CN213793890U

CN213793890U - Robot feeding and discharging system for punching clutch outer cover

Info

Publication number: CN213793890U
Application number: CN202022507234.9U
Authority: CN
Inventors: 王中华
Original assignee: Chongqing Zhaoyong Trading Co ltd
Current assignee: Chongqing Zhaoyong Trading Co ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-07-27
Anticipated expiration: 2030-11-03

Abstract

The utility model relates to a machine-building field specifically discloses a go up unloading system of robot for clutch housing punches a hole, including punch press, material loading transmission line, unloading transmission line and the unloading mechanism of punching a hole of going up, the unloading mechanism of punching a hole includes the multiaxis robot and sets up in the unloading grasping element of punching a hole of multiaxis robot wrist department, the unloading mechanism of punching a hole is used for shifting the work piece on the material loading transmission line to the punch press and shifts the work piece that accomplishes punching a hole on with the punch press to the unloading transmission line, the punch press is located material loading transmission line's discharge end one side, and the punch press is located feed end one side of unloading transmission line, and the unloading transmission line is located the below of material loading transmission line. Adopt the utility model provides the high degree of automation of motorcycle clutch dustcoat process of punching a hole reduces the human cost, improves production efficiency.

Description

Robot feeding and discharging system for punching clutch outer cover

Technical Field

The utility model belongs to the technical field of the machine-building, concretely relates to last unloading system of robot that is used for clutch dustcoat to punch a hole.

Background

The structure of the motorcycle primary clutch outer cover is shown in figure 9, the clutch outer cover 100 is a cylindrical groove shape with a mounting hole 1000, and the processing process is as follows: the circular plate is firstly punched into a cylindrical groove shape as shown in figure 8 by a hydraulic forming machine, and then a mounting hole of the clutch outer cover is punched by a punch.

Among the prior art, the clutch dustcoat adopts the manual work to carry out material loading and unloading in the process of punching a hole, and degree of automation is low, and the human cost is higher.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: how to improve the degree of automation of motorcycle clutch dustcoat punching process to reduce the human cost, improve production efficiency.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a unloading system on robot for clutch housing punches a hole, including punch press, material loading transmission line, unloading transmission line and the unloading mechanism of punching a hole, the unloading mechanism of punching a hole includes the multiaxis robot and sets up the unloading grasping element of punching a hole in multiaxis robot wrist department, the unloading mechanism of punching a hole is used for shifting the work piece on the material loading transmission line to the punch press and shifts the work piece that accomplishes punching a hole on with the punch press to the unloading transmission line, the punch press is located the discharge end one side of material loading transmission line, and the punch press is located the feed end one side of unloading transmission line, and the unloading transmission line is located the below of material loading transmission line.

Furthermore, a material guide channel is arranged on the feeding conveying line, the material guide channel extends along the conveying direction of the feeding conveying line, and the material guide channel is close to the discharging end of the feeding conveying line.

Further, the central axis of the material guide channel coincides with the central axis of the feeding conveying line.

Furthermore, the inlet of the material guide channel is splayed.

Furthermore, a baffle plate for blocking the workpiece is further arranged on the feeding conveying line, and the baffle plate is positioned at one end, close to the discharging end of the feeding conveying line, of the material guide channel.

Further, the conveying directions of the blanking conveying line and the feeding conveying line are perpendicular to each other.

Further, the feeding conveying line and the discharging conveying line are both conveyor belts.

Further, go up unloading snatching mechanism including the material loading spare and the unloading spare that punches a hole of punching a hole, the material loading spare that punches a hole is used for shifting the work piece to the station that punches a hole of punch press from the material loading conveyer line, the unloading spare that punches a hole is used for shifting the work piece to the unloading conveyer line from the station that punches a hole of punch press.

Further, go up unloading snatch mechanism punches a hole and still including setting up in the linking arm of the wrist department of multiaxis robot and connecting the connection pad on the linking arm, the material loading spare that punches a hole is including setting up the material loading arm that punches a hole on the connection pad and setting up the vacuum chuck on the material loading arm that punches a hole, the material unloading spare that punches a hole is including setting up the material unloading arm that punches a hole on the connection pad, be equipped with the unloading cylinder that punches a hole on the material unloading arm that punches a hole, the output of the unloading cylinder that punches a hole is fixed with the unloading ejector pad that punches a hole, and the outer parcel of the unloading ejector pad that punches a hole has the elasticity cramp body that can insert in the clutch dustcoat.

