CN208374041U - A kind of manipulator and punching press assembly line for punching press assembly line - Google Patents
A kind of manipulator and punching press assembly line for punching press assembly line Download PDFInfo
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- CN208374041U CN208374041U CN201820671836.8U CN201820671836U CN208374041U CN 208374041 U CN208374041 U CN 208374041U CN 201820671836 U CN201820671836 U CN 201820671836U CN 208374041 U CN208374041 U CN 208374041U
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- punching press
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Abstract
The utility model discloses a kind of manipulator for punching press assembly line and punching press assembly lines, belong to field of automobile, including linear guide, linear motor and elevation and subsidence mechanical arm, the linear guide is fixed on the side of punching press assembly line, the linear motor driving elevation and subsidence mechanical arm makees the reciprocating motion of horizontal direction along linear guide, the utility model greatly improves the quick-reaction capability and control precision of manipulator using linear motor driving, speed is moved back and forth up to 3000cm/min, greatly improve production efficiency, manipulator registration, improve machining yield.
Description
Technical field
The utility model belongs to field of automobile, in particular to a kind of manipulator and punching for punching press assembly line
Press assembly line.
Background technique
The adjusting sliding rail of automotive seat belongs to high-precision machine components, in the production process frequently with metal plate Multi-step forming
It forms, to improve processing efficiency and reducing processing cost, the production of automation is realized using punching press assembly line.Punching press assembly line is past
Toward there is 7~10 press machines continuously arranged, the pick-and-place and transmitting operation of the workpiece between adjacent press machine are by machinery
Hand is automatically performed, and manipulator needs continuously high frequency, reciprocal, linear motion in operation process.
It in the prior art, is the accurate positioning of the linear motion of realization manipulator, driving mechanism often uses servo electric
Machine+screw rod+guide rail composite structure, but the composite structure of the driving mechanism has deficiency: and (1) part is more, structure is complicated, is used to
Property amount is big, and the raising of dynamic property is limited by very large；(2) with the continuously high frequency of manipulator, reciprocal, straight
Line motion work, elastic deformation, the frictional dissipation of generation gradually accumulate, and cause positioning lag and nonlinearity erron, finally reach
Less than positioning accuracy required for processing, strong influence punch process quality.
Utility model content
The utility model is to overcome problems of the prior art, provides a kind of manipulator for punching press assembly line,
The quick-reaction capability and control precision of manipulator are greatly improved using linear motor driving, it is reachable to move back and forth speed
3000cm/min, greatly improves production efficiency, and manipulator registration improves machining yield.
The utility model is to solve above-mentioned problems of the prior art, is adopted the following technical scheme that.
A kind of manipulator for punching press assembly line, which is characterized in that including linear guide, linear motor and elevation and subsidence mechanical
Arm, the linear guide are fixed on the side of punching press assembly line, and the linear motor driving elevation and subsidence mechanical arm is along linear guide
Make the reciprocating motion of horizontal direction.
Further, the elevation and subsidence mechanical arm includes working plate, cylinder, sliding pair, L shape connecting lever and cantilever mechanism, described
Working plate is fixedly connected with the movable pole of linear motor, and the cylinder and sliding pair are fixedly installed on working plate, the gas
The piston rod of cylinder is fixedly connected with the slide plate of sliding pair, and the L shape connecting lever is by orthogonal profile vertical arm and the flat arm group of profile
At being connected and fixed using slot with screw and nut between the profile vertical arm and the flat arm of profile by angled piece, the profile vertical arm
Two sides be equipped with transition fixed block for being fixed on slide plate, between 2 transition fixed blocks and corresponding profile vertical arm
It is connected and fixed using slot with screw and nut, is connected and fixed using slot with screw and nut between the flat arm of the profile and cantilever mechanism.
Further, the side of the slide plate is additionally provided with buffer block, the working plate of the two sides up and down of the buffer block
It is equipped with hydraulic bjuffer.
Further, the buffering location hole of multiple groups rectangular array arrangement, the hydraulic cushion are provided on the working plate
Device is fixed on buffering location hole using screw attachment.
Further, the cantilever mechanism includes cantilever top plate, dampening assembly and electromagnet, the middle part of the cantilever top plate
It is connected and fixed on the flat arm of profile using slot with screw and nut, the electromagnet is fixedly connected on cantilever top plate by dampening assembly
The bottom at both ends.
