CN205020678U - Adaptation punching press line moves cantilever type robot that carries material - Google Patents
Adaptation punching press line moves cantilever type robot that carries material Download PDFInfo
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- CN205020678U CN205020678U CN201520636029.9U CN201520636029U CN205020678U CN 205020678 U CN205020678 U CN 205020678U CN 201520636029 U CN201520636029 U CN 201520636029U CN 205020678 U CN205020678 U CN 205020678U
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- cantilever
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- guiding rail
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Abstract
本实用新型公开了一种适应冲压线移载送料的悬臂式机器人，包括升降台、悬臂以及插件支架；所述悬臂沿水平X向横置并与升降台的升降机构通过第一连接部件连接，所述升降台和第一连接部件之间通过竖直方向的Z向导轨连接，所述第一连接部件与悬臂之间通过水平横向的第一X向导轨连接，所述插件支架通过第二连接部件滑动设置在悬臂上，所述悬臂与第二连接部件之间通过第二X向导轨连接，所述第二连接部件与插件支架之间通过水平纵向的Y向导轨以及Y向气缸连接。本实用新型可满足有不同开模高度模具，以及不同大小、形状的钣金件移载，具有通用性好、成本节约、调试难度小的优点，可延伸适用到各类移载送料场所。
The utility model discloses a cantilever type robot adapted to transfer and feed materials on a stamping line, comprising a lifting platform, a cantilever and a plug-in bracket; the cantilever is placed horizontally along the horizontal X direction and is connected with the lifting mechanism of the lifting platform through a first connecting part. The lifting table and the first connecting part are connected by a vertical Z-guiding rail, the first connecting part and the cantilever are connected by a horizontal and transverse first X-guiding rail, and the plug-in bracket is connected by a second The components are slidably arranged on the cantilever, and the cantilever is connected to the second connecting component through the second X-guiding rail, and the second connecting component is connected to the plug-in bracket through the horizontal and vertical Y-guiding rail and the Y-directing cylinder. The utility model can satisfy molds with different mold opening heights, and sheet metal parts of different sizes and shapes to be transferred, has the advantages of good versatility, cost saving, and less difficulty in debugging, and can be extended and applied to various places for transferring materials.
Description
Technical field
The utility model belongs to transfer machine robot, is specifically related to a kind of cantilevered robot adapting to punch line transfer feeding.
Background technology
Along with the raising of scientific and technological level and enterprise are to the consideration of production cost and safety of workers, punch line gets more and more for the application of intelligent robot.The robot of high efficiency, high accuracy and high controllability starts the transfer feeding be widely used on punch line between punch press and punch press, between punch press and mould.Use joint arm multi-freedom robot mostly in production in the past, this kind of robot arm is all the joint of the rotary motion adopted, need to reserve rotary space at mechanical arm periphery, one come the arrangement requirement of workshop high, punch press is when there is die sinking insufficient height in part mould simultaneously, articulated arm robots is difficult to stretch into, as employing articulated arm robots and the special press and the idle station frame use meeting enterprise cost greatly that are applicable to articulated arm robots.Simultaneously, the carrying distance of articulated arm robots is limited, the form that usual needs increase idle station frame between punch press realizes transfer feeding, need to carry out repeatedly transfer feeding, repeatedly transfer process can cause the superposition of error, and the problems such as use floor space large, each machinery compartment action debugging difficulty increase of idle station frame limit the automation improved Haniltonian of punch line.
Utility model content
The technical problem that the utility model solves is: be difficult to stretch into punch line for traditional articulated mechanical arm robot and carry out transfer feeding, and the cost needing to apply special lathe, increase idle station frame causes caused further is high, floor space large, debug the defects such as inconvenience, a kind of novel cantilevered robot that generally can adapt to punch line transfer feeding is provided, the quick transfer feeding of long distance between punch press can be realized.
The utility model adopts following technical scheme to realize:
Adapt to a cantilevered robot for punch line transfer feeding, comprise lifting platform 1, cantilever 3 and plugging piece bracket 5; Described cantilever 3, along horizontal X to horizontal and be connected by the first attaching parts 2 with the elevating mechanism of lifting platform 1, wherein, is connected by the Z-direction guide rail 14 of vertical direction between described lifting platform 1 and the first attaching parts 2; Described first attaching parts 2 are connected with the X direction guiding rail 32 by horizontal cross between cantilever 3, and described first attaching parts 2 are provided with and drive cantilever 3 along an X of X direction guiding rail 32 slippage to motor 31; Described plugging piece bracket 5 is for arranging material fetching mechanism, be slidably arranged on cantilever 3 by the second attaching parts 4, be connected by the 2nd X direction guiding rail 34 between described cantilever 3 with the second attaching parts 4, described second attaching parts 4 are provided with two X of drive plug support 5 along the 2nd X direction guiding rail 34 slippage to motor 36; Described second attaching parts 4 are connected by the Y-direction guide rail 52 of level longitudinal direction and Y-direction cylinder 51 with between plugging piece bracket 5.
