CN209953665U

CN209953665U - Three-dimensional multi-station conveying manipulator

Info

Publication number: CN209953665U
Application number: CN201822183635.6U
Authority: CN
Inventors: 姜勇彪
Original assignee: Weitang Lijie Intelligent Industrial Technology (wuxi) Co Ltd
Current assignee: Weitang Lijie Intelligent Industrial Technology (wuxi) Co Ltd
Priority date: 2018-12-24
Filing date: 2018-12-24
Publication date: 2020-01-17
Anticipated expiration: 2028-12-24

Abstract

The utility model discloses a three-dimensional multi-station conveying manipulator, aiming at providing a three-dimensional multi-station conveying manipulator which has the advantages of finishing the clamping processing of parts in batches, improving the whole work efficiency and improving the automation degree, and the technical proposal is characterized in that a front end pick-up mounting rod and a rear end pick-up mounting rod which are arranged in parallel and have the same structure are arranged on a machine body, both ends of the front end pick-up mounting rod and the rear end pick-up mounting rod are respectively provided with a Z-axis driving component and an XY box component for driving the workpieces to finish the activities in X, Y and Z-axis directions, the end of the front end pick-up mounting rod is provided with a front driving rod and a front driving foot component, a plurality of mutually parallel end picks-up devices are arranged between the front end pick-up mounting rod and the rear end pick-up mounting rod for clamping and positioning the workpieces from both sides of the workpieces, a plurality of workpieces can be picked up simultaneously, and the whole work efficiency and the, the danger coefficient of workers is reduced, so that manpower is liberated, and the productivity of the punching machine and the die is greatly improved.

Description

Three-dimensional multi-station conveying manipulator

Technical Field

The utility model relates to a punching press transfer machine field, concretely relates to manipulator is carried to cubic unit multistation.

Background

The punching automatic line is a punching production line which is formed by connecting a plurality of pressing machines and auxiliary machines according to a punching process flow by using a transfer device and does not need manual operation. The advantages of an automated stamping line, especially for the production of large body panels, are particularly pronounced, as are higher production efficiencies, stable product quality and lower individual production costs under mass production conditions. Therefore, automation is directly considered in the beginning of planning large-scale punching production line in the current mainframe factory.

Stamping automation systems typically include unstacking systems, automatic transfer systems, and end-of-line discharge systems. A set of complete automatic system of breaking a jam of punching press mainly includes 2 portable material loading dollies of track (be equipped with 4 ~ 8 adjustable magnetic force branch wares of activity on every material loading dolly and usually be the permanent magnet for the separation of sheet material), the hand of breaking a jam (manipulator or robot), conveyer (mostly magnetic belt feeder), sheet material cleaning machine (option), sheet material oiling machine (option), sheet material centering platform and control system etc. constitute.

The automatic conveying system is used for conveying and conveying blanks or workpieces among all working procedures. The transmission mechanism mainly comprises a manipulator and a robot. The wire tail discharging system consists of a discharging conveyer belt, an illuminating device, a workpiece inspection bench, a manual or automatic boxing mechanism, a control system and the like. The main task is to convey the finished stamping parts to a proper position for boxing (or automatic boxing) and provide conditions for stamping part detection.

The manipulator is a multifunctional device which can be automatically positioned and controlled and can be reprogrammed and changed, and is widely used in mechanical manufacturing, metallurgy, electronics, light industry and other departments. The hot stamping production technology is developed towards the direction of high speed, automation, flexibility and precision. The manipulator is applied to the hot stamping production technology, so that the traditional mechanical production is fundamentally changed, and the manipulator is an important development direction of the modern hot stamping production technology.