Further, the dampening assembly includes damping upper plate, damping lower plate, shock stop pin, spring and locking nut, described
The lower end of shock stop pin is fixedly connected with damping lower plate, and successively activity runs through spring, cantilever from bottom to top for the upper end of the shock stop pin
Top plate damping upper plate is simultaneously threadedly coupled with locking nut, and the spring is compressed spring.
Further, the cantilever mechanism further includes opening for detecting cantilever mechanism and the magnetic induction of workpiece upright position
It closes.
Further, the cantilever mechanism further includes the inspection pin for detecting cantilever mechanism and workpiece horizontal position and fine motion
Switch.
Further, the controller of the linear motor is Distributed Servo controller, and vibration suppression built in the controller is filtered
Wave device.
A kind of punching press assembly line, including manipulator, further include punching press intermediate station, press machine, and the punching press intermediate station is set
Between adjacent 2 press beds, the side of the fixed press machine of the manipulator is for the workpiece in punching press on platform to be transferred to
Press machine feeding, or the workpiece blanking on press machine is transferred to latter punching press intermediate station.
Compared with the existing technology, the utility model achieve it is following the utility model has the advantages that
1, the manipulator for punching press assembly line of the utility model replaces watching for the prior art using linear motor driving
Motor+screw rod+guide rail composite structure is taken, to realize constantly high frequency, the reciprocal, linear motion of manipulator, in any
Between structure, eliminate the unfavorable factors such as rotary inertia, elastic deformation, backlass, friction, vibration, noise and abrasion, greatly
The quick-reaction capability and control precision for improving manipulator, move back and forth speed up to 3000cm/min, greatly improve
Production efficiency, manipulator registration, improves machining yield.
2, the manipulator for punching press assembly line of the utility model, the L shape connecting lever of elevation and subsidence mechanical arm by shape extrusion and
At, be all made of between L shape connecting lever and working plate and cantilever mechanism and between the profile vertical arm of L shape connecting lever and the flat arm of profile slot use
Screw and nut is connected and fixed, and the processing such as is welded or drilled without the L shape connecting lever to supporting cantilever mechanism, avoid welding or
The uncontrollable deformation of L shape connecting lever caused by drilling process reduces between the cooperation between L shape connecting lever and connected links
Gap improves the positioning accuracy of manipulator.
3, the manipulator for punching press assembly line of the utility model, buffer block and its 2 upper and lower hydraulic bjuffers,
Cylinder driving elevation and subsidence mechanical arm is used not only for when rising or falling in place, damping buffering is risen to the movement of elevation and subsidence mechanical arm and is subtracted
Speed extremely stops, and by adjusting the spacing between upper and lower 2 hydraulic bjuffers, can accurately adjust the stroke of cylinder, so that rising
The stroke indexing control for dropping mechanical arm breaks through the stroke indexing limitation of cylinder itself, facilitates and freely adjusts lifting according to operating condition needs
The stroke of mechanical arm improves the applicability of manipulator.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of the manipulator of the utility model.
Fig. 2 is the structural schematic diagram of the elevation and subsidence mechanical arm of the utility model.
Fig. 3 is the structural schematic diagram of the cantilever mechanism of the utility model.
In figure: 1, linear guide；2, linear motor；3, elevation and subsidence mechanical arm；31, working plate；32, cylinder；33, sliding pair；
34, L shape connecting lever；341, profile vertical arm；342, the flat arm of profile；343, transition fixed block；344, angled piece；35, cantilever mechanism；
351, cantilever top plate；352, electromagnet；353, damping upper plate；354, damping lower plate；355, shock stop pin；356, spring；357, it locks
Tight nut；36, buffer block；37, hydraulic bjuffer；38, location hole is buffered；391, magnetic induction switch；392, inspection pin；393, micro-
Dynamic switch；4, workpiece.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, the technical solution in embodiment is carried out it is clear, complete
Ground description.Obviously, described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, fall within the protection scope of the utility model.
As shown in Figures 1 to 3, a kind of manipulator for punching press assembly line, including linear guide 1, linear motor 2 and lifting
Mechanical arm 3, linear guide 1 are fixed on the side of punching press assembly line, and the primary or secondary of linear motor 2 are fixed on linear guide 1
Interior, another grade of linear motor 2 is fixedly connected with elevation and subsidence mechanical arm 3, and linear motor 2 drives elevation and subsidence mechanical arm 3 to lead along straight line
Rail 1 makees the reciprocating motion of horizontal direction.
