CN210586819U - Connecting rod type moving manipulator for metal plate - Google Patents

Abstract

The utility model relates to a connecting rod formula removes manipulator for panel beating, its characterized in that: include manipulator body (1.1), the vice body of manipulator (1.2), transfer arm (1.3), lifting drive connecting rod (1.4) and snatch arm (1.5), transfer arm (1.3) and lifting drive connecting rod (1.4) parallel arrangement each other, and a plurality of snatch arm (1.5) and evenly set up on transferring arm (1.3). The utility model relates to a connecting rod formula mobile manipulator for panel beating, it has machining efficiency height, processes effectual and the good advantage of processing uniformity.

Description

Connecting rod type moving manipulator for metal plate

Technical Field

The utility model relates to a connecting rod formula removes manipulator for panel beating especially relates to a connecting rod formula removes manipulator for panel beating applied to in panel beating stamping production, belongs to automated production technical field.

Background

At present, in sheet metal stamping production, manual feeding and blanking are mostly adopted, and multiple persons are needed to cooperate with operation, so that time and labor are wasted, misoperation is easy to occur, product quality is affected, and even safety accidents are caused, therefore, an automatic sheet metal production line is urgently needed to improve generation efficiency and sheet metal stamping effect, and labor cost is effectively reduced; for this reason, there are enterprises that have developed a "sheet metal part production line" as disclosed in chinese patent CN201610367425.5, which is produced in a mechanized manner, and has a structure of: "a sheet metal component production line, which comprises a frame, be equipped with in the frame in proper order be used for carrying the loading attachment of panel beating, be used for carrying out the punching press cutting device that the punching press cut off, be used for carrying out the bending device who bends and be used for collecting off-the-shelf material collecting device to the panel beating, its characterized in that: be equipped with the chasing bar that carries out the tapping to the through-hole on the sheet metal component between punching press cutting device and the bending device, chasing bar is including setting up the workstation that is used for placing the sheet metal component in the frame, be equipped with the part that compresses tightly that is used for compressing tightly the sheet metal component on the workstation, it is visible, its essence is the local improvement to the punching machine for it can compress tightly in order to improve stamping effect to the panel beating in work, and the manual work of partial substitution carries out the pan feeding, but it can't be called complete sheet metal punching production line, especially lacks the automatic mechanical arm mechanism who matches with it, consequently still can't solve above-mentioned problem.

Disclosure of Invention

An object of the utility model is to overcome above-mentioned not enough, provide a connecting rod formula mobile manipulator for panel beating, it has machining efficiency height, the effectual and advantage that the processing uniformity is good of processing, the effectual quality that improves the product has reduced the operating cost, has improved the market competition of enterprise.

The purpose of the utility model is realized like this:

the utility model provides a link type removes manipulator for panel beating, includes manipulator body, the vice body of manipulator, transfers arm, lifting drive connecting rod and snatchs the arm, transfer arm and lifting drive connecting rod parallel arrangement each other, and a plurality of snatchs the arm and evenly set up on transferring the arm.

The manipulator body comprises a body support, a body lifting plate is vertically and slidably arranged in the body support, a body lifting rack is vertically arranged on the body lifting plate, two groups of body transfer arm guide wheels are horizontally arranged on the body lifting plate, a transfer arm penetrating through the manipulator body is slidably clamped between the two groups of body transfer arm guide wheels, a body transfer arm driving gear is sleeved on a lifting driving connecting rod penetrating through the body support, and the body transfer arm driving gear is meshed with the body lifting rack; install lifting driving motor on the body support, this lifting driving motor passes through lifting drive hold-in range drive lifting drive connecting rod rotatory, install on the body support and transfer arm driving motor, the back of transferring the arm is provided with along its length direction and transfers arm drive rack, and the arm driving motor is transferred through transferring arm drive hold-in range drive to the aforesaid and is transferred the arm drive shaft rotatory, and transfer the gear that the arm drive epaxial suit has and transfer arm drive rack and mesh mutually.

