CN205613965U - Punch press integral type swing arm punching press machine people - Google Patents

Punch press integral type swing arm punching press machine people Download PDF

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Publication number
CN205613965U
CN205613965U CN201620341934.6U CN201620341934U CN205613965U CN 205613965 U CN205613965 U CN 205613965U CN 201620341934 U CN201620341934 U CN 201620341934U CN 205613965 U CN205613965 U CN 205613965U
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Prior art keywords
swing arm
punch press
machine people
robot
feeding
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CN201620341934.6U
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谢传海
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Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
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Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
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Abstract

The utility model relates to an industrial robot, especially one kind can replace artifical multiaxis formula swing arm machine in the punching press trade the utility model relates to a punch press integral type swing arm punching press machine people. It includes punch press, feeding machine people, pay -off machine people and controlling means, feeding machine people and pay -off machine people lie in the workstation both sides of punch press respectively, are provided with feeding arm and pay -off arm on feeding machine people and the pay -off machine people respectively, feeding machine people, punch press and pay -off machine people respectively with controlling means electric connection, the utility model discloses a be equipped with feeding machine people and pay -off machine people on the punch press, actions such as feeding that feeding machine people and pay -off machine people can accomplish the work piece on the punch press respectively and the ejection of compact, feeding machine people and pay -off machine people coordinate the punch press to carry out the high speed to automize and move, and this kind makes up the application mode can put space and cost of labor for users at large save workshop equipment, is favorable to improving the stability of whole production line, thereby has improved the utility model discloses a degree of automation is high, can obviously improve the efficiency of work piece conveying efficiency and punch press punching press.

