CN209379803U - Two axis right angle manipulators and its stamping line - Google Patents

Abstract

The utility model provides two axis right angle manipulators and its stamping line, two axis right angle manipulators include support and a shaft assembly, a shaft assembly upper end is provided with two shaft assemblies, and two shaft assembly can be rotated around the axis of a shaft assembly, it is provided with dynamical system and control system on the support, orthogonal swing arm there are two being horizontally disposed at same absolute altitude on two shaft assemblies, and each swing arm one end connects two shaft assemblies, each swing arm other end connects mechanical gripper；Stamping line includes spaced more open type punch press, foregoing two axis right angle manipulator is provided between adjacent punching machine, and mechanical gripper can extend into the stamping station crawl stamping parts of punching machine.The utility model occupies little space, and can not only be placed between adjacent open type punch press for carrying stamping parts, and easy to remove, additionally it is possible to carry stamping parts for stamping line, assist the continuous punching operation for realizing different stamping procedures.

Description

Two axis right angle manipulators and its stamping line

Technical field

The utility model relates to stamping equipments, and in particular to two axis right angle manipulators and its stamping line.

Background technique

Conveying robot is widely used in production assembly and automated machine, and the right angle as disclosed in CN105818139A is sat Mark system manipulator, including bracket institution, transmission mechanism, executing agency and control device；Wherein bracket institution and transmission mechanism phase Company plays a supportive role, and transmission mechanism is connected with executing agency, and control device is set on frame structure, by distant in control device Control handle first controls the movement of transmission mechanism, then the Pneumatic manipulator controlled in executing agency is completed clamping or unclamped Operation；For another example punching press conveying robot disclosed in CN204278014U, including rack, rack be equipped with chassis rotator structure and with Its horicontal motion mechanism connected, chassis rotator structure includes servo motor and rotating device, rotating device by rotation axis with Motor connection, is also connected with retarder between rotation axis and motor, rotating device rotates in the horizontal direction under motor driven, thus Drive horicontal motion mechanism rotation.Although as previously described manipulator can be used to carry stamping parts, its occupied space compared with Greatly, it can not place and use between adjacent punching machine, and be inconvenient to shift.

Utility model content

One of the utility model aim is to provide a kind of two axis right angles that can be placed and use between adjacent punching machine Swing arm manipulator, the second purpose are to provide a kind of stamping line using the two axis right angle manipulator.

To achieve the above object, the utility model uses technical solution as described below.

Two axis right angle manipulators, including support and the shaft assembly being vertically arranged on support, on a shaft assembly End is provided with two shaft assemblies, and two shaft assemblies can be rotated around the axis of a shaft assembly, be provided on the support for driving, controlling The dynamical system and control system for making the operation of two shaft assemblies, are horizontally disposed with that there are two mutually at the same absolute altitude on two shaft assemblies Vertical swing arm, and each swing arm one end connects two shaft assemblies, each swing arm other end connects mechanical gripper, mechanical gripper connection Dynamical system and control system simultaneously control mechanical gripper pick-and-place cargo by it.

Preferably, the rotation angular interval of two shaft assembly is 0-180 °.

More preferably, the rotation angular interval of two shaft assembly is 0-90 °.

Further, the support includes bottom plate, and in the setting of bottom plate lower wall, there are four brackets, is arranged in bottom plate upper wall framed Frame, is provided with cabinet in frame, and a shaft assembly, the dynamical system and the control system are located in the box body.

Preferably, the bracket is sucker stand.

A kind of stamping line, including spaced more open type punch press, open type punch press described in the utility model refer to The punching press window of punching machine be it is open, foregoing two axis right angle manipulator, and machine are provided between adjacent punching machine Tool handgrip can extend into the stamping station crawl stamping parts of punching machine.

Further, punching machine side is provided with stamping parts placement table, and between two shaft assembly axis and stamping station center Vertical range be equal to vertical range between two shaft assembly axis and stamping parts placement table table top center.

Wherein, stamping parts placement table and the two axis right angle manipulator are located at the adjacent stamping station line of centres simultaneously On perpendicular bisector.

Further, it is provided with by first punching machine and stamps a yard platform, stamping yard platform, wherein one side wall is provided with two axis right angle Swing arm manipulator；It is provided with cargo transport platform by last platform punching machine, and stamps a yard platform table top, stamping parts placement table table top, stamping station Table top and cargo transport platform table top are located at same absolute altitude.

