CN205631351U - Feeding mechanical arm on thermoforming press - Google Patents
Feeding mechanical arm on thermoforming press Download PDFInfo
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- CN205631351U CN205631351U CN201620493835.XU CN201620493835U CN205631351U CN 205631351 U CN205631351 U CN 205631351U CN 201620493835 U CN201620493835 U CN 201620493835U CN 205631351 U CN205631351 U CN 205631351U
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- arm
- lifting arm
- crossbeam
- supporting plate
- reductor
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Abstract
The utility model provides a feeding mechanical arm on thermoforming press, includes: horizontal installation is in the crossbeam of press feed side and delivery side, install layer board on the crossbeam, install in the arm and set up the end effector who is used for the work piece of centre gripping material loading workstation or unloading work bench in the underarm end that shuttles back and forth of shuttling back and forth of lifing arm lower extreme along fore -and -aft direction horizontal slip through the lifing arm of II vertical slidable mounting on the guide rail on being fixed in the lifing arm on the layer board, guide rail III through being fixed in the lifing arm lower extreme along left right direction horizontal slip through the guide rail on being fixed in the crossbeam I respectively. The horizontal horizontal slip of layer board drive arrangement drive layer board, lifing arm drive arrangement drive lifing arm slides from top to bottom to end effector's space orientation has been realized. Do not take place to interfere with the mould, improved efficiency, the cost is reduced.
Description
Technical field
This utility model relates to mechanical hand technical field, is specifically related to a kind of thermoforming press loading and unloading manipulator.
Background technology
On current automobile structure thermoforming production line, the device major part for forcing press loading and unloading is general six degree of freedom articulated robot, but all-purpose robot use cost is high, porter makees low to the performance utilization rate of robot, and do not have mechanical hand speed fast in transporting velocity, the rigidity of robot is also high less than mechanical hand, additionally because the restriction of robotic's structure, easily interfere with mould and press during carrying, thus have impact on the beat of press punching press.
Summary of the invention
This utility model is in order to overcome the deficiency of above technology, it is provided that the thermoforming press loading and unloading manipulator that a kind of low cost, high rigidity and efficiency are high.
This utility model overcomes its technical problem be the technical scheme is that
A kind of thermoforming press loading and unloading manipulator, including: it is horizontally installed to the crossbeam of forcing press feed side and exit side respectively, the supporting plate being slidably mounted on crossbeam by guide rail I level in left-right direction being fixed on crossbeam, the lifting arm on supporting plate vertically it is slidably mounted on by the guide rail II being fixed on lifting arm, it is slidably mounted on the shuttle arm of lifting arm lower end by guide rail III level along the longitudinal direction being fixed on lifting arm lower end and is arranged at shuttle arm lower end for clamping the terminal-collecting machine of the workpiece in loading working table or blankers' station, the supporting plate driving means driving supporting plate to horizontally slip it is provided with on described crossbeam, the lifting arm driving means for driving lifting arm to slide up and down it is provided with on described supporting plate, the shuttle arm driving means for driving shuttle arm slide anteroposterior it is provided with on described lifting arm.
Above-mentioned supporting plate driving means includes the reductor I being installed on crossbeam, the motor I being in transmission connection with reductor I, the synchronous pulley being installed on reductor I output shaft and the Timing Belt I being connected with supporting plate, and described Timing Belt I is meshed with synchronous pulley.
Above-mentioned lifting arm driving means includes motor II, the gear I being installed on reductor II output shaft and the tooth bar I being vertically arranged on lifting arm that the reductor II being installed on supporting plate and reductor II are in transmission connection, and described gear I is meshed with tooth bar I.
Above-mentioned shuttle arm driving means includes motor III, the gear II being installed on reductor III output shaft and the tooth bar II being horizontally installed in shuttle arm that the reductor III being installed on lifting arm and reductor III are in transmission connection, and described gear II is meshed with tooth bar II.