The utility model relates to a connecting rod formula removal manipulator for panel beating, the vice body of manipulator is provided with at least one, the vice body of manipulator includes duplicate body support, the vertical slip is provided with a pair body lifting plate in the duplicate body support, vertically on the duplicate body lifting plate is provided with vice body lifting rack, the duplicate body lifting plate is improved level and is provided with two sets of duplicate body transfer arm guide pulleys, the transfer arm that passes the vice body of manipulator slides and centre gripping between two sets of duplicate body transfer arm guide pulleys; the lifting driving connecting rod penetrating into the duplicate body support is sleeved with a duplicate body transfer arm driving gear, and the duplicate body transfer arm driving gear is meshed with the duplicate body lifting rack.

The utility model relates to a link rod formula removes manipulator for panel beating, snatch the arm and include and install the mounting bracket on transferring the arm and set up the sucking disc on the mounting bracket.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a manipulator snatchs the sheet metal component, very big improvement operating efficiency and punching press effect.

Drawings

Fig. 1 is a schematic structural diagram of an automatic production line for sheet metal stamping forming.

Fig. 2 is the utility model relates to a connecting rod formula removes structural schematic of manipulator for panel beating.

Fig. 3 is the utility model relates to a link type moves the structural schematic diagram of the manipulator body in the manipulator for panel beating.

Fig. 4 is the utility model relates to a link type moves the structural schematic diagram of the manipulator body in the manipulator for panel beating.

Fig. 5 is the utility model relates to a structural schematic diagram of the vice body of manipulator among connecting rod formula mobile manipulator for panel beating.

Fig. 6 is a schematic structural diagram of a feeding assembly in an automatic production line for sheet metal stamping forming.

Fig. 7 is a schematic structural diagram of a feeding assembly (with one side of the protective grid plate removed) in an automatic sheet metal stamping forming production line.

Fig. 8 is a bottom view of a material storage platform in an automatic production line for sheet metal stamping forming.

Fig. 9 is a top view of a material storage platform in an automatic production line for sheet metal stamping forming.

Fig. 10 is a schematic structural diagram of a horizontal turnover assembly in an automatic production line for sheet metal stamping and forming.

Fig. 11 is a schematic structural diagram of a horizontal turnover assembly in an automatic production line for sheet metal stamping forming.

Fig. 12 is a partial cross-sectional view of a horizontal flip assembly in an automatic production line for sheet metal stamping.

Wherein:

the device comprises a connecting rod type mobile manipulator assembly 1, a feeding assembly 2, a horizontal overturning assembly 3, a punching machine 4 and a discharging conveyor 5;

the manipulator comprises a manipulator body 1.1, a manipulator auxiliary body 1.2, a transfer arm 1.3, a lifting driving connecting rod 1.4 and a grabbing arm 1.5;

the device comprises a body bracket 1.1.1, a body lifting plate 1.1.2, a body lifting rack 1.1.3, a body transfer arm guide wheel 1.1.4 and a body transfer arm driving gear 1.1.5;

a lifting driving motor 1.1.6, a lifting driving synchronous belt 1.1.7, a transferring arm driving motor 1.1.8, a transferring arm driving synchronous belt 1.1.9, a transferring arm driving shaft 1.1.10 and a transferring arm driving rack 1.1.11;

the device comprises a duplicate body bracket 1.2.1, a duplicate body lifting plate 1.2.2, a duplicate body lifting rack 1.2.3, a duplicate body transfer arm guide wheel 1.2.4 and a duplicate body transfer arm driving gear 1.2.5;

the device comprises a support 2.1, a slide rail 2.2, a sliding plate 2.3, a material storage positioning column 2.4, a material storage platform 2.5, a material storage frame 2.6, a translation cylinder 2.7, a jacking cylinder 2.8 and a protective grating plate 2.9;

2.3.1 of perforation;

a feeding hole 2.5.1;

2.6.1 of a frame body, 2.6.2 of a retaining tongue, 2.6.3 of a positioning block and 2.6.4 of a retaining spring;

the device comprises a support frame 3.1, a clamping driving cylinder 3.2, a turnover driving cylinder 3.3, a turnover disc 3.4, a turnover gear 3.5, a turnover rack 3.6, a lifting block 3.7, a limiting column 3.8, an upper lifting platform 3.9, a lower lifting platform 3.10 and a lifting guide rail 3.11;

the annular overturning chute 3.1.1.

