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

Abstract

The utility model relates to an industrial robot, in particular to a multi-axis swing arm machine which can replace manual work in the stamping industry. The utility model relates to a swing arm stamping robot integrated with a punch press. It includes a punch press, a feeding robot, a feeding robot and a control device. The feeding robot and the feeding robot are respectively located on both sides of the workbench of the punching press. The feeding robot and the feeding robot are respectively provided with a feeding arm and a feeding arm. The feeding robot, the punching machine and the feeding robot are respectively electrically connected to the control device. The utility model is equipped with a feeding robot and a feeding robot on the punching machine. The feeding robot and the feeding robot can respectively complete the feeding and discharging of the workpiece on the punching machine. and other actions, the feeding robot and the feeding robot cooperate with the punching machine to perform high-speed automatic operation. This combined application mode can save the plant equipment placement space and labor costs for the majority of users, and is conducive to improving the stability of the entire production line, thus improving the efficiency of the utility model. The high degree of automation can significantly improve the efficiency of workpiece transmission and punching.

Description

Punch integrated swing arm stamping robot

technical field

The utility model relates to an industrial robot, in particular to a punching machine integrated swing arm stamping robot.

Background technique

In the production process of stamping parts, it is often necessary to use industrial robots to extract, transfer and discharge the stamping parts. Its application in the stamping production line is very important for improving enterprise productivity, improving product quality, reducing production costs and shortening the production cycle. There are significant economic benefits. However, the existing stamping robots generally have defects such as complex structure, large footprint, cumbersome action process, and inflexibility, and the overall structure is complex, the transmission structure is cumbersome, and the transmission efficiency is low, which is not conducive to improving the production efficiency of enterprises and market competition. force.

Utility model content

The purpose of the utility model is to overcome the shortcomings of the above-mentioned prior art, and provide a simple and reasonable structure, which can complete the feeding and discharging of the workpiece on the punching machine, cooperate with the punching machine for high-speed automatic operation, and can significantly improve the workpiece Transmission efficiency, saving workshop space and labor costs, punching integrated swing arm stamping robot with high workpiece transmission efficiency.

The purpose of this utility model is achieved in that:

Punch integrated swing arm stamping robot, including a punch, the punch is provided with a workbench, it is characterized in that it also includes a feeding robot, a feeding robot and a control device, and the feeding robot and the feeding robot are arranged on the body of the punching machine , and are respectively located on both sides of the workbench of the punching machine. The feeding robot and the feeding robot are respectively provided with a feeding arm and a feeding arm. The feeding robot, the punching machine and the feeding robot are respectively electrically connected to the control device, and the feeding robot will The workpiece is sent to the workbench of the punching machine and a feeding completion signal is given to the control device. The control device controls the punching machine to stamp the workpiece. The workpiece is sent out and sends a feeding completion signal to the control device.

The purpose of this utility model can also adopt the following technical measures to solve:

As a more specific solution, the fuselage on both sides of the workbench of the punch press extends out of the robot platform, and the feeding robot and the feeding robot are respectively placed on the corresponding robot platform.

As a more specific solution, the feeding arm of the feeding robot and the feeding arm of the feeding robot are respectively provided with grabbing detection sensors, and the grabbing detection sensors are electrically connected to the control device.

As a more specific solution, the feeding robot and the feeding robot are all four-axis robots, and each four-axis robot includes a swing arm, a swing arm horizontal movement mechanism, a swing arm angle rotation mechanism and a swing arm lifting mechanism, and the swing arm includes a swing arm The front section of the arm and the rear section of the swing arm, the front section of the swing arm and the rear section of the swing arm are provided with a rotating spindle assembly at the front section of the swing arm. The angle rotation mechanism and the swing arm lifting mechanism are respectively provided with corresponding swing arm horizontal moving spindle assemblies, swing arm angular rotation spindle assemblies and swing arm lifting spindle assemblies, and these spindle assemblies are respectively driven by corresponding servo motors.