In order to reduce the load of lifting arm driving means, also including the gravitational equilibrium cylinder being respectively arranged at the lifting arm left and right sides, the piston rod head end of described gravitational equilibrium cylinder is connected with lifting arm, and its tail end is connected with supporting plate.
In order to improve the transporting velocity of workpiece further, also include the speed plate being slidably mounted on shuttle arm lower end by guide rail IV level along the longitudinal direction being fixed on shuttle arm lower end, described shuttle arm two ends are separately installed with pulley, after Timing Belt II is paperwrapped in two pulleys, one end is fixed on speed plate, and its other end is fixed on lifting arm.
In order to avoid interfering, improve forcing press beat, being slidably fitted with two supporting plates on each described crossbeam, each supporting plate all drives it to horizontally slip along crossbeam level by supporting plate driving means, and two terminal-collecting machines of each crossbeam lower end step up the left and right sides in workpiece respectively.
For the ease of repair and replacement terminal-collecting machine, also including the quick change motherboard being installed on speed plate lower end and the quick change public affairs plate being connected with terminal-collecting machine, between described quick change motherboard and quick change public affairs plate, grafting is fixed.
In order to improve rigidity, above-mentioned terminal-collecting machine include level connection joint in the mobile jib, parallel with mobile jib but be not positioned in same level the auxiliary bar being connected by connecting rod and the some cylinders that step up being installed on auxiliary bar with mobile jib with mobile jib of quick change public affairs plate, each cylinder that steps up is in transmission connection with gripping finger.
The beneficial effects of the utility model are: supporting plate driving means drives pallets level to horizontally slip, lifting arm driving means drives lifting arm to slide up and down, it is achieved thereby that the space orientation of terminal-collecting machine, it is easy to it and picks and places the workpiece in loading working table or blankers' station, after the terminal-collecting machine of forcing press front end adds clamping of workpieces, shuttle arm driving means drives shuttle arm rearward movement, workpiece is sent in forcing press by terminal-collecting machine, after forcing press punching press, the terminal-collecting machine being positioned at forcing press rear end enters forcing press under the drive that shuttle arm is advanced, workpiece is stepped up by terminal-collecting machine, shuttle arm setback, until workpiece is put in blankers' station.Do not interfere with mould, improve efficiency, reduce cost.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model；
Fig. 2 is crossbeam portion structure schematic diagram of the present utility model；
Fig. 3 is lifting arm portion structure schematic diagram of the present utility model；
Fig. 4 is shuttle arm portion structure schematic diagram of the present utility model；
Fig. 5 is terminal-collecting machine structural representation of the present utility model；
In figure, 1. crossbeam 2. lifting arm 3. shuttle arm 4. terminal-collecting machine 5. workpiece 6. loading working table
7. forcing press 8. blankers' station 9. motor I 10. reductor I 11. guide rail I 12. Timing Belt I 13. synchronous pulley 14. planker 15. gear I 16. tooth bar I 17. guide rail II 18. gravitational equilibrium cylinder 19. motor II 20. reductor II
21. motor III 22. reductor III 23. gear II 24. tooth bar II 25. guide rail III 26. Timing Belt II 27. pulleys
28. speed plate 29. auxiliary bar 34. clamping cylinder 35. gripping finger of guide rail IV 30. quick change motherboard 31. quick change public affairs plate 32. mobile jib 33..
Detailed description of the invention
This utility model is described further by 1 to accompanying drawing 5 below in conjunction with the accompanying drawings.