Further, the elevating mechanism of described lifting platform 1 adopts screw mandrel unit, wherein Z-direction screw mandrel 12 is parallel to Z-direction guide rail 14 and arranges, described Z-direction screw mandrel 12 one end is connected with lifting motor 11 fixing on lifting platform 1, and motion thread and the feed screw nut 13 be fixed in the first attaching parts 2 of Z-direction screw mandrel are spirally connected.
Further, described first attaching parts 2 comprise the Z-direction connecting portion 21 and an X that are solidly fixed to connecting portion 22; The fixing Z-direction slide block 15 coordinated with Z-direction guide rail 14 on described Z-direction connecting portion 21, described Z-direction guide rail 14 is vertically arranged on the column of lifting platform 1; The fixing X coordinated with an X direction guiding rail 32 is to slide block 33 on connecting portion 22 for a described X, and a described X direction guiding rail 32 is arranged on cantilever 3.
Further, described Z-direction guide rail 14 arranges at least two perpendicular to the horizontal sliding direction of cantilever 3, is conducive to increasing lifting platform and the first attaching parts to the support strength of cantilever.
Further, described second attaching parts 4 comprise the 2nd X that is solidly fixed to connecting portion 41 and Y-direction connecting portion 42; Fixing the 2nd X coordinated with the 2nd X direction guiding rail 34 is to slide block 35 on connecting portion 41 for described 2nd X, and described 2nd X direction guiding rail 34 is arranged on cantilever 3, be arranged in parallel with an X direction guiding rail 32; Described Y-direction connecting portion 42 fixes Y-direction guide rail 52, the fixing Y-direction slide block coordinated with Y-direction guide rail 52 on described plugging piece bracket 5, described Y-direction cylinder 51 is parallel to Y-direction guide rail and arranges, and Y-direction cylinder one end is fixedly connected with Y-direction connecting portion 42, and the other end is fixedly connected with plugging piece bracket 5.
In the utility model, a described X to motor 31 and the 2nd X to motor 36 respectively by rack-and-pinion unit drives cantilever 3 and plugging piece bracket 5 along horizontal cross slippage, wherein, a described X is connected gear respectively to motor 31 and the 2nd X to the output shaft of motor 36, tooth bar is fixed on cantilever 3, parallel with the 2nd X direction guiding rail 34 with an X direction guiding rail 32.
Further, described first attaching parts 2 and the second attaching parts 4 lay respectively at two opposite flanks of cantilever, avoid the movement between the first attaching parts and cantilever and the movement between the second attaching parts and cantilever mutually to interfere.
The utility model is in order to realize the rapid movement of long distance between punch press, feed direction (i.e. X to) is designed to cantilever and plugging piece bracket can simultaneously along X to moving, cantilever motor drive and line slideway guiding under can move relative to the column of lifting platform, plugging piece bracket equally motor drive and line slideway guiding under can move on cantilever, the frame for movement of cantilever can be made so compacter and save transfer feeding time.Plugging piece bracket also can move front and back (Y-direction) under the driving of Y-direction cylinder, and the material fetching mechanism realizing it is arranged is inhaled part, put the process of part; Simultaneously can realize moving up and down in Z-direction under the motor of lifting platform, the driving of screw mandrel unit and the guiding of line slideway.Motion due to all X, Y, Z tri-directions is all the linear movement at three axes axis direction, so transfer robot need dodge space and can do minimum, substantially the transfer feeding stretched between different die sinking height mould can be met, cantilever coordinates the design of motion mutually between plugging piece bracket also to increase the distance of robot to transport load feeding simultaneously, the use of idle station frame can be cancelled, save cost, space and equipment debugging time in a large number.
From the above mentioned, the utility model can be applicable to has different die sinking height mould, and the sheet metal component for different size, shape carries out transfer feeding, has the advantage that versatility is good, cost savings, debugging difficulty are little, can be applicable to all kinds of transfer feeding place.