Detailed Description

Referring to fig. 2 to 6, the connecting rod type moving manipulator for metal plates according to the present invention includes a manipulator body 1.1, a manipulator pair body 1.2, a transfer arm 1.3, a lifting driving connecting rod 1.4 and a grabbing arm 1.5, wherein the transfer arm 1.3 and the lifting driving connecting rod 1.4 are arranged in parallel, and a plurality of grabbing arms 1.5 are uniformly arranged on the transfer arm 1.3, and the grabbing arm 1.5 includes a mounting frame mounted on the transfer arm 1.3 and a sucker arranged on the mounting frame;

the manipulator body 1.1 comprises a body support 1.1.1, a body lifting plate 1.1.2 is vertically arranged in the body support 1.1.1 in a sliding manner, a body lifting rack 1.1.3 is vertically arranged on the body lifting plate 1.1.2, two groups of body transfer arm guide wheels 1.1.4 are horizontally arranged on the body lifting plate 1.1.2, a transfer arm 1.3 penetrating through the manipulator body 1.1 is slidably clamped between the two groups of body transfer arm guide wheels 1.1.4, a body transfer arm driving gear 1.1.5 is sleeved on a lifting driving connecting rod 1.4 penetrating through the body support 1.1.1, and the body transfer arm driving gear 1.1.5 is meshed with the body lifting rack 1.1.3; the lifting driving motor 1.1.6 is mounted on the body support 1.1.1, the lifting driving motor 1.1.6 drives the lifting driving connecting rod 1.4 to rotate through a lifting driving synchronous belt 1.1.7, the transfer arm driving motor 1.1.8 is mounted on the body support 1.1.1, a transfer arm driving rack 1.1.11 is arranged on the back surface of the transfer arm 1.3 along the length direction of the transfer arm, the transfer arm driving motor 1.1.8 drives a transfer arm driving shaft 1.1.10 to rotate through a transfer arm driving synchronous belt 1.1.9, and a gear sleeved on the transfer arm driving shaft 1.1.10 is meshed with the transfer arm driving rack 1.1.11;

the manipulator auxiliary body 1.2 is provided with at least one manipulator, the manipulator auxiliary body 1.2 comprises an auxiliary body support 1.2.1, an auxiliary body lifting plate 1.2.2 is vertically and slidably arranged in the auxiliary body support 1.2.1, an auxiliary body lifting rack 1.2.3 is vertically arranged on the auxiliary body lifting plate 1.2.2, two auxiliary body transfer arm guide wheels 1.2.4 are horizontally arranged on the auxiliary body lifting plate 1.2.2, and the transfer arm 1.3 penetrating through the manipulator auxiliary body 1.2 is slidably clamped between the two auxiliary body transfer arm guide wheels 1.2.4; a duplicate body transfer arm driving gear 1.2.5 is sleeved on a lifting driving connecting rod 1.4 penetrating into the duplicate body support 1.2.1, and the duplicate body transfer arm driving gear 1.2.5 is meshed with a duplicate body lifting rack 1.2.3; when the lifting device is used, the lifting driving motor 1.1.6 can conveniently control the lifting plate 1.1.2 of the body to move up and down, and then the upper guide wheel of the lifting driving motor drives the clamped transfer arm 1.3 to move up and down, so that the movement in the vertical direction is realized; meanwhile, after the motor 1.1.8 is driven by the transfer arm, the transfer arm 1.3 can be driven to move in the horizontal direction by the meshing transmission of a gear and a rack;

referring to fig. 1 to 12, the utility model discloses a panel beating stamping forming automatic production line is accomplished to the structure, the production line includes connecting rod formula mobile manipulator subassembly 1, material loading subassembly 2, horizontal upset subassembly 3 and punching press lathe 4 and unloading conveyer 5, material loading subassembly 2 and unloading conveyer 5 are located the left and right both ends of connecting rod formula mobile manipulator subassembly 1 respectively; the manipulator is the connecting rod type movable manipulator assembly 1;