At present, chinese patent publication No. CN205869184U discloses a hot stamping automation line and a transfer robot thereof, wherein an X-axis moving mechanism has an X-axis slide, an X-axis servo motor and an X-axis transmission mechanism provided on a movable support mechanism; the Z-axis lifting mechanism is provided with a Z-axis base arranged on the X-axis slideway, a Z-axis mounting plate is vertically arranged on the Z-axis base, and a Z-axis servo motor, a Z-axis slideway and a Z-axis transmission mechanism are arranged on the Z-axis mounting plate;

the A-axis rotating mechanism is provided with an A-axis base arranged on the Z-axis slideway, an A-axis mounting plate is vertically arranged on the A-axis base, and a rotating motor used for controlling the rotation of the clamping mechanism is arranged on the A-axis mounting plate; the clamping mechanism is provided with a mechanical arm, one end of the mechanical arm is mounted on a rotating shaft of the rotating motor through a bearing assembly, and the other end of the mechanical arm is provided with a clamping cylinder and a clamping claw.

Although the hot stamping automatic line and the conveying manipulator thereof can meet the requirements of the hot processing technology of the material to be processed with high mechanical performance and enable the produced parts to have higher static strength and fatigue strength, the manipulator can only finish single clamping and processing of the parts, the whole working efficiency is low, and the automation degree is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator is carried to cubic unit multistation, it has the centre gripping processing that can accomplish the part in batches, improves whole work efficiency, promotes degree of automation's advantage.

The above technical purpose of the present invention can be achieved by the following technical solutions:

the utility model provides a cubic unit multistation conveying mechanical hand, which comprises a bod, be equipped with mutual parallel arrangement and the same front end pick-up installation pole of structure and rear end pick-up installation pole on the organism, front end pick-up installation pole and rear end pick-up installation pole both ends are equipped with Z axle drive assembly and XY case subassembly respectively, an activity in X, Y and Z axle direction is accomplished to the drive work piece, front end pick-up installation pole end is equipped with front drive pole and front drive foot subassembly, rear end pick-up installation pole end is equipped with back actuating lever and back drive foot subassembly, be equipped with a plurality of end pick-ups that are parallel to each other between front end pick-up installation pole and the rear end pick-up installation pole, a work piece is fixed a position in order to follow work piece both sides centre gripping.

Through adopting above-mentioned technical scheme, during the use, a plurality of end effector on front end effector installation pole and the rear end effector installation pole can pick up a plurality of work piece simultaneously, improves holistic work efficiency and degree of automation, avoids carrying out artifical retooling under abominable operational environment, reduces workman's danger coefficient to liberation manpower improves the productivity of punching machine and mould greatly. And the robot can be automatically controlled through the Z-axis driving assembly and the XY box assembly to complete the workpiece movement in the direction of X, Y, Z axes.

Further setting: a plurality of stations for clamping parts are formed between the end pickers corresponding to the front end picker mounting rod and the rear end picker mounting rod, and the end pickers are fixed on the front end picker mounting rod and the rear end picker mounting rod through mounting seats.

Through adopting above-mentioned technical scheme, but a plurality of station synchronous working has improved holistic work efficiency greatly, has reduced the manpower demand, has improved degree of automation.

Further setting: the Z-axis driving assembly comprises two parallel mounting plates, an XY box assembly is connected between the mounting plates, the XY box assembly is connected to the mounting plates in a sliding mode in the vertical direction of the linear sliding rails, and a main beam used for fixing the XY box assembly relative to the XY box assembly is further arranged between the two mounting plates.

Further setting: be equipped with servo motor and speed reducer on the girder, be equipped with ball screw between the mounting panel, the output shaft of speed reducer is rotatory through the shaft coupling drive ball screw of locating on it, is connected with XY case subassembly through linear slide rail on the girder.

Further setting: the ball screw is connected to the main rod and the XY box assembly through a bearing, and a bearing seat used for positioning and connecting the bearing is further arranged between the bearing and the main beam.

Through adopting above-mentioned technical scheme, servo motor drive speed reducer, then through the shaft coupling drive ball screw, make ball screw rotatory, ball screw passes through bearing, bearing frame and girder hookup simultaneously, can be convenient for ball screw rotatory, stability when improving the rotation.

Further setting: and an electromagnetic brake is arranged at one end of the ball screw, which is close to the bearing on the mounting plate side, and is used for locking the ball screw after power failure.