As a more specific solution, the front section of the swing arm is equipped with a suction cup-type gripper, the rear section of the swing arm is installed on the horizontal movement mechanism of the swing arm, the rotating main shaft assembly at the front section of the swing arm includes a harmonic reducer and a belt, and the front section of the swing arm The rotary servo motor is installed on the horizontal movement mechanism of the swing arm, the harmonic reducer is connected between the front section of the swing arm and the rear section of the swing arm, and the belt is connected between the rotary servo motor and the harmonic reducer at the front section of the swing arm.

As a more specific solution, the bottom of the front section of the swing arm is provided with a belt cavity along its length extension direction, the belt is arranged in the belt cavity, the lower part of the harmonic reducer is connected with the rear section of the swing arm, and its upper part is embedded in the front section of the swing arm. Inside the belt cavity and connected with the belt.

As a more specific solution, the grabbing hand includes a grabbing arm and several sucker rods, each sucker rod includes a connecting rod and a sucker mounted on the connecting rod, and the connecting rod is installed on the grabbing arm through a connecting piece.

The beneficial effects of the utility model are as follows:

(1) The utility model is equipped with a feeding robot and a feeding robot on the punching machine. The feeding robot and the feeding robot can respectively complete the feeding and discharging of the workpiece on the punching machine. The feeding robot and the feeding robot cooperate with the punching machine to carry out high-speed Automated operation, this combined application method can save the space for plant equipment placement and labor costs for the majority of users, and is conducive to improving the stability of the entire production line, thereby improving the high degree of automation of the utility model, which can significantly improve the workpiece transmission efficiency and the punching machine. The efficiency of punching can avoid accidents such as workers being injured by punching machines when taking or discharging materials.

(2) What's more, the grabbing hands of the feeding robot and feeding robot are equipped with grabbing detection sensors to avoid material suction mistakes and protect the mold.

Description of drawings

Fig. 1 is a structural schematic diagram of the utility model punch press integrated swing arm stamping robot.

FIG. 2 is a structural schematic view of another angle of FIG. 1 .

Fig. 3 is a front view of Fig. 1 .

Fig. 4 is a structural schematic diagram of a four-axis robot of the present invention.

Fig. 5 is a schematic cross-sectional structure at A-A in Fig. 4 .

FIG. 6 is a schematic structural diagram of FIG. 4 omitting the fuselage.

FIG. 7 is a structural schematic diagram of another angle of FIG. 6 .

detailed description

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

As shown in Fig. 1 to Fig. 7, the swing arm stamping robot with integrated punching machine includes a punching machine 10, a feeding robot 7, a feeding robot 8 and a control device 9, the punching machine 10 is provided with a workbench 6, and the feeding robot 7 and Feeding robot 8 is arranged on the fuselage of punch press 10, and is respectively positioned at the workbench 6 both sides of punch press 10, and feeding robot 7 and feeding robot 8 are respectively provided with feeding arm 20 and feeding arm 29, and described feeding robot 7. The punching machine 10 and the feeding robot 8 are electrically connected to the control device 9 respectively. The feeding robot 7 sends the workpiece to the workbench 6 of the punching machine 10 and sends a feeding completion signal to the control device 9, and the control device 9 controls the punching machine 10 The workpiece is stamped. After the stamping is completed, the punch 10 sends a stamping completion signal to the control device 9 , and finally the feeding robot 8 sends out the stamped workpiece and sends a feeding completion signal to the control device 9 .

The purpose of this utility model can also adopt the following technical measures to solve:

As a more specific solution, the fuselage on both sides of the workbench 6 of the punch press 10 extends out of the robot platform 11, and the feeding robot 7 and the feeding robot 8 are respectively placed on the corresponding robot platform 11.

As a more specific solution, the feeding arm 20 of the feeding robot 7 and the feeding arm 29 of the feeding robot 8 are respectively provided with grabbing detection sensors 12 , and the grabbing detection sensors 12 are electrically connected to the control device 9 .