Preferred scheme, elevation and subsidence mechanical arm 3 include working plate 31, cylinder 32, sliding pair 33, L shape connecting lever 34 and cantilever machine
Structure 35.
Working plate 31 is fixedly connected with the movable pole of linear motor 2, and the sliding rail of cylinder 32 and sliding pair 33 is all made of bolt
It is connected and fixed and is set on working plate 31, the piston rod of cylinder 32 is fixedly connected with the slide plate of sliding pair 33.It further, is drop
The requirement when piston rod of low cylinder 32 is connect with the slide plate of sliding pair 33 to concentricity and be easily installed, piston rod and slide plate it
Between be attached by shaft coupling.Cylinder 32 drives sliding pair 33 to drive L shape connecting lever 34 and cantilever mechanism 35 along sliding pair 33
Sliding rail make the reciprocating motion of vertical direction.
L shape connecting lever 34 is made of orthogonal profile vertical arm 341 and the flat arm 342 of profile, and profile vertical arm 341 and profile are flat
Arm 342 is that aluminum profile is process, and uses slot screw by angled piece 344 between profile vertical arm 341 and the flat arm 342 of profile
Nut is connected and fixed, and the two sides of profile vertical arm 341 are equipped with 343,2 transition of transition fixed block for being fixed on slide plate
Fixed block 343, which is connected by screw to, to be fixed on working plate 31,2 transition fixed blocks 343 and corresponding profile vertical arm 341 it
Between be connected and fixed with screw and nut using slot, connected between the flat arm 342 of profile and cantilever mechanism 35 using slot screw and nut solid
It is fixed.It the processing such as is welded or is drilled without the L shape connecting lever 34 to supporting cantilever mechanism 35, avoid welding or drilling processing mistake
The uncontrollable deformation of L shape connecting lever 34 caused by journey reduces the fit clearance between L shape connecting lever 34 and connected links, improves
The positioning accuracy of manipulator.
Preferred scheme, the side of slide plate are additionally provided with buffer block 36, the working plate 31 of the two sides up and down of buffer block 36
It is equipped with hydraulic bjuffer 37.When cylinder 32 drives elevation and subsidence mechanical arm 3 to fall into place, buffer block 36 and lower hydraulic bjuffer 37
Staking punch press touching, cylinder 32 drive elevation and subsidence mechanical arm 3 rise in place when, the punching press of buffer block 36 and upper hydraulic bjuffer 37
Head pressure touching, plays damping buffering to the movement of elevation and subsidence mechanical arm 3 and is decelerated to stopping.The staking punch of hydraulic bjuffer 37 is frustum knot
Structure, buffer block 36 are provided with the taper hole matched with frustum structure with the part of staking punch pressure touching.
Preferred scheme is provided with the buffering location hole 38 of multiple groups rectangular array arrangement, hydraulic bjuffer on working plate 31
37 are fixed on buffering location hole 38 using screw attachment.It, can essence by adjusting the spacing between upper and lower 2 hydraulic bjuffers 37
The really stroke of adjustment cylinder 32, so that the stroke that the stroke indexing control of elevation and subsidence mechanical arm 3 breaks through cylinder 32 itself indexes limitation,
Facilitate the stroke for needing freely to adjust elevation and subsidence mechanical arm 3 according to operating condition, improves the applicability of manipulator.
Preferred scheme, cantilever mechanism 35 include cantilever top plate 351, dampening assembly and electromagnet 352, cantilever top plate 351
Middle part be connected and fixed on the flat arm 342 of profile with screw and nut using slot, electromagnet 352 is fixedly connected on by dampening assembly
The bottom at 351 both ends of cantilever top plate.Dampening assembly can reduce the impact force generated when electromagnet 352 is contacted with workpiece 4.
Preferred scheme, dampening assembly include damping upper plate 353, damping lower plate 354, shock stop pin 355, spring 356 and lock
Tight nut 357, the lower end of shock stop pin 355 are fixedly connected with damping lower plate 354, and the upper end of shock stop pin 355 is successively lived from bottom to top
Dynamic to run through spring 356,351 damping upper plate 353 of cantilever top plate and be threadedly coupled with locking nut 357, spring 356 is compressed spring
356, damping upper plate 353 fits in above cantilever top plate 351.
