CN204817628U - Efficient stamping robot - Google Patents

Abstract

The utility model discloses a high-efficiency stamping robot, which comprises a rotating base, a lifting support vertical arm, a multi-stage telescopic arm and a rotating mechanism, wherein the lifting support vertical arm is arranged on the rotating base, the multi-stage telescopic arm is arranged on the lifting support vertical arm, and the rotating mechanism is arranged on the multi-stage telescopic arm; the utility model has the advantages of ingenious design, it is reasonable, on the basis of required action requirement when satisfying punch press production, the overall structure of traditional robot has effectively been simplified, reduce spare part, therefore, the carrier wave energy saving device is low in cost, adopt multistage extending structure, it is more steady to make the arm extend or the shrinkage motion, and is high in speed, realize high efficiency operation, cooperate rotating base and lift simultaneously and support the vertical arm, it is more steady when the proofreading of messenger's work piece, the blowing precision is higher, the action links up swiftly, further improve work efficiency, and working radius is big, can reach 3 meters, bearing capacity is good, catch the work piece weight height and reach 50Kg, can extensively apply to the punching production line, and wide application range.

Description

Efficient stamping robot

technical field

The utility model relates to the technical field of robots, in particular to a high-efficiency stamping robot.

Background technique

Stamping is a forming processing method that relies on presses and molds to apply external forces to plates, strips, pipes, and profiles to cause plastic deformation or separation, thereby obtaining workpieces of required shape and size. Stamping and forging belong to plastic processing and are collectively called forging. The blanks for stamping are mainly hot-rolled and cold-rolled steel plates and strips; 60-70% of the world's steel products are plates, most of which are stamped into finished products. The body, chassis, fuel tank, radiator fins of the car, the steam drum of the boiler, the shell of the container, the iron core silicon steel sheet of the motor and electrical appliances, etc. are all stamped. There are also a large number of stamping parts in products such as instruments and meters, household appliances, bicycles, office machinery, and living utensils.

However, most of the mold stamping industry in my country adopts the method of manual feeding and refueling. Before each punching machine works, the worker puts the material into the punching machine, and the worker takes it out after the pressing work of the punching machine is completed; There are great potential safety hazards in the way of feeding and retrieving materials, and work-related accidents such as crushing and disabling workers often occur.

With the development of industrial modernization, a stamping robot has been launched on the market, which can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Existing stamping robots are various, and they come from different design concepts, and strive to meet the needs of different users. Although it can realize the movement of different stamping workpieces, its design is not clever enough, the structure is relatively complicated, and its working stability is poor, its efficiency is low, and it takes up a lot of space, resulting in a waste of space resources and making the overall cost too high. In addition, The working range is relatively small, and it can only grab light-weight workpieces, so it is difficult to be popularized and applied.

Utility model content

In view of the above deficiencies, the purpose of this utility model is to provide an efficient stamping robot with ingenious and reasonable structural design, high working efficiency, good stability, wide working range and heavy grasping weight.

In order to achieve the above purpose, the technical solution provided by the utility model is: a high-efficiency stamping robot, which includes a rotating base, a lifting support arm, a multi-stage telescopic arm and a rotating mechanism, and the lifting support arm is arranged on the rotating base , and is driven by the rotating base to rotate, the multi-stage telescopic arm is set on the lifting support vertical arm, and is driven by the lifting support vertical arm to perform vertical lifting action, the rotation mechanism is set on the multi-stage telescopic arm, And it is driven by the multi-stage telescopic arm to perform telescopic action.

As an improvement of the utility model, the rotating base includes a seat plate, a motor, a rotating seat body and a reducer, the rotating seat body is movably arranged on the seat plate through a bearing assembly, and the reducer is arranged on the rotating seat In the body, and the output end of the reducer protrudes from the rotating seat and is connected with the seat plate, the motor is set corresponding to the position of the reducer, and the drive shaft of the motor is connected to the input end of the reducer connected, and the seat plate is provided with anti-vibration foot pads.

As an improvement of the utility model, the bearing assembly includes a plane bearing and a deep groove ball bearing, the plane bearing is arranged between the seat plate and the rotating seat body, and the deep groove ball bearing is arranged at the center of the plane bearing, And the inner ring is sleeved on the output end of the reducer, and the outer ring is fixed on the seat plate through the bearing seat.