Through adopting above-mentioned technical scheme, even the electromagnetic brake can lock ball screw after the outage, avoid ball screw rotatory under inertia, or because the heavy object self action of gravity whereabouts on the linear slideway, improve holistic security performance, avoid taking place danger and producing the loss.

Further setting: the mounting plate is further provided with a balance cylinder, a floating joint is fixed on an output shaft of the balance cylinder and used for reducing the load of the ball screw, and the balance cylinder can be cancelled when the load of the ball screw is low.

Through adopting above-mentioned technical scheme, the effect of balance cylinder and floating structure is the load that alleviates ball screw to increase ball screw's life-span, and when ball screw load was lighter, then can demolish balance cylinder, according to actual load apolegamy, the flexibility strengthens greatly.

Further setting: the front end pick-up mounting rod, the rear end pick-up mounting rod, the end pick-up, the Z-axis driving assembly and the XY box assembly are all arranged on the machine body in two groups which are parallel up and down.

To sum up, the utility model discloses following beneficial effect has:

can pick up a plurality of work piece simultaneously, improve holistic work efficiency and degree of automation, avoid carrying out artifical retooling under abominable operational environment, reduce workman's danger coefficient to liberation manpower improves the productivity of punching machine and mould greatly.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

FIG. 1 is a schematic view showing the structure of an automatic press line in example 1;

fig. 2 is a structural view of a robot in embodiment 1;

FIG. 3 is a top view of the robot;

FIG. 4 is a block diagram of the Z-axis drive assembly;

FIG. 5 is a side view of the Z-axis drive assembly;

FIG. 6 is a top view of the Z-axis drive assembly;

FIG. 7 is a schematic view of the structure of a YZ tank assembly;

FIG. 8 is a side view of a YZ tank assembly;

FIG. 9 is a front view of a YZ tank assembly;

FIG. 10 is a block diagram of the cross rail;

FIG. 11 is a schematic view of the position of the transverse pulley;

fig. 12 is a side view of a transverse pulley.

In the figure, 1, a material stack vehicle; 2. a distractor; 3. an unstacker; 4. a thread head feeding belt; 5. a sheet lifting mechanism; 6. a three-dimensional multi-station conveying manipulator; 61. a Z-axis drive assembly; 62. a YZ tank assembly; 63. a rear drive foot assembly; 64. a rear drive rod; 65. a front drive foot assembly; 66. a front drive lever; 67. a rear driven lever; 68. a front driven lever; 69. a front end picker mounting bar; 610. a rear end picker mounting bar; 611. a rest bar; 612. a rear driven foot assembly; 613. a front driven foot assembly; 614. a resolver; 621. mounting a plate; 622. a linear slide rail; 623. a main beam; 624. a servo motor; 615. a speed reducer; 616. a coupling; 6110. a ball screw; 617. a bearing; 618. a bearing seat; 619. electromagnetic braking; 6111. a feed screw nut; 6112. a balance cylinder; 6113. a floating joint; 21. a linear guide rail; 31. a slider; 22. controlling the motor; 23. a speed reducer; 625. a synchronous pulley; 626. a synchronous belt; 632. a tension column; 633. pressing plates of the synchronous belt; 641. a transverse guide rail; 635. a transverse motor; 636. a speed reducer; 638. a transverse pulley; 6310. a back wheel; 643. a synchronous belt tensioner; 7. a punch press; 8. coil stock material loading machine.

Detailed Description

The following describes the embodiments of the present invention with reference to the accompanying drawings.

The utility model adopts the technical proposal that:

embodiment 1, a three-dimensional multistation conveying manipulator, as shown in fig. 1, the punching automation line includes a stack car 1, a punching machine 7 and a coil stock feeding machine 8, and in the stack car, a divider, an unstacker 3, a first line feeding belt, a sheet lifting mechanism and a three-dimensional manipulator arranged outside the punching machine 7 are sequentially arranged between 1 and the punching machine 7. During operation, materials are conveyed to a first station of the conveying manipulator on the coil feeding machine 8, then the coil materials are punched out of the plates by the stamping die of the first station, and then the plates are transmitted to dies of other stations by the three-dimensional multi-station conveying manipulator.