As a more specific solution, the feeding robot 7 and the feeding robot 8 are all four-axis robots, and each four-axis robot includes a swing arm 2, a swing arm horizontal movement mechanism 3, a swing arm angle rotation mechanism 4 and a swing arm lifting mechanism 5. The swing arm 2 includes the front section 21 of the swing arm and the rear section 22 of the swing arm. Between the front section 21 of the swing arm and the rear section 22 of the swing arm, there is a rotating spindle assembly 24 at the front section of the swing arm. Driven by the front section rotating servo motor 25, the swing arm horizontal movement mechanism 3, the swing arm angle rotation mechanism 4 and the swing arm lifting mechanism 5 are respectively provided with the corresponding swing arm horizontal movement spindle assembly 30, swing arm angle rotation spindle assembly 40 and swing arm The main shaft assembly 50 is lifted and lowered, and these main shaft assemblies are respectively driven by corresponding servo motors.

As a more specific solution, the swing arm horizontally moving spindle assembly 30 includes a horizontal guide rail 31, a horizontal drag plate 32, a horizontal transmission mechanism 33, and a horizontal servo motor 34. The board 32 sits on the horizontal guide rail 31, and the outer end of the swing arm 2 extends out of the fuselage 1. The horizontal servo motor 34 drives the horizontal carriage 32 through the horizontal transmission mechanism 33, and the rear section 22 of the swing arm is installed on the horizontal carriage 32. superior.

As a more specific solution, the front-end rotation spindle assembly 24 of the swing arm includes a front-end rotation servo motor 25, a first harmonic reducer 26, and a first belt 27, and the front-end rotation servo motor 25 of the swing arm is mounted on a horizontal carriage. 32 or the front section 21 of the swing arm, the first harmonic reducer 26 is connected between the front section 21 of the swing arm and the rear section 22 of the swing arm, and the first belt 27 is connected between the rotary servo motor 25 and the first harmonic reducer at the front section of the swing arm Between 26.

As a more specific solution, the horizontal guide rails 31 are two mutually balanced horizontal rails 37 on the upper part of the fuselage 1, the horizontal carriage 32 sits on the two horizontal rails 37 through rail seats on both sides, and the horizontal transmission mechanism 33 includes front Wheel 35, trailing wheel 36 and second belt 37, front-wheel 35 and trailing wheel 36 are respectively located at the front end and the rear end of two horizontal rails 37, and second belt 37 is connected between front-wheel 35 and trailing wheel 36, and front-wheel 35 is driven by the horizontal servo motor 34, and the horizontal carriage 32 is positioned between the front wheel 35 and the rear wheel 36 and is connected with the second belt 37 transmission.

The horizontal track 37 of the fuselage 1 is also provided with a crawler groove 39, and a crawler belt 39 is arranged in the crawler groove 39. One end of the crawler belt 39 is connected to the crawler groove 39, and the other end is connected to the rear section 22 of the swing arm.

The swing arm angle rotation spindle assembly 40 includes an angle rotation servo motor 41, an angle rotation belt 42 and a second harmonic speed reducer 43, the lower part of the second harmonic speed reducer 43 is installed on the fuselage 1 through a bracket 44, and the upper part Connected with the horizontal movement mechanism 3 of the swing arm, the angular rotation servo motor 41 drives the second harmonic reducer 43 through the angular rotation belt 42 .

The angular rotation servo motor 41 is fixed on the bracket 44 , the bottom of the swing arm horizontal movement mechanism 3 is provided with a fixed seat 38 , and the upper part of the second harmonic reducer 43 is installed on the fixed seat 38 .

The swing arm lifting spindle assembly 50 includes a swing arm lifting servo motor 51, a swing arm connecting rod reducer 52, a swing arm lifting push rod 53 and a swing arm lifting balance cylinder 54, and the swing arm lifting balance cylinder 54 is fixed on the bottom of the fuselage 1 , its lifting telescopic end connects the swing arm angle rotation mechanism 4, the swing arm lift servo motor 51 drives the swing arm lift push rod 53 by the swing arm connecting rod reducer 52, and the swing arm lift push rod 53 is connected with the swing arm angle rotation mechanism 4. The swing arm lifting balance cylinder 54 is used to assist the swing arm horizontal movement mechanism 3 and the swing arm angle rotation mechanism 4 to move up and down, so that the robot maintains better stability during the working process.