Description

Punch press integral type swing arm pressing robot
Technical field
This utility model relates to a kind of industrial robot, especially a kind of punch press integral type swing arm pressing robot.
Background technology
In the production process of punching parts, generally requiring employing industrial robot to extract stamping parts, shift and the action such as discharging, its application on stamping line is for improving business productivity, improving product quality, reduce production cost and shorten the production cycle and all have significant economic benefit.But existing pressing robot its generally there are that structure is complicated, floor space is big, course of action is loaded down with trivial details and the defect such as underaction, and its total is complicated, drive mechanism is loaded down with trivial details, and transmission efficiency is low, is unfavorable for improving production efficiency and the market competitiveness of enterprise.
Utility model content
The purpose of this utility model is the deficiency overcoming above-mentioned prior art to exist, and the actions such as a kind of simple and reasonable for structure, charging of the workpiece that can complete on punch press and discharging are provided, punch press is coordinated to carry out high-speed automated operation, workpiece transmission efficiency can be significantly improved, save hall space and cost of labor, the punch press integral type swing arm pressing robot that workpiece transmission efficiency is high.
The purpose of this utility model is achieved in that
Punch press integral type swing arm pressing robot, including punch press, workbench it is provided with on punch press, it is characterized in that, also include feed machine people, feeding robot and control device, described feed machine people and feeding robot are arranged on the fuselage of punch press, and lay respectively at the workbench both sides of punch press, fill arm and feeding arm it is respectively arranged with on feed machine people and feeding robot, described feed machine people, punch press and feeding robot are electrically connected with control device respectively, workpiece is sent into the workbench of punch press and provides charging complete signal to controlling device by feed machine people, by controlling device control punch press, workpiece is carried out punch process, after punching press completes, punch press provides punching press to control device and completes signal, last workpiece punching press completed by feeding robot is sent, and send feeding complete signal to controlling device.
The purpose of this utility model can also use techniques below measure to solve:
As scheme more specifically, the fuselage of the workbench both sides of described punch press extends robot cushion cap, feed machine people and feeding robot and is respectively placed on the robot cushion cap of correspondence.
As scheme more specifically, the fill arm of described feed machine people, and being respectively arranged with material grasping detection sensor on the feeding arm of feeding robot, material grasping detection sensor is electrically connected with controlling device.
As scheme more specifically, described feed machine people and feeding machine are four axle robots per capita, Mei Taisizhou robot includes swing arm, swing arm horizontal mobile mechanism, pendulum arm angle rotating mechanism and swing arm lifting mechanism, swing arm includes swing arm leading portion and swing arm back segment, it is provided with swing arm leading portion between swing arm leading portion and swing arm back segment and rotates spindle assemblies, swing arm leading portion rotates spindle assemblies and is driven by swing arm leading portion rotating servo motor, swing arm horizontal mobile mechanism, the swing arm being respectively arranged with correspondence on pendulum arm angle rotating mechanism and swing arm lifting mechanism moves horizontally spindle assemblies, pendulum arm angle rotates spindle assemblies and swing arm lifting spindle assemblies, these spindle assemblies are driven by corresponding servomotor respectively.
As scheme more specifically, described swing arm leading portion is provided with the material grasping hands of sucked type, swing arm back segment is arranged on swing arm horizontal mobile mechanism, swing arm leading portion rotates spindle assemblies and includes harmonic wave speed reducing machine and belt, swing arm leading portion rotating servo motor is arranged on swing arm horizontal mobile mechanism, harmonic wave speed reducing machine is connected between swing arm leading portion and swing arm back segment, and belt is connected between swing arm leading portion rotating servo motor and harmonic wave speed reducing machine.
As scheme more specifically, the bottom of described swing arm leading portion extends along a length thereof direction and is provided with belt chamber, and belt is arranged on belt intracavity, and the bottom of harmonic wave speed reducing machine is connected with swing arm back segment, and its top embeds the belt intracavity of swing arm leading portion and is connected with belt.
As scheme more specifically, described material grasping hands includes material grasping arm and several sucker bar, and each sucker bar includes connecting rod and the sucker being arranged on connecting rod, and connecting rod is arranged on material grasping arm by connector.
The beneficial effects of the utility model are as follows:
(1) this utility model is by being equipped with feed machine people and feeding robot on punch press, the actions such as the charging of the workpiece that feed machine people and feeding robot can be respectively completed on punch press and discharging, feed machine people and feeding robot coordinate punch press to carry out high-speed automated operation, this combination application mode can save plant and equipment placing space and cost of labor for users, be conducive to improving the stability of whole production line, thus it is high to improve automaticity of the present utility model, workpiece transmission efficiency and the efficiency of punch press punching press can be significantly improved, by the generation of the contingencies such as punch press injures when avoiding workman's feeding or blowing.
(2) more having plenty of, the material grasping of feed machine people and feeding robot is provided with material grasping detection sensor on hand, to avoid suction to slip up, to protect mould.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model punch press integral type swing arm pressing robot.
Fig. 2 is the structural representation of another angle of Fig. 1.
Fig. 3 is the front view of Fig. 1.
Fig. 4 is the structural representation of four axle robots of the present utility model.
Fig. 5 is the sectional structure schematic diagram in Fig. 4 at A-A.
Fig. 6 is the structural representation that Fig. 4 omits fuselage.
Fig. 7 is the structural representation of another angle of Fig. 6.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is further described by embodiment.
nullAs shown in Fig. 1 to Fig. 7,Punch press integral type swing arm pressing robot,Including punch press 10、Feed machine people 7、Feeding robot 8 and control device 9,Workbench 6 it is provided with on punch press 10,Described feed machine people 7 and feeding robot 8 are arranged on the fuselage of punch press 10、And lay respectively at workbench 6 both sides of punch press 10,Fill arm 20 and feeding arm 29 it is respectively arranged with on feed machine people 7 and feeding robot 8,Described feed machine people 7、Punch press 10 and feeding robot 8 are electrically connected with control device 9 respectively,Workpiece is sent into the workbench 6 of punch press 10 and provides charging complete signal to controlling device 9 by feed machine people 7,Controlled punch press 10 by control device 9 and workpiece is carried out punch process,After punching press completes,Punch press 10 provides punching press to control device 9 and completes signal,Last workpiece punching press completed by feeding robot 8 is sent、And send feeding complete signal to controlling device 9.
The purpose of this utility model can also use techniques below measure to solve:
As scheme more specifically, the fuselage of workbench 6 both sides of described punch press 10 extends robot cushion cap 11, feed machine people 7 and feeding robot 8 and is respectively placed on the robot cushion cap 11 of correspondence.
As scheme more specifically, the fill arm 20 of described feed machine people 7, and being respectively arranged with material grasping detection sensor 12 on the feeding arm 29 of feeding robot 8, material grasping detection sensor 12 is electrically connected with controlling device 9.
As scheme more specifically, described feed machine people 7 and feeding robot 8 are four axle robots, Mei Taisizhou robot includes swing arm 2, swing arm horizontal mobile mechanism 3, pendulum arm angle rotating mechanism 4 and swing arm lifting mechanism 5, swing arm 2 includes swing arm leading portion 21 and swing arm back segment 22, it is provided with swing arm leading portion between swing arm leading portion 21 and swing arm back segment 22 and rotates spindle assemblies 24, have swing arm leading portion to rotate spindle assemblies 24 to be driven by swing arm leading portion rotating servo motor 25, swing arm horizontal mobile mechanism 3, the swing arm being respectively arranged with correspondence on pendulum arm angle rotating mechanism 4 and swing arm lifting mechanism 5 moves horizontally spindle assemblies 30, pendulum arm angle rotates spindle assemblies 40 and swing arm lifting spindle assemblies 50, these spindle assemblies are driven by corresponding servomotor respectively.
As scheme more specifically, swing arm moves horizontally spindle assemblies 30 and includes horizontal guide rail 31, horizontal carriage 32, horizontal drive mechanism 33 and horizontal servo motor 34, horizontal guide rail 31 is fixed on the top of fuselage 1, swing arm 2 is seated on horizontal guide rail 31 by horizontal carriage 32, and swing arm 2 outer end extends outside fuselage 1, horizontal servo motor 34 drives described horizontal carriage 32 by horizontal drive mechanism 33, and swing arm back segment 22 is arranged in horizontal carriage 32.
As scheme more specifically, before described swing arm, leading portion rotation spindle assemblies 24 includes swing arm leading portion rotating servo motor 25, first harmonic reductor 26 and the first belt 27, swing arm leading portion rotating servo motor 25 is arranged on horizontal carriage 32 or swing arm leading portion 21, first harmonic reductor 26 is connected between swing arm leading portion 21 and swing arm back segment 22, and the first belt 27 is connected between swing arm leading portion rotating servo motor 25 and first harmonic reductor 26.
As scheme more specifically, described horizontal guide rail 31 is the horizontal rail 37 of two mutual balances on fuselage 1 top, horizontal carriage 32 is seated in two horizontal rail 37 by both sides rail chair, horizontal drive mechanism 33 includes front-wheel 35, trailing wheel 36 and the second belt 37, front-wheel 35 and trailing wheel 36 set up separately in the front-end and back-end of two horizontal rail 37, second belt 37 is connected between front-wheel 35 and trailing wheel 36, front-wheel 35 is driven by horizontal servo motor 34, and horizontal carriage 32 is in transmission connection between front-wheel 35 and trailing wheel 36 and with the second belt 37.