Be threadedly engaged length by adjusting locking nut 357 and shock stop pin 355, can quickly adjust damping upper plate 353 with
Spacing between damping lower plate 354, when cantilever mechanism 35 draws gravity downward by workpiece 4 when workpiece 4, damping upper plate 353
It is bonded always between damping lower plate 354.Damping is realized when electromagnet 352 and workpiece 4 contact, while being inhaled in electromagnet 352
When taking workpiece 4 and rising, damping upper plate 353 is bonded with damping lower plate 354, and the height and position of workpiece 4 is not by the stress of spring 356
Size and state influence, accurate positioning.
Preferred scheme, cantilever mechanism 35 further include the magnetic induction for detecting cantilever mechanism 35 Yu 4 upright position of workpiece
Switch 391.Magnetic induction switch 391 and the solenoid valve of cylinder 32 electrically connect, when cylinder 32 drives cantilever mechanism 35 to fall into place, magnetic
When inductive switch 391 is connected, the electromagnet 352 of cantilever mechanism 35 has adsorbed workpiece 4,391 feedback signal of magnetic induction switch at this time
It is moved downward to the control stopping of cylinder 32 of PLC control module.
Preferred scheme, cantilever mechanism 35 further include the inspection pin 392 for detecting cantilever mechanism 35 Yu 4 horizontal position of workpiece
And microswitch 393.The lower end for examining pin 392 is lower than the bottom surface of electromagnet 352, and the upper end for examining pin 392 is bottom-up successively movable
Through damping lower plate 354 and damping upper plate 353, microswitch 393 is fixed on working plate 31, and inspection pin 392 is not affected by upwards
To the masterpiece used time, inspection pin 392 separates with microswitch 393, when inspection masterpiece used time of the pin 392 by upward direction, fortune upwards
It is dynamic to be contacted with microswitch 393.
There are 24 holes of workpiece on workpiece 4, the diameter of inspection pin 392 is less than the diameter in 4 hole of workpiece, when inspection pin 392 is normally inserted into
When in 24 holes of workpiece, inspection pin 392 is separated with microswitch 393；When inspection pin 392 is not inserted into 24 holes of workpiece normally,
Workpiece 4 can jack up inspection pin 392 upwards contacts it with microswitch 393.
Preferred scheme, the controller (not shown) of linear motor 2 are Distributed Servo controller, built in controller
Vibration suppression filter.
The model mega-fabs D2-432-S-B0 of controller, the controller provide three sections of system gains and adjust function,
Can the operation phase, the adjusting stage and in place the stage different system gains is set, greatly promote the performance of system, can be one
Determine to reduce system self-excitation caused by load change in program.Vibration suppression filter built in controller can remove motor movement process
The vibration of middle generation inhibits mechanical resonance, improves the reliability and stability of equipment.
A kind of punching press assembly line, including manipulator, further include punching press intermediate station, press machine, and punching press intermediate station is set to phase
Between adjacent 2 press beds, the side of the fixed press machine of manipulator is used to the workpiece 4 in punching press on platform being transferred to press machine
Feeding, or 4 blanking of workpiece on press machine is transferred to latter punching press intermediate station.
Content described in this specification embodiment is only an enumeration of the implementation forms of the utility model concept, this is practical new
The protection scope of type should not be construed as being limited to the specific forms stated in the embodiments, the protection scope of the utility model also and
In those skilled in the art according to the utility model design it is conceivable that equivalent technologies mean.
Claims (10)
1. a kind of manipulator for punching press assembly line, it is characterised in that: including linear guide (1), linear motor (2) and lifting
Mechanical arm (3), the linear guide (1) are fixed on the side of punching press assembly line, and the linear motor (2) drives elevation and subsidence mechanical arm
(3) make the reciprocating motion of horizontal direction along linear guide (1).