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the cantilevered robot in the utility model.
Fig. 2 is the schematic diagram of the first attaching parts in the utility model.
Fig. 3 is the schematic diagram of the cantilever in the utility model.
Fig. 4 be the second attaching parts in the utility model and plugging piece bracket schematic diagram.
Number in the figure:
1-lifting platform, 11-lifting motor, 12-Z to screw mandrel, 13-feed screw nut, 14-Z direction guiding rail, 15-Z is to slide block;
2-first attaching parts, 21-Z is to connecting portion, and 22-the one X is to connecting portion;
3-cantilever, 31-the one X to motor, 32-the one X direction guiding rail, 33-the one X to slide block, 34-the 2nd X direction guiding rail, 35-the 2nd X is to slide block, and 36-the 2nd X is to motor;
4-second attaching parts, 41-the 2nd X is to connecting portion, and 42-Y is to connecting portion;
5-plugging piece bracket, 51-Y is to cylinder, and 52-Y direction guiding rail, 53-Y is to slide block.
Detailed description of the invention
Embodiment
See Fig. 1, the robot in diagram carries out the transfer feeding of sheet metal component on punch line, mainly comprises lifting platform 1, cantilever 3 and plugging piece bracket 5.Wherein, lifting platform 1 is mainly used in support setting and the Z-direction vertical lifting of robot cantilever, cantilever 3 is along horizontal X to horizontal and be connected by the first attaching parts 2 with the elevating mechanism of lifting platform 1, wherein, connected by the Z-direction guide rail 14 of vertical direction between lifting platform 1 and the first attaching parts 2, Z-direction guide rail 14 is arranged along the column of lifting platform; The elevating mechanism of lifting platform 1 adopts screw mandrel unit, wherein Z-direction screw mandrel 12 is parallel to Z-direction guide rail 14 and arranges, Z-direction screw mandrel 12 one end is connected with lifting motor 11 fixing on lifting platform 1, and motion thread and the feed screw nut 13 be fixed in the first attaching parts 2 of Z-direction screw mandrel are spirally connected.
In conjunction with see Fig. 2 and Fig. 3, the first attaching parts 2 are connected with the X direction guiding rail 32 by horizontal cross between cantilever 3, and the first attaching parts 2 are provided with and drive cantilever 3 along an X of X direction guiding rail 32 slippage to motor 31.Concrete as shown in Figure 2, the first attaching parts 2 comprise the Z-direction connecting portion 21 and an X that are solidly fixed to connecting portion 22; The fixing Z-direction slide block 15 coordinated with Z-direction guide rail 14 on Z-direction connecting portion 21, Z-direction guide rail 14 is vertically arranged on the column of lifting platform 1, in a particular application, Z-direction connecting portion 21 be arranged two in parallel, corresponding Z-direction guide rail 14 arranges at least two perpendicular to the horizontal sliding direction of cantilever 3, is conducive to increasing lifting platform and the first attaching parts to the support strength of cantilever.The fixing X coordinated with an X direction guiding rail 32 is to slide block 33 on connecting portion 22 for one X, and an X direction guiding rail 32 is arranged on cantilever 3.
In conjunction with see Fig. 3 and Fig. 4, plugging piece bracket 5 is for arranging material fetching mechanism, be slidably arranged on cantilever 3 by the second attaching parts 4, be connected by the 2nd X direction guiding rail 34 between cantilever 3 with the second attaching parts 4, the second attaching parts 4 are provided with two X of drive plug support 5 along the 2nd X direction guiding rail 34 slippage to motor 36.Specifically as shown in Figure 4, second attaching parts 4 comprise the 2nd X that is solidly fixed to connecting portion 41 and Y-direction connecting portion 42,2nd X on connecting portion 41 fixing the 2nd X coordinated with the 2nd X direction guiding rail 34 to slide block 35,2nd X direction guiding rail 34 is arranged on cantilever 3, be arranged in parallel with an X direction guiding rail 32; Second attaching parts 4 are connected by the Y-direction guide rail 52 of level longitudinal direction and Y-direction cylinder 51 with between plugging piece bracket 5.Y-direction connecting portion 42 is fixed Y-direction guide rail 52, the fixing Y-direction slide block 53 coordinated with Y-direction guide rail 52 on plugging piece bracket 5, Y-direction cylinder 51 is parallel to Y-direction guide rail and arranges, and Y-direction cylinder one end is fixedly connected with Y-direction connecting portion 42, and the other end is fixedly connected with plugging piece bracket 5.