the feeding assembly 2 comprises a support 2.1, two sliding rails 2.2 are arranged on the support 2.1 in parallel, a sliding plate 2.3 is arranged on the sliding rails 2.2 in a sliding mode, at least one group of positioning mechanisms are arranged on the sliding plate 2.3, each positioning mechanism comprises a plurality of vertically arranged storage positioning columns 2.4, the storage positioning columns 2.4 are arranged in a surrounding mode to form a positioning mechanism for placing sheet metal parts in the middle, and a through hole 2.3.1 is formed in the center of each positioning mechanism of the sliding plate 2.3; a jacking cylinder 2.8 is positioned below the sliding plate 2.3, and a piston rod of the jacking cylinder 2.8 upwards penetrates through a through hole 2.3.1 of the sliding plate 2.3; a material storage platform 2.5 is arranged on the bracket 2.1, and the material storage platform 2.5 is positioned above the sliding plate 2.3; a feeding hole 2.5.1 is formed in the center of the material storage platform 2.5; when the device is used, a sheet metal part to be punched is placed in the positioning mechanism, then the sliding plate 2.3 is moved to drive the sheet metal part to be punched to be below the material storage platform 2.5, and a piston rod of the jacking cylinder 2.8 upwards penetrates through a through hole 2.3.1 of the sliding plate 2.3 to upwards support the sheet metal part to be punched, so that the sheet metal part to be punched is limited by the material storage rack 2.6 to be prevented from falling after penetrating through the material loading hole 2.5.1; at the moment, the connecting rod type moving manipulator assembly 1 can conveniently take materials;

the horizontal overturning component 3 comprises a support frame 3.1, a clamping driving cylinder 3.2 and an overturning driving cylinder 3.3 are vertically and fixedly arranged at the top of the support frame 3.1, an annular overturning chute 3.1.1 is arranged on the front surface of the support frame 3.1, and a turnover disc 3.4 attached to the front surface of the support frame 3.1 is coaxially arranged with the annular turnover chute 3.1.1, the central shaft of the turnover disc 3.4 is sleeved with a turnover gear 3.5 after passing through the support frame 3.1, a turnover rack 3.6 connected with a piston rod vertically downward of the turnover driving cylinder 3.3 is meshed with a turnover gear 3.5, a lifting guide rail 3.11 is vertically arranged on the overturning plate 3.4, an upper lifting platform 3.9 and a lower lifting platform 3.10 are arranged on the lifting guide rail 3.11 in a sliding way, the upper lifting platform 3.9 and the lower lifting platform 3.10 are parallel to each other, limiting columns 3.8 which are embedded in the annular overturning chute 3.1.1 in a sliding manner are arranged on the upper lifting platform 3.9 and the lower lifting platform 3.10;

a lifting block 3.7 is connected to the vertically downward piston rod of the clamping driving cylinder 3.2, an arc-shaped groove is formed in the surface of the lifting block 3.7, a notch is formed in the annular overturning chute 3.1.1, when the clamping driving cylinder 3.2 drives the lifting block 3.7 to be downwards inserted into the notch, the arc-shaped groove in the lifting block 3.7 and the annular overturning chute 3.1.1 are spliced into a complete annular groove, and a limiting column 3.8 connected to the upper lifting platform 3.9 or the lower lifting platform 3.10 is slidably embedded in the arc-shaped groove in the lifting block 3.7; when the stamping device is used, a sheet metal part to be stamped is placed between the upper lifting platform 3.9 and the lower lifting platform 3.10, the upper lifting platform 3.9 is driven to move downwards by the clamping driving cylinder 3.2, and the limiting column 3.8 on the upper lifting platform 3.9 synchronously moves downwards to the side of the opening of the annular overturning chute 3.1.1; then, the overturning driving cylinder 3.3 acts to drive the overturning plate 3.4 to overturn, and at the moment, the upper lifting platform 3.9 and the limiting column 3.8 of the lower lifting platform 3.10 overturn for 180 degrees in the annular overturning chute 3.1.1; the clamping driving cylinder 3.2 is started again, and the lifting platform 3.10 is driven by the clamping driving cylinder 3.2 to move upwards at the moment, so that the platform is opened;