As an improvement of the utility model, the lifting support arm includes a stand, a motor, a lifting transmission assembly, a bracket, a slide rail and a slide block adapted to the slide rail, and the slide rail is vertically arranged on On the side wall of the stand, the bracket is slidably arranged on the slide rail through the slider, and the motor is arranged on the stand, and can drive the slider to reciprocate on the slide rail through the lifting transmission assembly; The motors mentioned above are absolute value servo motors.

As an improvement of the present utility model, the lifting transmission assembly includes a driving gear, a transmission gear set, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a transmission chain belt, and the driving shaft is arranged on the side of the stand through a bearing. The upper part, the driving wheel is arranged on the driving shaft, the driven shaft is arranged on the lower part of the stand through the bearing, the driven wheel is arranged on the driven shaft, and the transmission chain belt is arranged on the driving wheel and the driven shaft. On the driving wheel, the slider is fixed on the transmission chain belt, the driving gear is arranged on the driving shaft of the motor, and is connected with the driving shaft through the transmission gear set.

As an improvement of the utility model, the lifting transmission assembly includes a speed changer, a screw rod and a screw nut adapted to the screw rod, the screw nut is fixed on the slider, and the screw rod passes through the The bearing is vertically arranged on the stand and matches with the screw nut, the input end of the speed changer is connected with the drive shaft of the motor, and the output end of the speed changer is connected with one end of the screw rod ; The upper surface of the seat plate is provided with a recess that matches the bottom profile of the stand.

As an improvement of the utility model, the multi-stage telescopic arm includes a primary boom, a secondary boom, a tertiary boom, a motor, a transmission chain belt, a driving wheel and a synchronous wheel, the primary boom, The secondary boom and the tertiary boom are stacked sequentially from bottom to top through the linear slide assembly, the driving wheel is arranged at the tail of the secondary boom, and the synchronous wheel is arranged at the front of the secondary boom part, the transmission chain belt is set on the driving wheel and the synchronous wheel, the lower fixing block fixed with the downward part of the transmission chain belt is arranged on the first-stage arm frame, and the third-stage arm frame is provided with There is an upper fixed block fixed to the upper part of the transmission chain belt, and the motor is connected with the driving wheel through a transmission part.

As an improvement of the utility model, the primary boom includes a primary bottom plate and a primary side plate symmetrically arranged on both sides of the primary bottom plate, and the two primary side plates and the primary bottom plate are equipped with The linear slide rail assembly suitable for the above-mentioned secondary jib.

As an improvement of the utility model, the rotating mechanism includes a motor, a driving wheel, a suction cup seat, a synchronous wheel and a speed reducer, the speed reducer is arranged on the front end of the three-stage arm frame, and the suction cup seat is arranged on the On the output end of the reducer, the synchronous wheel is arranged on the input end of the reducer, the motor is arranged on the tail end of the three-stage boom, and the driving wheel is arranged on the drive shaft of the motor, And it is connected with the synchronous wheel through a transmission chain belt.

As an improvement of the utility model, the motor is an absolute value servo motor. The transmission chain belt is a belt or a chain.

The beneficial effects of the utility model are: the utility model has an ingenious and reasonable structural design, and on the basis of satisfying the action requirements required for punch press production, it effectively simplifies the overall structure of the traditional robot, reduces parts and costs, and adopts multi-stage The linked telescopic structure makes the arm extension or contraction movement more stable and faster, and realizes high-efficiency operations. At the same time, it cooperates with the rotating base and lifting support arm to make the workpiece more stable during calibration, with higher feeding accuracy and coherent and fast movements. Further improve the working efficiency, and the working radius is large, up to 3 meters, good load-bearing capacity, the weight of the captured workpiece is as high as 50Kg, and has a wide range of applications. It can be widely used in the stamping production line to quickly transport the stamping workpiece, especially to solve the problem of automobile stamping. Difficulties in handling large stamping workpieces on punching machines in the industry.

Below in conjunction with accompanying drawing and embodiment, the utility model is further described.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model.

Fig. 2 is a three-dimensional structural schematic diagram of the rotating base in the utility model.

Fig. 3 is a schematic diagram of a full sectional structure of the rotating base in the utility model.

Fig. 4 is a schematic diagram of the three-dimensional structure of the lifting support vertical arm in the utility model.

Fig. 5 is a schematic cross-sectional structure diagram of the lifting support vertical arm of the present invention.

Fig. 6 is a schematic top view of the utility model.

Fig. 7 is a top view structure diagram of the multi-stage telescopic arm in the utility model.

Fig. 8 is a schematic cross-sectional structure diagram of A-A in the utility model.

FIG. 9 is a schematic perspective view of the three-dimensional structure of FIG. 7 .