The horizontal rail 37 of described fuselage 1 is other is additionally provided with crawler belt groove 39, is provided with crawler belt 39 in crawler belt groove 39, and on one end connecting band track groove 39 of crawler belt 39, the other end connects swing arm back segment 22.
Described pendulum arm angle rotates spindle assemblies 40 and includes angle rotating servo motor 41, angle rotating belt 42 and second harmonic reductor 43, the bottom of second harmonic reductor 43 is installed on the fuselage 1 by support 44, its top connects swing arm horizontal mobile mechanism 3, and angle rotating servo motor 41 drives second harmonic reductor 43 by angle rotating belt 42.
Described angle rotating servo motor 41 is fixed on support 44, is provided with fixing seat 38 bottom swing arm horizontal mobile mechanism 3, and the top of second harmonic reductor 43 is arranged on fixing seat 38.
Described swing arm lifting spindle assemblies 50 includes swing arm lifting servomotor 51, swing arm connecting rod reductor 52, swing arm lifting push rod 53 and swing arm lifting balance cylinder 54, swing arm lifting balance cylinder 54 is fixed on bottom fuselage 1, its lift telescopic end connects pendulum arm angle rotating mechanism 4, swing arm lifting servomotor 51 drives swing arm lifting push rod 53, swing arm lifting push rod 53 to be connected with pendulum arm angle rotating mechanism 4 by swing arm connecting rod reductor 52.Described swing arm lifting balance cylinder 54 is for assisting swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 lifting moving, so that robot keeps preferably stability in the course of the work.
One pillar 45, swing arm lifting balance cylinder 54 and swing arm lifting push rod 53 are set on described pendulum arm angle rotating mechanism 4 and connect described pillar 45 respectively.
As scheme more specifically, described swing arm leading portion 21 is provided with the material grasping hands 23 of sucked type, swing arm back segment 22 is arranged on swing arm horizontal mobile mechanism 3, there is swing arm leading portion to rotate spindle assemblies 24 and include harmonic wave speed reducing machine 26 and belt 27, swing arm leading portion rotating servo motor 25 is arranged on swing arm horizontal mobile mechanism 3, harmonic wave speed reducing machine 26 is connected between swing arm leading portion 21 and swing arm back segment 22, and belt 27 is connected between swing arm leading portion rotating servo motor 25 and harmonic wave speed reducing machine 26.
As scheme more specifically, the bottom of described swing arm leading portion 21 extends along a length thereof direction and is provided with belt chamber 28, belt 27 is arranged in belt chamber 28, and the bottom of harmonic wave speed reducing machine 26 is connected with swing arm back segment 22, in the belt chamber 28 of its top embedding swing arm leading portion 21 and is connected with belt 27.
As scheme more specifically, described material grasping hands 23 includes material grasping arm 231 and several sucker bar 232, and each sucker bar 232 includes connecting rod 233 and the sucker 234 being arranged on connecting rod 233, and connecting rod 233 is arranged on material grasping arm 231 by connector 236.
Operation principle of the present utility model is:
During utility model works, first, the horizontal servo motor 34 of feed machine people 7 starts, horizontal servo motor 34 drives horizontal carriage 32 to move forward by horizontal drive mechanism 33, thus drive swing arm 2 to extend to material table, material grasping hands 23 is located just at the top of material table, then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 start, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, swing arm drops on material table, then the workpiece on material grasping hands 23 absorbing material platform.Then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 are again started up, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to rise, swing arm rises to above material table, then horizontal servo motor 34 starts, horizontal servo motor 34 drives horizontal carriage 32 to move back to initial position, thus drives swing arm to be retracted into initial position.
Then angle rotating servo motor 41 starts, and angle rotating servo motor 41 drives horizontal mobile mechanism 3 to rotate by angle rotating belt 42, second harmonic reductor 43, until swing arm rotates to the angle of the workbench of corresponding punch press.Then horizontal servo motor 34 drives horizontal carriage 32 to move forward by horizontal drive mechanism 33, thus drives swing arm to extend to the workbench of punch press, until material grasping hands 23 is elongated to the top of the workbench of punch press.Then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 start, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, until material grasping hands 23 drops to the workbench of punch press.Workpiece is sent into the workbench 6 of punch press 10 and provides charging complete signal to controlling device 9 by feed machine people 7, is controlled punch press 10 by controlling device 9 workpiece is carried out punch process.
After punch press punching press completes, punch press 10 provides punching press to control device 9 and completes signal, and the workpiece finally punching press completed by feeding robot 8 is sent and sent feeding to control device 9 and completes signal.The swing arm of feeding robot 8 rotates the workbench 6 to punch press, and the material grasping hands 23 in swing arm is drawn the workpiece on workbench 6, and taken out from workbench 6.The work process of described feeding robot 8 is contrary with the work process of feed machine people 7, is the most no longer described in detail.Therefore, this utility model can complete the feeding of single product, transfer and discharging process.This utility model punch press integral type swing arm pressing robot can realize the operations such as the feeding to material, transfer and discharging.