furthermore, one end of the limiting column 3.8, which is positioned in the annular overturning chute 3.1.1, is sleeved with a roller, so that the friction force is reduced;

further, a plurality of material storage racks 2.6 are arranged around the feeding hole 2.5.1, each material storage rack 2.6 comprises a rack body 2.6.1 erected on the hole wall of the feeding hole 2.5.1, one surface of the rack body 2.6.1 facing the feeding hole 2.5.1 is movably connected with a backstop tongue 2.6.2 in a penetrating manner, the backstop tongues 2.6.2 surround to form a frustum cavity with a small upper part and a large lower part, and a backstop spring 2.6.4 is arranged between the backstop tongue 2.6.2 and the rack body 2.6.1 (preferably, a positioning block 2.6.3 is fixed on the rack body 2.6.1, one end of the backstop spring 2.6.4 abuts against or is sleeved on the backstop tongue 2.6.2, and the other end of the backstop spring abuts against or is sleeved on the positioning block 2.6.3); when the sheet metal part to be stamped and processed is upward, the stopping tongue 2.6.2 is extruded to retreat outward, so that the sheet metal part to be stamped and processed passes through the stopping tongue 2.6.2, and at the moment, the stopping tongue 2.6.2 extends out and resets below the sheet metal part to be stamped and processed under the action of the elastic force of the stopping spring 2.6.4, so that the sheet metal part to be stamped and processed is prevented from falling;

further, a translation cylinder 2.7 is mounted on the support 2.1, the telescopic direction of a piston rod of the translation cylinder 2.7 is parallel to the sliding direction of the sliding plate 2.3, and the piston rod of the translation cylinder 2.7 is connected with the sliding plate 2.3, so that the sliding plate 2.3 is driven;

further, a protective grating plate 2.9 is arranged between the material storage platform 2.5 and the support 2.1.

The utility model relates to a panel beating stamping forming automation line's preparation step does:

firstly, a sheet metal part to be punched is placed in a positioning mechanism, then a sliding plate 2.3 is moved to drive the sheet metal part to be punched to be below a material storage platform 2.5, a piston rod of a jacking cylinder 2.8 upwards penetrates through a through hole 2.3.1 of the sliding plate 2.3 and then upwards supports the sheet metal part to be punched, so that the sheet metal part to be punched is limited by a material storage rack 2.6 to be prevented from falling after penetrating through a material loading hole 2.5.1;

step two, starting a transfer arm driving motor 1.1.8 to enable a transfer arm 1.3 to move left and right, driving a grabbing arm 1.5 to the position above a sheet metal part to be stamped and processed by the transfer arm 1.3, starting a lifting driving motor 1.1.6 to control a body lifting plate 1.1.2 to descend, driving the transfer arm 1.3 to descend, enabling the grabbing arm 1.5 to adsorb the sheet metal part to be stamped and processed, then starting the lifting driving motor 1.1.6 to drive the sheet metal part to be stamped and processed to move upwards, and then starting the transfer arm driving motor 1.1.8 again to horizontally convey the sheet metal part to be stamped and processed to the position above a stamping machine tool 4;

step three, the lifting driving motor 1.1.6 controls the body lifting plate 1.1.2 to descend, drives the transfer arm 1.3 to descend, and then enables the sheet metal part to be stamped and processed adsorbed by the grabbing arm 1.5 to be placed on a processing position of the stamping machine tool 4, and then the grabbing arm 1.5 is separated from the sheet metal part to be stamped and processed and faces upwards;

step four, starting the stamping machine tool 4 to stamp the sheet metal part to be stamped;

after stamping is finished, conveying the sheet metal part to be stamped to a position between an upper lifting platform 3.9 and a lower lifting platform 3.10 of the horizontal overturning component 3 through a grabbing arm 1.5, driving a cylinder 3.2 to drive the upper lifting platform 3.9 to move downwards through clamping, and enabling a limiting column 3.8 on the upper lifting platform 3.9 to synchronously move downwards to a position beside a gap of an annular overturning chute 3.1.1; then, the overturning driving cylinder 3.3 acts to drive the overturning plate 3.4 to overturn, and at the moment, the upper lifting platform 3.9 and the limiting column 3.8 of the lower lifting platform 3.10 overturn for 180 degrees in the annular overturning chute 3.1.1; then, the clamping driving cylinder 3.2 is started again, the lifting platform 3.10 is driven by the clamping driving cylinder 3.2 to move upwards, and clamping of the sheet metal part to be stamped is released;

