving The roller 26 of mechanism 3 is adjusted position. When the roller 26 is put down, the roller 26 passes through the waist-shaped hole of the installation base 25 and contacts the ground.

Example 5

Below in conjunction with accompanying drawing 1-Fig. 5 the utility model is described further.

As shown in Figure 1, the transport robot 1 is installed above the mobile support mechanism 3, and the adsorption system 2 is installed at the end of the transport robot 1. When working, the mobile support mechanism 3 spans the adsorption and release positions of the silicon steel sheet and is fixed on the ground. Two synchronous belt modules 4 of the same specification are installed in parallel on the horizontal motion mechanism installation beam 20 of the mobile support mechanism 3 through a crossbeam 14. Each of the two synchronous belt modules 4 has a transmission box 12, and a drive box 12 is installed in the transmission box 12. The synchronous pulley, through the meshing of the synchronous belt and the synchronous pulley, the transmission box 12 can move linearly along the synchronous belt module 4, the synchronous belt pulleys of the two synchronous belt modules 4 are fixedly connected by the transmission shaft 14, and the servo drive system 11 The synchronous driving of the synchronous pulleys of the two synchronous belt modules 4 can be realized to realize the synchronous driving of the two synchronous belt modules 4 . The support frame 5 is installed on two transmission boxes 12 for supporting the vertical motion mechanism. The cylinder body of the cylinder 6 is installed at the center of the support frame 5, and the four linear bearings 7 are symmetrically installed on the support frame 5 with the cylinder as the center. To do linear motion in the vertical direction, the ends of the four guide shafts 8 are fixedly connected to the end support frame 9 through an expansion sleeve 10, and the parallelism of the four guide shafts can be guaranteed through the expansion sleeve 10, so that the guide shafts can be guided vertically when moving vertically. smoothness, the center of the end support frame is fixed with a shaft, and the center of the shaft is fixedly connected with the end of the piston rod of the cylinder 6 through a fisheye joint. Driven by the cylinder, the end support frame 9 can realize a straight line in the vertical direction. The movement is guided by 4 guide shafts, which greatly improves the movement stiffness and load capacity in the vertical direction. The bottom of the end support mechanism 9 is affixed to the transverse beam 18 of the adsorption system 2. Four longitudinal beams 19 are installed below the transverse beam 18. The installation position of the longitudinal beam 19 on the transverse beam 18 can be adjusted according to the shape and size of the workpiece. A plurality of height buffers 16 are installed on the root longitudinal beams 18 to buffer the impact force generated by the vertical motion mechanism when grabbing workpieces. Suction cups 17 are installed at the end of each height buffer 16 to absorb silicon steel. piece. The two ends of horizontal movement mechanism installation crossbeam 20 are installed on 2 upright columns 3 respectively, and column 4 and horizontal movement mechanism installation crossbeam 20 are directly welded with rib plate 21, has hoisting hole on the rib plate 21, is convenient to overall hoisting. The bottom of the column 3 is welded with an installation base 25 for fastening to the ground. A lifting device mounting beam 23 is welded on each of the columns 3 at both ends, and two lifting devices 24 are fixedly connected to each of the two lifting device mounting beams 23. A roller 26 is respectively equipped with at the end of each lifting device 24 . When the entire handling system is working, the rollers 26 are raised by the lifting device 24, and then fixedly connected to the ground through the installation base 25; when the position of the silicon steel sheet changes, the rollers 26 can be lowered by the lifting device 24, and the entire handling system can be adjusted through the rollers s position. The working process of the entire handling system is shown in Figure 5. After the adsorption system 2 absorbs the silicon steel sheet, the handling robot 1 lifts the silicon steel sheet vertically to the design height, and then horizontally transports it to the predetermined position. The adsorption system 2 releases the workpiece, and the adsorption system 2 Driven by the handling robot 1, return to the adsorption position of the next batch of silicon steel sheets along the original path.

Finally, it should be noted that: the above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, although the utility model has been described in detail with reference to the aforementioned embodiments, for those skilled in the art In other words, it is still possible to modify the technical solutions described in the foregoing embodiments, or to perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (9)

1. a workpiece automatic conveying device, comprise transfer robot (1), adsorption system (2), movable support mechanism (3), described adsorption system (2) is arranged on transfer robot (1) bottom, described transfer robot (1) is arranged in movable support mechanism (3), described transfer robot (1) is diaxon robot, described diaxon robot comprises horicontal motion mechanism and vertical motion mechanism, and described vertical motion mechanism is connected firmly on horicontal motion mechanism kinematic mechanism by screw.