Claims (7)

  1. null1. punch press integral type swing arm pressing robot,Including punch press (10),Workbench (6) it is provided with on punch press (10),It is characterized in that,Also include feed machine people (7)、Feeding robot (8) and control device (9),Described feed machine people (7) and feeding robot (8) are arranged on the fuselage of punch press (10)、And lay respectively at workbench (6) both sides of punch press (10),Fill arm (20) and feeding arm (29) it is respectively arranged with on feed machine people (7) and feeding robot (8),Described feed machine people (7)、Punch press (10) and feeding robot (8) are electrically connected with control device (9) respectively,Workpiece is sent into the workbench (6) of punch press (10) and provides charging complete signal to controlling device (9) by feed machine people (7),By controlling device (9) control punch press (10), workpiece is carried out punch process,After punching press completes,Punch press (10) provides punching press to control device (9) and completes signal,Last workpiece punching press completed by feeding robot (8) is sent、And send feeding complete signal to controlling device (9).
  2. Punch press integral type swing arm pressing robot the most according to claim 1, it is characterized in that, the fuselage of workbench (6) both sides of described punch press (10) extends robot cushion cap (11), feed machine people (7) and feeding robot (8) and is respectively placed on the robot cushion cap (11) of correspondence.
  3. Punch press integral type swing arm pressing robot the most according to claim 1, it is characterized in that, the fill arm (20) of described feed machine people (7), and on the feeding arm (29) of feeding robot (8), it being respectively arranged with material grasping detection sensor (12), material grasping detection sensor (12) is electrically connected with controlling device (9).
  4. null4. according to the arbitrary described punch press integral type swing arm pressing robot of claim 1,It is characterized in that,Described feed machine people (7) and feeding robot (8) are four axle robots,Mei Taisizhou robot includes swing arm (2)、Swing arm horizontal mobile mechanism (3)、Pendulum arm angle rotating mechanism (4) and swing arm lifting mechanism (5),Swing arm (2) includes swing arm leading portion (21) and swing arm back segment (22),It is provided with swing arm leading portion between swing arm leading portion (21) and swing arm back segment (22) and rotates spindle assemblies (24),Have swing arm leading portion to rotate spindle assemblies (24) to be driven by swing arm leading portion rotating servo motor (25),Swing arm horizontal mobile mechanism (3)、The swing arm being respectively arranged with correspondence on pendulum arm angle rotating mechanism (4) and swing arm lifting mechanism (5) moves horizontally spindle assemblies (30)、Pendulum arm angle rotates spindle assemblies (40) and swing arm lifting spindle assemblies (50),These spindle assemblies are driven by corresponding servomotor respectively.
  5. Punch press integral type swing arm pressing robot the most according to claim 4, it is characterized in that, described swing arm leading portion (21) is provided with the material grasping hands (23) of sucked type, swing arm back segment (22) is arranged on swing arm horizontal mobile mechanism (3), there is swing arm leading portion to rotate spindle assemblies (24) and include harmonic wave speed reducing machine (26) and belt (27), swing arm leading portion rotating servo motor (25) is arranged on swing arm horizontal mobile mechanism (3), harmonic wave speed reducing machine (26) is connected between swing arm leading portion (21) and swing arm back segment (22), belt (27) is connected between swing arm leading portion rotating servo motor (25) and harmonic wave speed reducing machine (26).
  6. Punch press integral type swing arm pressing robot the most according to claim 4, it is characterized in that, the bottom of described swing arm leading portion (21) extends along a length thereof direction and is provided with belt chamber (28), belt (27) is arranged in belt chamber (28), the bottom of harmonic wave speed reducing machine (26) is connected with swing arm back segment (22), in the belt chamber (28) on its top embedding swing arm leading portion (21) and is connected with belt (27).
  7. Punch press integral type swing arm pressing robot the most according to claim 5, it is characterized in that, described material grasping hands (23) includes material grasping arm (231) and several sucker bar (232), each sucker bar (232) includes connecting rod (233) and the sucker (234) being arranged on connecting rod (233), and connecting rod (233) is arranged on material grasping arm (231) by connector (236).
CN201620341934.6U 2016-04-21 2016-04-21 Punch press integral type swing arm punching press machine people Active CN205613965U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201620341934.6U CN205613965U (en) 2016-04-21 2016-04-21 Punch press integral type swing arm punching press machine people

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105750441A (en) * 2016-04-21 2016-07-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Integrated swing arm punching robot for punch
CN111167935A (en) * 2020-01-13 2020-05-19 东莞市飞尧科技有限公司 Side punching die for rotary feeding of external material discharging
CN111185509A (en) * 2020-01-13 2020-05-22 杭州云勃机械设计有限公司 Mechanical stamping device convenient for pushing out stamping part and use method thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105750441A (en) * 2016-04-21 2016-07-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Integrated swing arm punching robot for punch
CN111167935A (en) * 2020-01-13 2020-05-19 东莞市飞尧科技有限公司 Side punching die for rotary feeding of external material discharging
CN111185509A (en) * 2020-01-13 2020-05-22 杭州云勃机械设计有限公司 Mechanical stamping device convenient for pushing out stamping part and use method thereof

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