step six, the grabbing arm 1.5 grabs the sheet metal part to be punched and processed which is turned over for 180 degrees in the step five to start the punching machine 4 to punch and process the back surface of the sheet metal part;

and step seven, repeating the step five and the step six until the processed sheet metal parts are grabbed to the blanking conveyor 5 through the grabbing arm 1.5 after the stamping is finished.

In addition: it should be noted that the above-mentioned embodiment is only a preferred embodiment of the present patent, and any modification or improvement made by those skilled in the art based on the above-mentioned conception is within the protection scope of the present patent.

Claims (3)

1. The utility model provides a link rod formula removes manipulator for panel beating which characterized in that: the manipulator comprises a manipulator body (1.1), a manipulator auxiliary body (1.2), a transfer arm (1.3), a lifting driving connecting rod (1.4) and grabbing arms (1.5), wherein the transfer arm (1.3) and the lifting driving connecting rod (1.4) are arranged in parallel, and the grabbing arms (1.5) are uniformly arranged on the transfer arm (1.3);

the manipulator body (1.1) comprises a body support (1.1.1), a body lifting plate (1.1.2) is vertically arranged in the body support (1.1.1) in a sliding manner, a body lifting rack (1.1.3) is vertically arranged on the body lifting plate (1.1.2), two groups of body transfer arm guide wheels (1.1.4) are horizontally arranged on the body lifting plate (1.1.2), a transfer arm (1.3) penetrating through the manipulator body (1.1) is clamped between the two groups of body transfer arm guide wheels (1.1.4) in a sliding manner, a body transfer arm driving gear (1.1.5) is sleeved on a lifting driving connecting rod (1.4) penetrating through the body support (1.1.1), and the body transfer arm driving gear (1.1.5) is meshed with the body lifting rack (1.1.3); install lifting driving motor (1.1.6) on body support (1.1.1), this lifting driving motor (1.1.6) drives lifting drive connecting rod (1.4) rotatory through lifting drive hold-in range (1.1.7), it transfers arm driving motor (1.1.8) to install on body support (1.1.1), the back of transferring arm (1.3) is provided with along its length direction and transfers arm drive rack (1.1.11), and above-mentioned arm driving motor (1.1.8) of transferring is transferred arm drive axle (1.1.10) rotatory through transferring arm drive hold-in range (1.1.9) drive, and transfers the gear that the suit had on arm drive axle (1.1.10) and transfer arm drive rack (1.1.11) and mesh mutually.

2. The link-type moving manipulator for sheet metal according to claim 1, wherein: the manipulator auxiliary body (1.2) is provided with at least one, the manipulator auxiliary body (1.2) comprises an auxiliary body support (1.2.1), an auxiliary body lifting plate (1.2.2) is vertically and slidably arranged in the auxiliary body support (1.2.1), an auxiliary body lifting rack (1.2.3) is vertically arranged on the auxiliary body lifting plate (1.2.2), two groups of auxiliary body transfer arm guide wheels (1.2.4) are horizontally arranged on the auxiliary body lifting plate (1.2.2), and a transfer arm (1.3) penetrating through the manipulator auxiliary body (1.2) is slidably clamped between the two groups of auxiliary body transfer arm guide wheels (1.2.4); an auxiliary body transfer arm driving gear (1.2.5) is sleeved on a lifting driving connecting rod (1.4) penetrating into the auxiliary body support (1.2.1), and the auxiliary body transfer arm driving gear (1.2.5) is meshed with an auxiliary body lifting rack (1.2.3).

3. The link-type moving manipulator for sheet metal according to claim 1, wherein: the grabbing arm (1.5) comprises an installation frame arranged on the transferring arm (1.3) and a sucker arranged on the installation frame.

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