Preferably, the rotation angular interval of each mechanical gripper is 0-90 °, same two axis right angle manipulator One of mechanical gripper running track is a upper press bolster to stamping parts placement table table top, another mechanical gripper running track For stamping parts placement table table top to next press bolster.

By adopting the above-described technical solution, two axis right angle manipulator of the utility model occupies little space, it can not only Enough two axis right angle manipulators are placed between adjacent open type punch press is used to carry stamping parts, and two axis easy to remove is straight Angle swing arm manipulator only needs to find suitable position when mobile, adjusts mechanical gripper rotation angular interval, sucker stand is consolidated It is scheduled on proper height；Two axis right angle manipulator of the utility model can be used in stamping line and carry stamping parts, punching It presses in operation process, stamping parts is carried to punching from a upper stamping station by one of mechanical gripper of two axis right angle manipulators Casting die placement table table top, meanwhile, another mechanical gripper by the stamping parts on stamping parts placement table be carried to next stamping station into The company of different stamping procedures can be realized when being respectively provided with two axis right angle manipulators between all adjacent punching machines in row punching press Continuous stamping press, this improves stamping press efficiency but also the intermittent time of same punching machine is shorter；Compared to simple pendulum arm machine Tool hand, the utility model can preferably synchronize the stamping parts carried between adjacent punching machine, work compound excellent effect.

Detailed description of the invention

Fig. 1 is two axis right angle manipulator stereoscopic schematic diagram in embodiment 1；

Fig. 2 is the lateral view of Fig. 1；

Fig. 3 is stamping line schematic diagram in embodiment 2；

Fig. 4 is the direction view of bowing of Fig. 3.

Specific embodiment

The utility model is specifically described below by embodiment, it is necessary to which indicated herein is following embodiment It is served only for that the utility model is further detailed, should not be understood as the limitation to scope of protection of the utility model, ability The technical staff in domain can make some nonessential modifications and adaptations to the utility model according to above content.

Embodiment 1

Two axis right angle manipulators, as depicted in figs. 1 and 2, including support 1 and the axis being vertically arranged on support 1 Component 5 is provided with two shaft assemblies 2 in 5 upper end of a shaft assembly, and two shaft assemblies 2 can be rotated around the axis of a shaft assembly 5, The dynamical system and control system for driving, controlling the operation of two shaft assemblies 2 are provided on support 1, it is same on two shaft assemblies 2 Orthogonal swing arm 3 there are two being horizontally disposed at one absolute altitude, and 3 one end of each swing arm connects two shaft assemblies 2, each swing arm 3 The other end connects mechanical gripper 4, and mechanical gripper 4 connects dynamical system and control system and controls 4 pick-and-place of mechanical gripper by it Cargo.

Preferably, the rotation angular interval of two shaft assemblies 2 is 0-180 °.

More preferably, the rotation angular interval of two shaft assemblies 2 is 0-90 °.

Further, support 1 includes bottom plate 101, and in the setting of 101 lower wall of bottom plate, there are four brackets 102, on bottom plate 101 Wall is provided with frame 103, and cabinet 104 is provided in frame 103, and a shaft assembly 5, dynamical system and control system are located at cabinet In 104.

Preferably, bracket 102 uses sucker stand, support 1 preferably can be fixed on ground or table top.

Embodiment 2

A kind of stamping line, as shown in Figure 3 and Figure 4, including spaced more open type punch press 6, adjacent punching machine 6 Between be provided with two axis right angle manipulators in embodiment 1, and its mechanical gripper 4 can extend into the stamping station 10 of punching machine 6 Grab stamping parts.

Further, 6 side of punching machine is provided with stamping parts placement table 7, and two shaft assemblies, 2 axis and 10 center of stamping station Between vertical range be equal to the vertical range between 7 table top center of two shaft assemblies, 2 axis and stamping parts placement table, stamping parts puts It sets platform 7 and two axis right angle manipulators is located at simultaneously on the perpendicular bisector of adjacent 10 line of centres of stamping station, such structure cloth Setting can make two orthogonal swing arms 3 isometric, convenient for synchronous crawl stamping parts, be conducive to coordinative operation.

Further, it is provided with by first punching machine 6 and stamps yard platform 8, stamping yard platform 8, wherein one side wall is provided with two axis right angles pendulum Arm manipulator；It is provided with cargo transport platform 9 by last platform punching machine 6, and stamps 8 table top of yard platform, 7 table top of stamping parts placement table, punching press 10 table top of platform and 9 table top of cargo transport platform are located at same absolute altitude.