In the utility model, one X to motor 31 and the 2nd X to motor 36 respectively by rack-and-pinion unit drives cantilever 3 and plugging piece bracket 5 along horizontal cross slippage, wherein, two toothed rack are fixed on cantilever 3, parallel with the 2nd X direction guiding rail 34 with an X direction guiding rail 32, an X is connected gear respectively and engages with corresponding tooth bar with the 2nd X to motor 31 to the output shaft of motor 36.
Concrete, cantilever 3 installs tooth bar, the gears meshing be connected to motor 31 output shaft with an X, make cantilever 3 along an X direction guiding rail 32 realize X to slippage back and forth, as the first movable module, simultaneously, cantilever 3 is also provided with another parallel tooth bar, the gears meshing be connected to motor 36 output shaft with the 2nd X, make by the second attaching parts 4 be slidably arranged in plugging piece bracket 5 on cantilever 3 along the 2nd X direction guiding rail 34 realize X to slippage back and forth, while cantilever 3 is along X to movement, plugging piece bracket 5 simultaneously can along cantilever 3 slippage, realize the transfer fast of quick plugging piece bracket 5, move along the vertical lifting of Z-direction and the Y-direction between plugging piece bracket 5 and the second attaching parts 4 in conjunction with lifting platform, plugging piece bracket arranges material fetching mechanism, material fetching mechanism can adopt vacuum absorption device, by the stamping forming sheet metal component of negative-pressure adsorption, the suction part realized on punch line puts part process.First attaching parts 2 and the second attaching parts 4 lay respectively at two opposite flanks of cantilever, to realize the mobile non-interference between cantilever and the first attaching parts and between the second attaching parts and cantilever, while plugging piece bracket 5 moves to cantilever opposite side smoothly from cantilever 3 side, cantilever 3 moves to opposite side from lifting platform side equally, and plugging piece bracket 5 can realize the operating distance of twice jib-length.
Between identical punch press, different mould during transfer feeding, can by the transfer feeding regulating X, Y, the stroke plate different from velocity interpolation of Z-direction, different beat to require.Can by the transfer feeding of the stroke in the cantilever of design different length, lifting platform short transverse with difference cylinder stroke and by regulating X, Y, the amount of exercise plate different from velocity interpolation of Z-direction, different beat to require during transfer feeding between different punch press.
Above-mentioned is preferred embodiment of the present utility model; but those skilled in the art should be understood that; not departing from the spirit and scope of the present utility model that appended claims limits; in form and details to the various changes done by the utility model, all belong to protection domain of the present utility model.
Claims (7)
1. adapt to a cantilevered robot for punch line transfer feeding, it is characterized in that: comprise lifting platform (1), cantilever (3) and plugging piece bracket (5);
Described cantilever (3) is along horizontal X to horizontal and be connected by the first attaching parts (2) with the elevating mechanism of lifting platform (1), wherein, connected by the Z-direction guide rail (14) of vertical direction between described lifting platform (1) and the first attaching parts (2);
Described first attaching parts (2) are connected with the X direction guiding rail (32) by horizontal cross between cantilever (3), and described first attaching parts (2) are provided with and drive cantilever (3) along an X of X direction guiding rail (32) slippage to motor (31);
Described plugging piece bracket (5) is for arranging material fetching mechanism, be slidably arranged on cantilever (3) by the second attaching parts (4), be connected by the 2nd X direction guiding rail (34) between described cantilever (3) with the second attaching parts (4), described second attaching parts (4) are provided with two X of drive plug support (5) along the 2nd X direction guiding rail (34) slippage to motor (36);
Described second attaching parts (4) are connected by the Y-direction guide rail (52) of level longitudinal direction and Y-direction cylinder (51) with between plugging piece bracket (5).
2. a kind of cantilevered robot adapting to punch line transfer feeding according to claim 1, the elevating mechanism of described lifting platform (1) adopts screw mandrel unit, wherein Z-direction screw mandrel (12) is parallel to Z-direction guide rail (14) setting, described Z-direction screw mandrel (12) one end is connected with the upper fixing lifting motor (11) of lifting platform (1), and motion thread and the feed screw nut (13) be fixed in the first attaching parts (2) of Z-direction screw mandrel are spirally connected.