As shown in fig. 2, the three-dimensional manipulator includes a body, a front end pick-up mounting rod 69 and a rear end pick-up mounting rod 610 which are arranged in parallel and have the same structure are provided in the body, a Z-axis driving assembly 61 and a YZ-box assembly 62 are respectively provided at two ends of the front end pick-up mounting rod 69 and the rear end pick-up mounting rod 610 for driving a workpiece to complete the motion in X, Y and Z-axis directions, a front driving rod 66 and a front driving foot assembly 65 are provided at the end of the front end pick-up mounting rod 69, a plurality of parallel end picks are provided between the front end pick-up mounting rod 69 and the rear end pick-up mounting rod 610, and a resolver 614 is further provided at the top of the body.

As shown in fig. 2 and 3, front and rear end pick-up mounting

bars

69 and 610 have a plurality of end pick-up mounting seats (the end pick-up may also be in the form of a sub-arm and then mounted on the end pick-up mounting bar by a locking mechanism, see chinese patent No. 201721843350. X). The mounting base is provided with an air passage and a circuit interface to provide signals and power required by the end effector.

In operation, the rear drive rod 64, the rear end pick-up mounting rod 610 and the rear driven rod 67 are coupled together by an automatic coupling device, and the front drive rod 66, the front end pick-up mounting rod 69 and the front driven rod 68 are also coupled together by an automatic coupling device. When the mold is changed, the rear end pick-up mounting rod 610 is separated from the rear driving rod 64 and the rear driven rod 67, and is stopped on the stop lever 611 on the machine body (the stop lever 611 is provided with a locking device, see the Chinese patent with the patent number of 201721855636.X for details). The front end pick-up mounting bar 69 works the same. Front end effector mounting bar 69 and rear end effector mounting bar 610 are provided with two sets (one set, or more sets) of parallel arrangement to facilitate quick replacement of the mold.

The functions are as follows: the rear driving foot assembly 63 moves the rear driving lever 64 in the left-right direction, thereby moving the rear end pick-up mounting lever 610 and the rear driven lever 67 simultaneously. Similarly, the front driving foot assembly 65 drives the rear end pick-up mounting rod 610 and the rear driven rod 67 to move in the X-axis. The drive speeds of the front drive foot assembly 65 and the rear drive foot assembly 63 are synchronized. This is the X-axis motion.

As shown in fig. 4 to 6, the right YZ box assembly 62 drives the rear driving leg assembly 63 and the front driving leg assembly 65 to move relatively in the front-rear direction, and the left YZ box assembly 62 drives the two Z-axis driving assemblies 61 to move relatively in the front-rear direction, thereby driving the rear driving rod 64, the Z-axis driving assembly 61, the rear driven rod 67 and the front driving rod 66 as a whole, the front end pickup mounting rod 69, and the front driven rod 68 as a whole to move relatively closer to or relatively farther away from each other. The speed of the YZ box assemblies 62 on both sides remains synchronized so that the rear drive rod 64, the Z-axis drive assembly 61, the rear and

front drive rods

67 and 66, the front end pick-up mounting rod 69, and the front drive rod 68 are parallel. This is the Y-axis motion.

As shown in fig. 4 to 6, the two side Z-axis driving assemblies 61 are fixed on the pressure column, and drive the two side YZ-box assemblies 62 to move up and down, and the right side YZ-box assembly 62 drives the rear driving foot assembly 63 and the front driving foot assembly 65 to move up and down, and then drives the rear driving rod 64 and the front driving rod 66 to move up and down. The left YZ box assembly 62 drives the Z-axis driving assembly 61, the Z-axis driving assembly 61 moves up and down, and then the rear driven rod 67 and the front driven rod 68 move up and down. The YZ tank assemblies 62 on both sides are speed synchronized. Thus, the rear drive rod 64, the Z-axis drive assembly 61, the rear driven rod 67 and the front drive rod 66, the front end picker mounting rod 69, and the front driven rod 68 move up and down in synchronization. This is the Z-axis motion.