Preferably, the rotation angular interval of each mechanical gripper 4 is 0-90 °, same two axis right angle manipulators 4 running track of one of mechanical gripper be upper 6 table top of a punching machine to 7 table top of stamping parts placement table, another mechanical gripper 4 is transported Row track is 7 table top of stamping parts placement table to next 6 table top of punching machine.

In embodiment, two axis right angle manipulators occupy little space, and can not only pacify two axis right angle manipulators It is placed between adjacent open type punch press 6 for carrying stamping parts, and two axis right angle manipulator easy to remove, is only needed when mobile Suitable position is found, mechanical gripper 4 is adjusted and rotates angular interval, sucker stand is fixed on proper height, such as: When the spacing between adjacent punching machine 6 changes within the allowable range, it is only necessary to along adjacent 10 line of centres of stamping station The suitably mobile two axis right angle manipulators of perpendicular bisector, without dismantling manipulator and re-assemblying；The two axis right angle Swing arm manipulator can be used in stamping line and carry stamping parts, during stamping press, two axis right angle manipulators its In a mechanical gripper from a upper stamping station stamping parts is carried to stamping parts placement table table top, meanwhile, another mechanical gripper Stamping parts on stamping parts placement table is grabbed and is carried to next stamping station and carries out punching press, is all provided between all adjacent punching machines When setting two axis right angle manipulators, the continuous punching operation of different stamping procedures can be realized, this is but also same punching machine 6 Intermittent time it is shorter, improve stamping press efficiency；Compared to simple pendulum arm manipulator, two axis right angle machine of the utility model Tool hand can preferably synchronize the stamping parts carried between adjacent punching machine 6, work compound excellent effect.

Claims (10)

1. liang axis right angle manipulator, including support (1) and the shaft assembly (5) being vertically arranged on support (1), in an axis Component (5) upper end is provided with two shaft assemblies (2), and two shaft assemblies (2) can be rotated around the axis of a shaft assembly (5), in support (1) dynamical system and control system for driving, controlling two shaft assemblies (2) operation are provided on, it is characterised in that: in two axis There are two being horizontally disposed at same absolute altitude on component (2) orthogonal swing arm (3), and each swing arm (3) one end connection two Shaft assembly (2), each swing arm (3) other end connect mechanical gripper (4).

2. two axis right angle manipulator according to claim 1, it is characterised in that: the rotation of two shaft assembly (2) Angular interval is 0-180 °.

3. two axis right angle manipulator according to claim 2, it is characterised in that: the rotation of two shaft assembly (2) Angular interval is 0-90 °.

4. two axis right angle manipulator according to claim 1,2 or 3, it is characterised in that: the support (1) includes bottom Plate (101), in the setting of bottom plate (101) lower wall, there are four bracket (102), and in bottom plate (101), upper wall is provided with frame (103), It is provided with cabinet (104) in frame (103), a shaft assembly (5), the dynamical system and the control system are located at cabinet (104) in.

5. two axis right angle manipulator according to claim 4, it is characterised in that: the bracket (102) is sucker branch Frame.

6. a kind of stamping line, including spaced more open type punch press (6), it is characterised in that: between adjacent punching machine (6) It is provided with two axis right angle manipulator according to any one of claims 1 to 5, and mechanical gripper (4) can extend into punching machine (6) stamping station (10) grabs stamping parts.

7. stamping line according to claim 6, it is characterised in that: be provided with stamping parts in punching machine (6) side and shelve Platform (7), and the vertical range between two shaft assemblies (2) axis and stamping station (10) center is equal to two shaft assemblies (2) axis and punching Vertical range between casting die placement table (7) table top center.

8. stamping line according to claim 7, it is characterised in that: stamping parts placement table (7) and two axis right angle Swing arm manipulator is located on the perpendicular bisector of adjacent stamping station (10) line of centres simultaneously.

9. stamping line according to claim 8, it is characterised in that: be provided with by first punching machine (6) and stamp a yard platform (8), stamping a yard platform (8), wherein one side wall is provided with the two axis right angle manipulator；Cargo is provided with by last platform punching machine (6) Transport platform (9), and stamp a yard platform (8) table top, stamping parts placement table (7) table top, stamping station (10) table top and cargo transport platform (9) platform Face is located at same absolute altitude.

10. stamping line according to claim 9, it is characterised in that: the rotation angular interval of each mechanical gripper (4) It is 0-90 °, one of mechanical gripper (4) running track of same two axis right angle manipulators is a upper punching machine (6) platform Face to stamping parts placement table (7) table top, another mechanical gripper (4) running track are stamping parts placement table (7) table top to next punching Bed (6) table top.