2. manipulator according to claim 1, it is characterised in that: the elevation and subsidence mechanical arm (3) includes working plate (31), gas
Cylinder (32), sliding pair (33), L shape connecting lever (34) and cantilever mechanism (35), the activity of the working plate (31) and linear motor (2)
Pole is fixedly connected, and the cylinder (32) and sliding pair (33) are fixedly installed on working plate (31), the work of the cylinder (32)
Stopper rod is fixedly connected with the slide plate of sliding pair (33), and the L shape connecting lever (34) is by orthogonal profile vertical arm (341) and profile
Flat arm (342) composition, uses slot screw by angled piece (344) between the profile vertical arm (341) and the flat arm of profile (342)
Nut is connected and fixed, and the two sides of the profile vertical arm (341) are equipped with the transition fixed block for being fixed on slide plate
(343), it is connected and fixed using slot with screw and nut between 2 transition fixed blocks (343) and corresponding profile vertical arm (341), institute
It states and is connected and fixed using slot with screw and nut between the flat arm of profile (342) and cantilever mechanism (35).
3. manipulator according to claim 2, it is characterised in that: the side of the slide plate is additionally provided with buffer block (36),
The working plate (31) of the two sides up and down of the buffer block (36) is equipped with hydraulic bjuffer (37).
4. manipulator according to claim 3, it is characterised in that: be provided with multiple groups rectangular array on the working plate (31)
The buffering location hole (38) of arrangement, the hydraulic bjuffer (37) are fixed in buffering location hole (38) using screw attachment.
5. manipulator according to claim 2, it is characterised in that: the cantilever mechanism (35) include cantilever top plate (351),
Dampening assembly and electromagnet (352), the middle part of the cantilever top plate (351) are connected and fixed on profile with screw and nut using slot and put down
On arm (342), the electromagnet (352) is fixedly connected on the bottom at cantilever top plate (351) both ends by dampening assembly.
6. manipulator according to claim 5, it is characterised in that: the dampening assembly includes damping upper plate (353), damping
Lower plate (354), shock stop pin (355), spring (356) and locking nut (357), under the lower end and damping of the shock stop pin (355)
Plate (354) is fixedly connected, and successively activity runs through spring (356), cantilever top plate from bottom to top for the upper end of the shock stop pin (355)
(351) it damping upper plate (353) and is threadedly coupled with locking nut (357), the spring (356) is compressed spring.
7. manipulator according to claim 2, it is characterised in that: the cantilever mechanism (35) further includes for detecting cantilever
The magnetic induction switch (391) of mechanism (35) and workpiece (4) upright position.
8. manipulator according to claim 2, it is characterised in that: the cantilever mechanism (35) further includes for detecting cantilever
The inspection pin (392) and microswitch (393) of mechanism (35) and workpiece (4) horizontal position.
9. described in any item manipulators according to claim 1, it is characterised in that: the controller of the linear motor (2) is point
Cloth servo controller, vibration suppression filter built in the controller.
10. a kind of punching press assembly line, it is characterised in that: including described in any item manipulators such as according to claim 1~9, also
Including punching press intermediate station, press machine, the punching press intermediate station is set between adjacent 2 press beds, the manipulator fixed punch
The side of press bed is used to the workpiece (4) in punching press on platform being transferred to press machine feeding, or by the workpiece on press machine
(4) blanking is transferred to latter punching press intermediate station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820671836.8U CN208374041U (en) | 2018-05-04 | 2018-05-04 | A kind of manipulator and punching press assembly line for punching press assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820671836.8U CN208374041U (en) | 2018-05-04 | 2018-05-04 | A kind of manipulator and punching press assembly line for punching press assembly line |
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| Publication Number | Publication Date |
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| CN208374041U true CN208374041U (en) | 2019-01-15 |
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| CN201820671836.8U Active CN208374041U (en) | 2018-05-04 | 2018-05-04 | A kind of manipulator and punching press assembly line for punching press assembly line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687251A (en) * | 2018-05-04 | 2018-10-23 | 襄阳寒桦精机有限公司 | A kind of manipulator and punching press assembly line for punching press assembly line |
| CN108687251B (en) * | 2018-05-04 | 2024-07-02 | 襄阳寒桦精机有限公司 | Manipulator for stamping assembly line and stamping assembly line |
-
2018
- 2018-05-04 CN CN201820671836.8U patent/CN208374041U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687251A (en) * | 2018-05-04 | 2018-10-23 | 襄阳寒桦精机有限公司 | A kind of manipulator and punching press assembly line for punching press assembly line |
| CN108687251B (en) * | 2018-05-04 | 2024-07-02 | 襄阳寒桦精机有限公司 | Manipulator for stamping assembly line and stamping assembly line |
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