Detailed ways

Embodiment, referring to Fig. 1, a kind of high-efficiency stamping robot provided by this embodiment, it comprises rotating base 1, lifting support vertical arm 2, multi-stage telescopic arm 3 and rotation mechanism 4, and described lifting support vertical arm 2 is arranged on the rotation On the base 1, and is driven by the rotating base 1 to rotate, the multi-stage telescopic arm 3 is arranged on the lifting support arm 2, and is driven by the lifting support vertical arm 2 to perform vertical lifting action, the rotation mechanism 4 It is arranged on the multi-stage telescopic arm 3, and is driven by the multi-stage telescopic arm 3 to perform telescopic action.

Specifically, referring to Fig. 2 and Fig. 3, the rotating base 1 includes a seat plate 11, a motor 12, a rotating seat body 13 and a reducer 14, and the rotating seat body 13 is movably arranged on the seat plate 11 through a bearing assembly. The reducer 14 is arranged in the rotating seat body 13 , and the output end of the reducer 14 protrudes from the rotating seat body 13 and is connected with the seat plate 11 . Preferably, referring to Fig. 3, the bearing assembly includes a plane bearing 16 and a deep groove ball bearing 17, the plane bearing 16 is arranged between the seat plate 11 and the rotating seat body 13, and the deep groove ball bearing 17 is arranged on a plane The center position of the bearing 16, and the inner ring is sleeved on the output end of the reducer 14, and the outer ring is fixed on the seat plate 11 through the bearing seat. Through the cooperation of the plane bearing 16 and the deep groove ball bearing 17, the stability during rotation is ensured. In other embodiments, the bearing assembly can also be realized by using other types of bearings, such as tapered roller bearings.

The motor 12 is set corresponding to the position of the reducer 14 . In this embodiment, the motor 12 is arranged on the reducer 14 , and the drive shaft of the motor 12 is connected to the input end of the reducer 14 . The upper surface of the swivel base 13 is provided with a recess 131 matching the bottom profile of the stand 21 to improve the tightness of the assembly and the overall structural stability is good. The seat plate 11 is provided with an anti-vibration foot pad 15, which has a height adjustment function and an anti-vibration function, has high flexibility, good stability, and a wide range of applications.

The structure design of the rotating base 1 in the utility model is ingenious and reasonable, allowing the parts above the seat plate 11 to rotate together with the rotating base body 13, which greatly improves the stability of the robot when rotating and swinging. Preferably, the reducer 14 preferably adopts RV speed reduction Machine, the transmission is more stable, and the vibration is small, the noise is low, and the energy consumption is low.

4 and 5, the lifting support arm 2 includes a stand 21, a motor 22, a lifting transmission assembly 23, a bracket 24, a slide rail 25 and a slider 26 adapted to the slide rail 25, specifically, The stand includes a bottom plate, a top plate and two side plates. The two side plates are arranged symmetrically and vertically on both sides of the bottom plate. The top plate is arranged on the upper ends of the two side plates. The structure design is reasonable, simple and easy to implement. In this embodiment, the slide rail 25 is arranged on the inner side walls of the two side plates of the stand, the bracket 24 is slidably arranged on the slide rail 25 through the slider 26, and the motor 22 is arranged on the stand On the frame 21, the slide block 26 can be driven to reciprocate on the slide rail 25 through the lifting transmission assembly 23.

In this embodiment, preferably, the lifting transmission assembly 23 includes a driving gear 231, a transmission gear set 232, a driving shaft 233, a driven shaft 234, a driving wheel 235, a driven wheel 236 and a transmission chain belt 237. Shaft 233 is arranged on the top of stand 21 by bearing, and described driving wheel 235 is arranged on this driving shaft 233, and described driven shaft 234 is arranged on the bottom of stand 21 by bearing, and described driven wheel 236 is arranged on this slave On the driving shaft 234, the transmission chain belt 237 is arranged on the driving wheel 235 and the driven wheel 236, the slider 26 is fixed on the transmission chain belt 237, and the driving gear 231 is arranged on the driving shaft of the motor 22 , and is connected with the driving shaft 233 through the transmission gear set 232 . The lifting transmission assembly 23 adopts the above-mentioned structure, which can cooperate with the self gravity of the arm to lift the arm, so that the robot is more stable and faster when the arm is lowered. In other embodiments, the lifting transmission assembly 23 may also adopt a screw transmission structure (not shown in the figure). As described lifting transmission assembly 23 comprises speed change machine, screw mandrel and the screw mandrel nut that matches with this screw mandrel, this screw mandrel nut is fixed on the described slide block, and described screw mandrel is vertically arranged on the stand through bearing 21, and cooperate with the screw nut, the input end of the speed changer is connected with the drive shaft of the motor, and the output end of the speed changer is connected with one end of the screw rod.