nullA kind of thermoforming press loading and unloading manipulator，Including: it is horizontally installed to the crossbeam 1 of forcing press 7 feed side and exit side respectively、The supporting plate 14 being slidably mounted on crossbeam 1 by guide rail I 11 level in left-right direction being fixed on crossbeam 1、The lifting arm 2 being vertically slidably mounted on supporting plate 14 by the guide rail II 17 being fixed on lifting arm 2、It is slidably mounted on the shuttle arm 3 of lifting arm 2 lower end by guide rail III 25 level along the longitudinal direction being fixed on lifting arm 2 lower end and is arranged at shuttle arm 3 lower end for clamping the terminal-collecting machine 4 of the workpiece 5 in loading working table 6 or blankers' station 8，The supporting plate driving means driving supporting plate 14 to horizontally slip it is provided with on crossbeam 1，The lifting arm driving means for driving lifting arm 2 to slide up and down it is provided with on supporting plate 14，The shuttle arm driving means for driving shuttle arm 3 slide anteroposterior it is provided with on lifting arm 2.Supporting plate driving means drives supporting plate 14 level to horizontally slip, lifting arm driving means drives lifting arm 2 to slide up and down, it is achieved thereby that the space orientation of terminal-collecting machine 4, it is easy to it and picks and places the workpiece 5 in loading working table 6 or blankers' station 8, after the terminal-collecting machine 4 of forcing press 7 front end adds clamping of workpieces, shuttle arm driving means drives shuttle arm 3 rearward movement, workpiece 5 is sent in forcing press 7 by terminal-collecting machine 4, after forcing press 7 punching press, the terminal-collecting machine 4 being positioned at forcing press 7 rear end enters forcing press 7 under the drive that shuttle arm 3 is advanced, workpiece 5 is stepped up by terminal-collecting machine, shuttle arm 3 setback, until workpiece 5 is put in blankers' station 8.Do not interfere with mould, improve efficiency, reduce cost.
Supporting plate driving means can be following structure, and it includes the motor I that the reductor I 10 being installed on crossbeam 1 and reductor I 10 are in transmission connection
9, being installed on the synchronous pulley 13 on reductor I 10 output shaft and the Timing Belt I 12 being connected with supporting plate 14, Timing Belt I 12 is meshed with synchronous pulley 13.Motor I 9 rotates through reductor I
10 deceleration torque multiplication rear drive synchronous pulleys 13 rotate, and owing to Timing Belt I 12 is meshed with synchronous pulley 13, therefore supporting plate 14 horizontally slips along crossbeam 1 level.
Lifting arm driving means can be following structure, and it includes the motor II that the reductor II 20 being installed on supporting plate 14 and reductor II 20 are in transmission connection
19, being installed on the gear I 15 on reductor II 20 output shaft and the tooth bar I 16 being vertically arranged on lifting arm 2, gear I 15 is meshed with tooth bar I 16.Motor II 19 rotates through reductor II
20 deceleration torque multiplication rear drive gear I 15 rotate, and owing to gear I 15 is meshed with tooth bar I 16, therefore realize driving the relative supporting plate 14 of lifting arm 2 to slide up and down.
Shuttle arm driving means can be following structure, and it includes the motor III that the reductor III 22 being installed on lifting arm 2 and reductor III 22 are in transmission connection
21, being installed on the gear II 23 on reductor III 22 output shaft and the tooth bar II 24 being horizontally installed in shuttle arm 3, gear II 23 is meshed with tooth bar II 24.Motor III 21 rotates through reductor III
22 deceleration torque multiplication rear drive gear II 23 rotate, and owing to gear II 23 is meshed with tooth bar II 24, therefore realize driving the horizontal slide anteroposterior of shuttle arm OQ t arm 2.
Further, it is also possible to including the gravitational equilibrium cylinder 18 being respectively arranged at lifting arm 2 left and right sides, the piston rod head end of gravitational equilibrium cylinder 18 is connected with lifting arm, and its tail end is connected with supporting plate 14.The air pressure in gravitational equilibrium cylinder 18 is utilized to play the effect of balance lifting arm 2, to reach to reduce the purpose of lifting arm driving means load.