2. a kind of workpiece automatic conveying device according to claim 1, it is characterized in that: described horicontal motion mechanism comprises Timing Belt module (4), crossbeam (15), support frame (5), transmission shaft (14) and servo drive system (11), two Timing Belt modules (4) are installed in parallel in same level, and the adjacent two ends of two Timing Belt modules (4) connect respectively by crossbeam (15).

3. a kind of workpiece automatic conveying device according to claim 2, is characterized in that: Timing Belt module (4) includes Timing Belt and transmission gearbox (12), and synchronous pulley is equipped with in described transmission gearbox (12) inside, and described synchronous pulley engages with described Timing Belt; Synchronous pulley in two Timing Belt modules (4) upper gear box (12) is connected on same axle center by a transmission shaft (14), and described transmission shaft (14) is driven by servo drive system (11); Transmission shaft (14) is connected with a servo drive system (11); Servo drive system (11) refers to the motor that driving transmission shaft (14) rotates or retarder; The support frame (5) doing straight-line motion with transmission gearbox (12) along Timing Belt module (4) two transmission gearboxs (12) is equipped with; Support frame (5) is rectangular configuration.

4. a kind of workpiece automatic conveying device according to claim 2, it is characterized in that: described vertical motion mechanism comprises cylinder (6), the axis of guide (8), linear bearing (7), expansion sleeve (10) and end support framework (9), the described axis of guide (8) is vertically arranged, and be socketed in described linear bearing (7), vertical direction crank motion is done for linearly bearing (7), the upper end of the described axis of guide (8) is provided with limit damper (13), the described axis of guide (8) end is connected firmly by expansion sleeve (10) and end support framework (9), an axle connected firmly with end support framework (9) is equipped with at the center of described end support framework (9), described axle and cylinder (6) solid rod joint.

5. a kind of workpiece automatic conveying device according to claim 4, it is characterized in that: the cylinder body of described cylinder (6) is connected on the support frame (5) of horicontal motion mechanism, linear bearing (7) is symmetrical centered by cylinder (6) to be arranged on the support frame (5) of horicontal motion mechanism; The described axis of guide (8) is four, and described linear bearing (7) is four; Axle is by flake joint and cylinder (6) solid rod joint; The parallelism of the many axis of guides (8) axis can be ensured by expansion sleeve (10).

6. a kind of workpiece automatic conveying device according to claim 1, it is characterized in that: described adsorption system (2) comprises sucker (17), height energy disperser (16), transverse cross beams (18) and longitudinal crossbeam (19), described longitudinal crossbeam (19) and transverse cross beams (18) intersecting vertical arrange and are interconnected, described longitudinal crossbeam (19) is positioned at the below of transverse cross beams (18), described height energy disperser (16) is arranged on longitudinal crossbeam (19), and described sucker (17) is arranged on height energy disperser (16) end.

7. a kind of workpiece automatic conveying device according to claim 6, is characterized in that: described longitudinal crossbeam (19) has multiple waist shaped hole, and described height energy disperser (16) is arranged in the waist shaped hole of longitudinal crossbeam (19); (18) are provided with T slot to described transverse cross beams, and described longitudinal crossbeam (19) is arranged in the T slot in transverse cross beams (18); Described longitudinal crossbeam (19) is provided with T slot nut to be stuck in described T slot; Described height energy disperser (16) is furnished with for cushioning the spring damping structure of vertical motion mechanism to workpiece grabbing power; Described sucker (17) is positioned at the end of spring damping structure; Described transverse cross beams (18) is fixed on the end support framework (9) of vertical motion mechanism for carrying out the interlock of level and vertical both direction with end support framework (9) by screw.

8. a kind of workpiece automatic conveying device according to claim 1, it is characterized in that: described movable support mechanism (3) comprises horicontal motion mechanism and installs crossbeam (20), column (22), mounting base (25) and jacking system (24), the two ends that described horicontal motion mechanism installs crossbeam (20) are respectively arranged with column (22), described column (22) bottom is provided with for the mounting base (25) affixed with ground, the column (22) at guide rail beam (15) two ends is connected with jacking system and crossbeam (23) is installed, the below that crossbeam (23) installed by described jacking system is provided with jacking system (24), the end of described jacking system (24) is equipped with roller (26).

9. a kind of workpiece automatic conveying device according to claim 8, is characterized in that: be welded with gusset (21) between described column (22) and guide rail beam (15); (21) have hole for hoist to described gusset; Described guide rail beam (15) two ends are respectively provided with two root posts (22); Described mounting base (25) center has position, hole; The end of described jacking system (24) is equipped with the roller (26) realizing packing up and put down function; Described movable support mechanism (3) is welded for shaped steel; Described guide rail beam (15) is connected with two Timing Belt modules (4) of horicontal motion mechanism.