3. a kind of cantilevered robot adapting to punch line transfer feeding according to claim 2, described first attaching parts (2) comprise the Z-direction connecting portion (21) and an X that are solidly fixed to connecting portion (22);
The upper fixing Z-direction slide block (15) coordinated with Z-direction guide rail (14) of described Z-direction connecting portion (21), described Z-direction guide rail (14) is vertically arranged on the column of lifting platform (1);
A described X is to the upper fixing X coordinated with an X direction guiding rail (32) of connecting portion (22) to slide block (33), and a described X direction guiding rail (32) is arranged on cantilever (3).
4. a kind of cantilevered robot adapting to punch line transfer feeding according to claim 3, described Z-direction guide rail (14) arranges at least two perpendicular to the horizontal sliding direction of cantilever (3).
5. a kind of cantilevered robot adapting to punch line transfer feeding according to claim 4, described second attaching parts (4) comprise the 2nd X that is solidly fixed to connecting portion (41) and Y-direction connecting portion (42);
Described 2nd X is to upper fixing the 2nd X coordinated with the 2nd X direction guiding rail (34) of connecting portion (41) to slide block (35), described 2nd X direction guiding rail (34) is arranged on cantilever (3), be arranged in parallel with an X direction guiding rail (32);
The upper fixing Y-direction guide rail (52) of described Y-direction connecting portion (42), the upper fixing Y-direction slide block coordinated with Y-direction guide rail (52) of described plugging piece bracket (5), described Y-direction cylinder (51) is parallel to Y-direction guide rail and arranges, Y-direction cylinder one end is fixedly connected with Y-direction connecting portion (42), and the other end is fixedly connected with plugging piece bracket (5).
6. a kind of cantilevered robot adapting to punch line transfer feeding according to any one of claim 1-5, a described X to motor (31) and the 2nd X to motor (36) respectively by rack-and-pinion unit drives cantilever (3) and plugging piece bracket (5) along horizontal cross slippage, wherein, a described X is connected gear respectively to motor (31) and the 2nd X to the output shaft of motor (36), tooth bar is fixed on cantilever (3), parallel with the 2nd X direction guiding rail (34) with an X direction guiding rail (32).
7. a kind of cantilevered robot adapting to punch line transfer feeding according to claim 6, described first attaching parts (2) and the second attaching parts (4) lay respectively at two opposite flanks of cantilever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520636029.9U CN205020678U (en) | 2015-08-21 | 2015-08-21 | Adaptation punching press line moves cantilever type robot that carries material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520636029.9U CN205020678U (en) | 2015-08-21 | 2015-08-21 | Adaptation punching press line moves cantilever type robot that carries material |
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| Publication Number | Publication Date |
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| CN205020678U true CN205020678U (en) | 2016-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520636029.9U Expired - Lifetime CN205020678U (en) | 2015-08-21 | 2015-08-21 | Adaptation punching press line moves cantilever type robot that carries material |
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| CN (1) | CN205020678U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746338A (en) * | 2019-02-27 | 2019-05-14 | 广州大峰精密工业有限公司 | A kind of slab punching press big plate automatic feeding and its system |
| CN110606369A (en) * | 2019-10-18 | 2019-12-24 | 上海奇宝智能科技有限公司 | Portable intelligent magnetic shoe material taking robot |
| CN111674979A (en) * | 2020-06-05 | 2020-09-18 | 国网电力科学研究院武汉南瑞有限责任公司 | A flexible automatic winding robot for composite casing capacitive screen |
| CN112059045A (en) * | 2020-09-01 | 2020-12-11 | 日照兴业汽车配件股份有限公司 | Plate carrying device for punching machine |
-
2015
- 2015-08-21 CN CN201520636029.9U patent/CN205020678U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746338A (en) * | 2019-02-27 | 2019-05-14 | 广州大峰精密工业有限公司 | A kind of slab punching press big plate automatic feeding and its system |
| CN110606369A (en) * | 2019-10-18 | 2019-12-24 | 上海奇宝智能科技有限公司 | Portable intelligent magnetic shoe material taking robot |
| CN111674979A (en) * | 2020-06-05 | 2020-09-18 | 国网电力科学研究院武汉南瑞有限责任公司 | A flexible automatic winding robot for composite casing capacitive screen |
| CN111674979B (en) * | 2020-06-05 | 2022-04-01 | 国网电力科学研究院武汉南瑞有限责任公司 | Flexible automatic winding robot for composite bushing capacitive screen |
| CN112059045A (en) * | 2020-09-01 | 2020-12-11 | 日照兴业汽车配件股份有限公司 | Plate carrying device for punching machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20160210 |