As shown in fig. 4-6, the resolver 614 is provided with an encoder connected to the press spindle. The encoder obtains motion data of the main shaft of the press machine and feeds the motion data back to a control system of the three-dimensional multi-station conveying manipulator, and the control system controls the conveying manipulator to automatically coordinate with the press machine.

The working sequence of the three axes X, Y and Z is as follows:

the Y axis is close to, and the end effector picks up the workpiece;

the Z axis rises, and the end effector lifts the workpiece out of the die;

the X axis advances, and the end effector sends the workpiece to the die position of the next station;

the Z axis descends, and the end effector puts the workpiece into a die at the next station;

the Y axis is far away, the end effector is far away from the workpiece, and the end effector is withdrawn from the stamping position of the press machine to prevent the end effector from being damaged by pressing;

and returning the X axis while punching the die, and continuously circulating.

The three axes X, Y and Z are all controlled by a servo motor 624. The movement stroke, movement speed, and the like of the X, Y, Z three axes are set according to the structure of the press die, the press speed, the press process, and the like. Therefore, the three-dimensional manipulator has good flexibility and wide application, and can be applied to almost all molds by matching with the design of the end effector.

As shown in fig. 7 to 9, a plurality of stations for holding parts are formed between the end pickers corresponding to the front end pickup mounting rod 69 and the rear end pickup mounting rod 610, and the end pickers are fixed to the front end pickup mounting rod 69 and the rear end pickup mounting rod 610 by mounting seats. The Z-axis driving assembly 61 comprises two parallel mounting plates 621, a YZ box assembly 62 is connected between the mounting plates 621, the YZ box assembly 62 is connected to the mounting plates 621 through a linear guide rail 21 in a sliding manner in the vertical direction, and a main beam 623 used for fixing the two mounting plates 621 is further arranged between the two mounting plates 621.

As shown in fig. 7 to 9, a servo motor 624 and a speed reducer 615 are provided on the main beam 623, a ball screw is provided between the mounting plates 621, an output shaft of the speed reducer 615 drives the ball screw to rotate through a coupling 616 provided thereon, and a YZ box assembly 62 is connected to the main beam 623 through a linear guide rail 21. The ball screw is connected to the main rod and the YZ box component 62 through a bearing 617, and a bearing 617 seat for positioning and connecting the bearing 617 is arranged between the bearing 617 and the main beam 623.

As shown in fig. 7 to 9, an electromagnetic brake 619 for locking the ball screw after power failure is provided on the ball screw at an end close to the bearing 617 on the side of the mounting plate 621. The mounting plate 621 is further provided with a balance cylinder 6112, and a floating joint 6113 is fixed on an output shaft of the balance cylinder 6112 to reduce the load of the ball screw, so that the balance cylinder 6112 can be eliminated when the load of the ball screw is low.

As shown in fig. 10 to 12, the XY-box assembly includes a slider 31 slidably connected to the linear guide 21, a rear driving leg assembly 63 and a front driving leg assembly 65 are respectively connected to the slider 31, a front driving rod 66 is externally connected to the front driving leg assembly 65, and a rear driving rod 64 is externally connected to the rear driving leg assembly 63. XY case subassembly includes control motor 22, is connected with reduction gear 23 on the control motor 22, is connected with hold-in range 626 wheel 625 through shaft coupling 616 on the output shaft of reduction gear 23, corresponds on the XY case subassembly to be equipped with tensioning post 632, is connected with hold-in range 626 clamp plate on the tensioning post 632 for realize the removal of Y axle direction.