The speed plate 28 being slidably mounted on shuttle arm 3 lower end by guide rail IV 29 level along the longitudinal direction being fixed on shuttle arm 3 lower end can also be included, shuttle arm 3 two ends are separately installed with pulley 27, after Timing Belt II 26 is paperwrapped in two pulleys 27, one end is fixed on speed plate 28, and its other end is fixed on lifting arm 2.When shuttle arm 3 moves relative to lifting arm 2, Timing Belt II 26 drives speed plate 28 to move along guide rail IV 29 relative to shuttle arm 3, it is achieved that the purpose that speed plate 28 moves relative to lifting arm 2 speed, further increases the travelling speed of workpiece 5.
Being slidably fitted with two supporting plates 14 on each crossbeam 1, each supporting plate 14 all drives it to horizontally slip along crossbeam level by supporting plate driving means, and two terminal-collecting machines 4 of each crossbeam 1 lower end step up respectively in the left and right sides of workpiece 5.Add clamping of workpieces 5 move instability owing to side arranges terminal-collecting machine 4, therefore by two terminal-collecting machines 4, transport is stepped up at workpiece 5 two ends, do not affect the pressure down of forcing press 7, it is to avoid the generation interfered, improve speed simultaneously, can dodge left and right.
Further, it is also possible to including the quick change motherboard 30 being installed on speed plate 28 lower end and the quick change public affairs plate 31 being connected with terminal-collecting machine 4, between quick change motherboard 30 and quick change public affairs plate 31, grafting is fixed.The fast quick-detach of terminal-collecting machine 4 can be realized by quick change public affairs plate 31 and quick change motherboard 30, facilitate replacing and the maintenance of terminal-collecting machine 4.
Terminal-collecting machine 4 include level connection joint in the mobile jib 32, parallel with mobile jib 32 but be not positioned in same level the auxiliary bar 33 being connected by connecting rod and the some cylinders 34 that step up being installed on auxiliary bar 33 with mobile jib 32 with mobile jib 32 of quick change public affairs plate 31, each cylinder 34 that steps up is in transmission connection with gripping finger 35.Owing to mobile jib 32 staggers with auxiliary bar 33 level height, therefore rigidity up and down and the left and right rigidity of terminal-collecting machine 4 is all improved.
Claims (9)
- null1. a thermoforming press loading and unloading manipulator，It is characterized in that，Including: it is horizontally installed to the crossbeam (1) of forcing press (7) feed side and exit side respectively、The supporting plate (14) being slidably mounted on crossbeam (1) by guide rail I (11) level in left-right direction being fixed on crossbeam (1)、The lifting arm (2) being vertically slidably mounted on supporting plate (14) by the guide rail II (17) being fixed on lifting arm (2)、It is slidably mounted on the shuttle arm (3) of lifting arm (2) lower end by guide rail III (25) level along the longitudinal direction being fixed on lifting arm (2) lower end and is arranged at shuttle arm (3) lower end and is used for clamping the terminal-collecting machine (4) of the workpiece (5) in loading working table (6) or blankers' station (8)，The supporting plate driving means driving supporting plate (14) to horizontally slip it is provided with on described crossbeam (1)，The lifting arm driving means for driving lifting arm (2) to slide up and down it is provided with on described supporting plate (14)，The shuttle arm driving means for driving shuttle arm (3) slide anteroposterior it is provided with on described lifting arm (2).
- Thermoforming press loading and unloading manipulator the most according to claim 1, it is characterized in that: described supporting plate driving means includes motor I (9), the synchronous pulley (13) being installed on reductor I (10) output shaft and the Timing Belt I (12) being connected with supporting plate (14) that the reductor I (10) being installed on crossbeam (1) is in transmission connection with reductor I (10), and described Timing Belt I (12) is meshed with synchronous pulley (13).
- Thermoforming press loading and unloading manipulator the most according to claim 1, it is characterized in that: described lifting arm driving means includes motor II (19), the gear I (15) being installed on reductor II (20) output shaft and the tooth bar I (16) being vertically arranged on lifting arm (2) that the reductor II (20) being installed on supporting plate (14) and reductor II (20) are in transmission connection, and described gear I (15) is meshed with tooth bar I (16).