A pillar 45 is arranged on the swing arm angle rotation mechanism 4, and the swing arm lifting balance cylinder 54 and the swing arm lifting push rod 53 are respectively connected to the pillar 45.

As a more specific solution, the front section 21 of the swing arm is equipped with a suction cup-type material grabbing hand 23, the rear section 22 of the swing arm is installed on the horizontal movement mechanism 3 of the swing arm, and the rotating main shaft assembly 24 at the front section of the swing arm includes a harmonic reducer 26 and belt 27, the swing arm front section rotating servo motor 25 is installed on the swing arm horizontal movement mechanism 3, the harmonic reducer 26 is connected between the swing arm front section 21 and the swing arm rear section 22, and the belt 27 is connected to the swing arm front section to rotate Between the servo motor 25 and the harmonic reducer 26 .

As a more specific solution, the bottom of the front section 21 of the swing arm is provided with a belt chamber 28 along its length extension direction, the belt 27 is arranged in the belt chamber 28, and the bottom of the harmonic speed reducer 26 is connected with the rear section 22 of the swing arm. The upper part is embedded in the belt cavity 28 of the front section 21 of the swing arm and connected with the belt 27 .

As a more specific solution, the grasping hand 23 includes a grasping arm 231 and several suction cup rods 232, each suction cup rod 232 includes a connecting rod 233 and a suction cup 234 installed on the connecting rod 233, and the connecting rod 233 is connected by Part 236 is installed on the grabbing arm 231.

The working principle of the utility model is:

When the utility model is working, at first, the horizontal servo motor 34 of the feeding robot 7 is started, and the horizontal servo motor 34 drives the horizontal carriage 32 to move forward through the horizontal transmission mechanism 33, thereby driving the swing arm 2 to extend toward the material table, and to grasp the material The hand 23 is just above the material table, and then the swing arm lifting servo motor 51 and the swing arm lifting balance cylinder 54 are started, thereby driving the swing arm horizontal movement mechanism 3 and the swing arm angle rotation mechanism 4 to descend, and the swing arm descends to the material table. Grab material hand 23 to suck the workpiece on the material table then. Then the swing arm lifting servo motor 51 and the swing arm lifting balance cylinder 54 start again, thereby driving the swing arm horizontal movement mechanism 3 and the swing arm angle rotation mechanism 4 to rise, the swing arm rises to the top of the material table, and then the horizontal servo motor 34 starts, and the horizontal The servo motor 34 drives the horizontal carriage 32 to move back to the initial position, thereby driving the swing arm to retract to the initial position.

Then the angle rotation servo motor 41 starts, and the angle rotation servo motor 41 drives the horizontal movement mechanism 3 to rotate through the angle rotation belt 42 and the second harmonic reducer 43 until the swing arm rotates to the angle of the workbench of the corresponding punch press. Then the horizontal servo motor 34 drives the horizontal carriage 32 to move forward through the horizontal transmission mechanism 33, thereby driving the swing arm to extend to the workbench of the punch press, until the grasping hand 23 is extended to the top of the workbench of the punch press. Then the swing arm lift servo motor 51 and the swing arm lift balance cylinder 54 start, thereby driving the swing arm horizontal movement mechanism 3 and the swing arm angle rotation mechanism 4 to descend, until the grabbing hand 23 descends to the workbench of the punch press. The feeding robot 7 sends the workpiece to the workbench 6 of the punch press 10 and sends a feeding completion signal to the control device 9, and the control device 9 controls the punch press 10 to punch the workpiece.

After the stamping by the punch press is completed, the punch press 10 sends a stamping completion signal to the control device 9 , and finally the feeding robot 8 sends out the stamped workpiece and sends a feeding completion signal to the control device 9 . The swing arm of the feeding robot 8 rotates to the workbench 6 of the punch press, and the grabbing hand 23 on the swing arm sucks the workpiece on the workbench 6 and takes it out from the workbench 6 . The working process of the feeding robot 8 is opposite to that of the feeding robot 7, and will not be described in detail here. Therefore, the utility model can complete the process of taking, transferring and discharging a single product. The punching machine integrated swing arm punching robot of the utility model can realize operations such as taking, transferring and unloading materials.

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).