As shown in fig. 10 to 12, the XY-box assembly includes a transverse guide rail 641 capable of translating along a horizontal direction, a transverse motor 635 and a speed reducer 636 are disposed on the XY-box assembly, a coupler 616 and a transverse pulley 638 are disposed on an output shaft of the speed reducer 636, a timing belt 626 is disposed on the Y-transverse pulley 638, and the Z-box assembly further includes two parallel back wheels 6310. One end of the synchronous belt 626 is fixed through a pressing plate of the synchronous belt 626, and the other end of the synchronous belt 626 is fixed through a tensioner of the synchronous belt 626 so as to drive a workpiece to complete the movement along the X-axis direction.

The front end pick-up mounting rod 69, the rear end pick-up mounting rod 610, the end pick-up, the Z-axis driving assembly 61 and the XY box assembly are all provided with two groups which are parallel up and down on the machine body.

The above is the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the simple modifications, equivalent changes and modifications made by the technical entity of the present invention to the above embodiments all belong to the scope of the technical solution of the present invention.

Claims

1. The utility model provides a three-dimensional multistation conveying mechanical hand, includes the organism, its characterized in that: be equipped with mutual parallel arrangement and the same front end pickup installation pole (69) of structure and rear end pickup installation pole (610) on the organism, front end pickup installation pole (69) and rear end pickup installation pole (610) both ends are equipped with Z axle drive assembly (61) and XY case subassembly respectively, be used for driving the work piece and accomplish the activity in X, Y and Z axle direction, front end pickup installation pole (69) end is equipped with front drive pole (66) and front drive foot subassembly (65), rear end pickup installation pole (610) end is equipped with back actuating lever (64) and back drive foot subassembly (63), be equipped with a plurality of end pickers that are parallel to each other between front end pickup installation pole (69) and rear end pickup installation pole (610), be used for following the work piece both sides centre gripping location work piece.

2. The three-dimensional multi-station conveying manipulator according to claim 1, characterized in that: a plurality of stations for clamping parts are formed between the end pickers corresponding to the front end picker mounting rod (69) and the rear end picker mounting rod (610), and the end pickers are fixed on the front end picker mounting rod (69) and the rear end picker mounting rod (610) through mounting seats.

3. The three-dimensional multi-station conveying manipulator according to claim 1, characterized in that: z axle drive assembly (61) includes two mounting panels (621) that are parallel to each other, connects XY case subassembly between mounting panel (621), and XY case subassembly passes through linear slide rail (622) vertical direction and slides and connect on mounting panel (621), still is equipped with between two mounting panels (621) to be used for its relatively fixed girder (623).

4. The three-dimensional multi-station conveying manipulator according to claim 3, characterized in that: be equipped with servo motor (624) and speed reducer (615) on girder (623), be equipped with ball screw (6110) between mounting panel (621), the output shaft of speed reducer (615) drives ball screw (6110) through shaft coupling (616) of locating on it and rotates, is connected with XY case subassembly through linear slide rail (622) on girder (623).

5. The three-dimensional multi-station conveying manipulator according to claim 4, wherein: the ball screw (6110) is connected to the main rod and the XY box component through a bearing (617), and a bearing (617) seat used for positioning and connecting the bearing (617) is arranged between the bearing (617) and the main beam (623).

6. The three-dimensional multi-station conveying manipulator according to claim 5, wherein: and an electromagnetic brake (619) is arranged at one end, close to the side bearing (617) of the mounting plate (621), of the ball screw (6110) and used for locking the ball screw (6110) after power failure.

7. The three-dimensional multi-station conveying manipulator according to claim 6, wherein: the mounting plate (621) is further provided with a balance cylinder (6112), a floating joint (6113) is fixed on an output shaft of the balance cylinder (6112) and used for reducing the load of the ball screw (6110), and the balance cylinder (6112) can be cancelled when the load of the ball screw (6110) is low.

8. The three-dimensional multi-station conveying manipulator according to claim 1, characterized in that: the front end pick-up mounting rod (69), the rear end pick-up mounting rod (610), the pick-up, the Z-axis driving component (61) and the XY box component are all provided with two groups which are parallel up and down on the machine body.