5 to 8, the multi-stage telescopic arm 3 includes a primary arm frame 31, a secondary arm frame 32, a tertiary arm frame 33, a motor 34, a transmission chain belt 35, a drive wheel 36 and a synchronous wheel 37. The primary boom frame 31, secondary boom frame 32 and tertiary boom frame 33 are stacked sequentially from bottom to top through the linear slide assembly, and the drive wheel 36 is arranged at the tail of the secondary boom frame 32. Synchronous wheel 37 is arranged on the front portion of this secondary boom 32, and described transmission chain belt 35 is arranged on described drive wheel 36 and synchronous wheel 37, and described primary boom 31 is provided with this transmission chain belt 35. The lower fixed block 311 fixed to the lower portion of the drive chain belt 35, the upper fixed block 331 fixed to the upper portion of the drive chain belt 35 is provided on the three-stage arm frame 33, and the motor 34 passes through the transmission part (not shown in the figure) ) is connected to the driving wheel 36, the transmission component is preferably a pulley assembly, and in other embodiments, the transmission component can also be gear transmission or screw drive. Preferably, the primary boom 31 includes a primary bottom plate and primary side plates symmetrically arranged on both sides of the primary bottom plate. The secondary boom 32 includes a secondary bottom plate and secondary side plates symmetrically arranged on both sides of the secondary bottom plate. Preferably, a linear slide rail assembly is provided between the primary base plate and the secondary base plate, and a linear slide rail assembly is provided between the primary side plate and the secondary side plate. The tertiary arm frame 33 is a bar-shaped body, and a linear slide rail assembly is arranged between the lower surface of the bar-shaped body and the secondary bottom plate. A cover plate is arranged on the secondary side plates on both sides, and a linear slide rail assembly is arranged between the cover plate and the upper surface of the strip body. Effectively improve the stability and load-bearing capacity of the fit, the support effect is good, and the workpiece weight can be grasped up to 50Kg. The multi-stage telescopic arm 3 adopts a three-stage telescopic structure, and has a large working radius up to 3 meters. When working, the secondary boom 32 and the tertiary boom 33 are fixed on the same transmission chain belt 35, and can be synchronously linked to realize simultaneous extension and retraction, greatly speeding up the expansion and contraction speed, and then improving work efficiency.

9, the rotating mechanism 4 includes a motor 41, a driving wheel 42, a suction cup seat 43, a synchronous wheel 44 and a speed reducer 45, the speed reducer 45 is arranged on the front end of the three-stage boom 33, and the speed reducer 45 adopts The front structure makes the workpiece more stable during calibration, and the feeding accuracy is higher. The suction cup seat 43 is arranged on the output end of the speed reducer 45, the synchronous wheel 44 is arranged on the input end of the speed reducer 45, the motor 41 is arranged on the tail end of the three-stage boom 33, The drive wheel 42 is arranged on the drive shaft of the motor 41 and connected with the synchronous wheel 44 through a transmission chain belt 46 .

In this embodiment, the transmission chain belt 35 , the transmission chain belt 46 and the transmission chain belt 237 can all be belts or chains, preferably toothed belts, which are not easy to slip and have stable transmission. Described motor 12, motor 22, motor 34, motor 41 are all preferably absolute value servo motors, and the absolute value encoder in this absolute value servo motor can record the absolute position of motor, is exactly that driver can directly read after its power-on. The position of the current motor does not need to be operated by returning to the origin, which greatly improves the work efficiency, and at the same time optimizes the circuit, and the overall performance is more excellent. The rotating base 1, the lifting support arm 2, the multi-stage telescopic arm 3 and the rotating mechanism 4 are respectively connected by a controller and controlled by the controller. The use of controllers for automatic control can further improve work efficiency and make actions more coherent and fast. After the manipulator has been debugged, manual control is not required, which can effectively reduce labor costs and reduce the rate of work-related injuries. At the same time, it improves product stability and reduces product The scrap rate is low, and the working stability is good, the service life is prolonged, and the number of maintenance or replacement is reduced.

According to the disclosure and teaching of the above specification, those skilled in the art to which the present utility model belongs can also change and modify the above embodiment. Therefore, the utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this description, these terms are only for convenience of description, and do not constitute any limitation to the present invention. The use of other machines identical or similar thereto are within the protection scope of the present invention.