- Thermoforming press loading and unloading manipulator the most according to claim 1, it is characterized in that: described shuttle arm driving means includes motor III (21), the gear II (23) being installed on reductor III (22) output shaft and the tooth bar II (24) being horizontally installed in shuttle arm (3) that the reductor III (22) being installed on lifting arm (2) and reductor III (22) are in transmission connection, and described gear II (23) is meshed with tooth bar II (24).
- Thermoforming press loading and unloading manipulator the most according to claim 1, it is characterized in that: also include being respectively arranged at the gravitational equilibrium cylinder (18) of lifting arm (2) left and right sides, the piston rod head end of described gravitational equilibrium cylinder (18) is connected with lifting arm, and its tail end is connected with supporting plate (14).
- 6. according to described thermoforming press loading and unloading manipulator any one in claim 1 to 5, it is characterized in that: also include being slidably mounted on the speed plate (28) of shuttle arm (3) lower end by guide rail IV (29) level along the longitudinal direction being fixed on shuttle arm (3) lower end, described shuttle arm (3) two ends are separately installed with pulley (27), Timing Belt II (26) is paperwrapped in two pulley (27) one end afterwards and is fixed on speed plate (28), and its other end is fixed on lifting arm (2).
- Thermoforming press loading and unloading manipulator the most according to claim 6, it is characterized in that: on each described crossbeam (1), be slidably fitted with two supporting plates (14), each supporting plate (14) all drives it to horizontally slip along crossbeam level by supporting plate driving means, and two terminal-collecting machines (4) of each crossbeam (1) lower end are stepped up respectively in the left and right sides of workpiece (5).
- Thermoforming press loading and unloading manipulator the most according to claim 6, it is characterized in that: the quick change motherboard (30) also including being installed on speed plate (28) lower end and quick change public affairs plate (31) being connected with terminal-collecting machine (4), between described quick change motherboard (30) and quick change public affairs plate (31), grafting is fixed.
- Thermoforming press loading and unloading manipulator the most according to claim 8, it is characterized in that: described terminal-collecting machine (4) includes that level connection joint is parallel with mobile jib (32) but be not positioned in same level the auxiliary bar (33) being connected by connecting rod and the some cylinders (34) that step up being installed on auxiliary bar (33) with mobile jib (32) with mobile jib (32) in the mobile jib (32) of quick change public affairs plate (31), and each cylinder (34) that steps up is in transmission connection with gripping finger (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620493835.XU CN205631351U (en) | 2016-05-27 | 2016-05-27 | Feeding mechanical arm on thermoforming press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620493835.XU CN205631351U (en) | 2016-05-27 | 2016-05-27 | Feeding mechanical arm on thermoforming press |
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| Publication Number | Publication Date |
|---|---|
| CN205631351U true CN205631351U (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620493835.XU Active CN205631351U (en) | 2016-05-27 | 2016-05-27 | Feeding mechanical arm on thermoforming press |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN107336249A (en) * | 2017-09-04 | 2017-11-10 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant with three claw robot |
| CN107498836A (en) * | 2017-08-18 | 2017-12-22 | 广州市科腾智能装备股份有限公司 | A kind of material for car interior trim parts shaping conveys adaptive tong mechanism |
| CN117359915A (en) * | 2023-11-01 | 2024-01-09 | 嘉兴天浩实业有限公司 | Production and processing device for composite material box shell |
-
2016
- 2016-05-27 CN CN201620493835.XU patent/CN205631351U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN107498836A (en) * | 2017-08-18 | 2017-12-22 | 广州市科腾智能装备股份有限公司 | A kind of material for car interior trim parts shaping conveys adaptive tong mechanism |
| CN107336249A (en) * | 2017-09-04 | 2017-11-10 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant with three claw robot |
| CN117359915A (en) * | 2023-11-01 | 2024-01-09 | 嘉兴天浩实业有限公司 | Production and processing device for composite material box shell |
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