Claims (10)

1. an efficient pressing robot, it is characterized in that, it comprises rotating base, lifting supports armstand, multi-stage expansion arm and rotating mechanism, described lifting supports armstand and is arranged on rotating base, and do spinning movement by the driving of this rotating base, multi-stage expansion arm is arranged on lifting and supports in armstand, and does vertical lift action by the driving of this lifting support armstand, described rotating mechanism is arranged on multi-stage expansion arm, and makes expanding-contracting action by the driving of this multi-stage expansion arm.

2. efficient pressing robot according to claim 1, it is characterized in that: described rotating base comprises seat board, motor, rotation pedestal and reductor, described rotation pedestal is movably arranged on seat board by bearing assembly, described reductor is arranged in described rotation pedestal, and the output of this reductor stretches out this rotation pedestal, and be connected with described seat board, the position of the corresponding reductor of described motor is arranged, and the driving shaft of this motor is connected with the input of described reductor.

3. efficient pressing robot according to claim 2, it is characterized in that: described bearing assembly comprises plane bearing and deep groove ball bearing, described plane bearing is arranged on seat board and rotates between pedestal, described deep groove ball bearing is arranged on the home position of plane bearing, and inner ring is enclosed within the output of described reductor, outer ring is fixed on described seat board by bearing block.

4. efficient pressing robot according to claim 1, it is characterized in that: described lifting supports armstand and comprises stand, motor, lifting transmission component, bracket, slide rail and the slide block suitable with this slide rail, described slide rail is vertically arranged on described stand sidewall, described bracket is arranged on this slide rail by skid, described motor is arranged in stand, and drives slide block reciprocating on slide rail by lifting transmission component.

5. efficient pressing robot according to claim 4, it is characterized in that: described lifting transmission component comprises driven wheel, driving gear set, driving shaft, driven shaft, driving wheel, driven pulley and driving-chain band, described driving shaft is arranged on the top of stand by bearing, described driving wheel is arranged on this driving shaft, described driven shaft is arranged on the bottom of stand by bearing, described driven pulley is arranged on this driven shaft, described driving-chain band is arranged on driving wheel and driven pulley, described slide block is fixed on described driving-chain band, described driven wheel is arranged on the driving shaft of motor, and be connected with described driving shaft by described driving gear set.

6. efficient pressing robot according to claim 4, it is characterized in that: described lifting transmission component comprises variable-speed motor, screw mandrel and the feed screw nut suitable with this screw mandrel, this feed screw nut is fixed on described slide block, described screw mandrel is vertically arranged on stand by bearing, and match with described feed screw nut, the input of described variable-speed motor is connected with the driving shaft of described motor, and the output of this variable-speed motor is connected with one end of described screw mandrel.

7. efficient pressing robot according to claim 1, it is characterized in that: described multi-stage expansion arm comprises one-level jib, secondary jib, three grades of jibs, motor, driving-chain band, driving wheel and synchronizing wheel, described one-level jib, secondary jib and three grades of jibs stacked successively by order from bottom to up by line slide rail assembly, described driving wheel is arranged on the afterbody of secondary jib, described synchronizing wheel is arranged on the front portion of this secondary jib, described driving-chain band is arranged on described driving wheel and synchronizing wheel, described one-level jib is provided with the lower fixed block fixed with the descender of this driving-chain band, described three grades of jibs are provided with the upper fixed block fixed with the ascending part of this driving-chain band, described motor is connected with described driving wheel by drive disk assembly.

8. efficient pressing robot according to claim 7, it is characterized in that: described one-level jib comprises one-level base plate and is symmetricly set on the one-level side plate of these one-level base plate both sides, and two one-level side plates and one-level base plate are equipped with the line slide rail assembly suitable with described secondary jib.

9. efficient pressing robot according to claim 7, it is characterized in that: described rotating mechanism comprises motor, driving wheel, sucker disk seat, synchronizing wheel and reductor, this reductor is arranged on the front end of described three grades of jibs, described sucker disk seat is arranged on the output of this reductor, described synchronizing wheel is arranged on the input of this reductor, described motor is arranged on the tail end of described three grades of jibs, described driving wheel is arranged on the driving shaft of this motor, and is connected with described synchronizing wheel by driving-chain band.

10. according to the efficient pressing robot one of claim 2-9 Suo Shu, it is characterized in that: described motor is absolute value servomotor.