The beneficial effects of the utility model reside in that:

1. because the workpiece is in a cylindrical groove-shaped structure on the feeding conveying line, the inner bottom wall of the workpiece is a plane, the inner bottom wall of the workpiece is taken and placed by adopting the vacuum chuck, the structure is simple and effective, and after punching of the workpiece on a punch press is completed, the workpiece is changed into the cylindrical groove-shaped structure with the central mounting hole, the attaching area between the workpiece and the vacuum chuck is smaller due to the existence of the mounting hole, and the suction of the vacuum chuck is invalid, so that a finished workpiece after punching is not suitable for taking and placing the vacuum chuck, the scheme selects the structure that the elastic clamping body is matched with the punching and blanking cylinder to push the punching and blanking push block, when the workpiece after punching is required to be clamped, the elastic clamping body is inserted into the inner side of the workpiece, and the elastic clamping body has larger friction force with the inner side wall of the workpiece by utilizing the elasticity of the elastic clamping body, after the elastic clamping body transfers the workpiece to the blanking conveying line, the punching blanking push block on the inner side of the workpiece is pushed to move through the punching blanking air cylinder, and the workpiece is taken off from the elastic clamping body by the punching blanking push block, so that blanking of the workpiece is realized. In the scheme, the workpiece is respectively loaded and unloaded before and after punching through two different structures, the structure difference of the workpiece before and after punching is just considered, the suitable grabbing structure of the workpiece is different, and therefore the workpiece can be effectively grabbed before and after punching.

2. The workpiece can accurately reach the punching station on the punch press through the feeding conveying line, the workpiece on the feeding conveying line can be accurately grabbed by the grabbing piece on the punching machine on the multi-axis robot, namely, the position of the workpiece on the feeding conveying line cannot be deviated, otherwise, the position of the workpiece on the feeding conveying line can be deviated, the workpiece grabbing piece on the punching machine can be deviated, the hole position of the workpiece machined by the machining station on the punch press can be deviated, and the workpiece is unqualified in punching. This scheme sets up the guide passageway on the material loading transfer line and can carry out position adjustment to the work piece on the conveyer belt for the work piece can adjust the axis position to the conveyer belt on the conveyer belt, thereby it snatchs the work piece on the conveyer belt and grabs inclined to one side problem to avoid punching a hole on the unloading snatchs.

3. Because the work piece is in the motion state on the material loading transfer line, it is difficult for snatching when grabbing the work piece to go up unloading grabbing piece that punches a hole, and grab the work piece partially easily when snatching, this scheme sets up the structure of baffle, when the unloading grabbing piece snatchs the work piece on the conveyer belt of going up that punches a hole, through the blockking of baffle to the work piece, can make the work piece on the conveyer belt pause motion, the work piece aversion leads to the unloading grabbing piece that punches a hole to snatch the work piece rear position and produce the skew when grabbing the work piece when avoiding the unloading grabbing piece that punches a hole and snatchs a work piece, the inaccurate problem in work piece position in follow-up punching a hole in-process has guaranteed to punch a hole and go up unloading grabbing piece and snatch the position accuracy of work piece.

Drawings

Fig. 1 is a top view of an embodiment of the present invention.

Fig. 2 is a front view of the punching feeding and discharging gripping mechanism in fig. 1.

Fig. 3 is a front view of the four-axis palletizing robot in fig. 2.

Fig. 4 is a top view of the punch loading and unloading gripper of fig. 2.

Fig. 5 is a longitudinal cross-sectional view of the punch blanking arm of fig. 4 with the punch blanking pusher in a retracted position within the resilient clamp.

Fig. 6 is a state diagram of the punching blanking push block in fig. 5 extending out of the elastic clamping body.

Fig. 7 is an enlarged view of a portion a of fig. 1.

Fig. 8 is a schematic structural view of a workpiece before punching.

Fig. 9 is a schematic view of the punched structure of fig. 8.

Wherein the reference numerals include: the device comprises a clutch outer cover 100, a mounting hole 1000, a feeding conveying line 5, a material guide channel 501, a baffle plate 502, a punching feeding and discharging mechanism 6, a punch press 7, a discharging conveying line 8, a base 22, a rotary seat 23, a large arm 24, a small arm 25, a vacuum generator 26, a wrist 27, a connecting arm 28, a connecting disc 29, a vacuum suction disc 30, a punching feeding arm 31, a punching discharging arm 32, a punching discharging cylinder 33, a punching discharging push block 34 and an elastic clamping body 35.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the specific implementation: as shown in fig. 1, a last unloading system of robot for clutch housing punches a hole, including punch press 7, material loading transmission line 5, unloading transmission line 8 and the last unloading mechanism 6 that punches a hole, last unloading mechanism 6 that punches a hole is used for shifting the work piece on the material loading transmission line 5 to punch press 7 and shifts the work piece that finishes punching a hole on punch press 7 to unloading transmission line 8, and punch press 7 is located the discharge end one side of material loading transmission line 5, and punch press 7 is located the feed end one side of unloading transmission line 8, and unloading transmission line 8 is located the below of material loading transmission line 5.

The feeding conveyor line 5 and the discharging conveyor line 8 are both conveyor belts, and the conveying directions of the feeding conveyor line 5 and the discharging conveyor line 8 are perpendicular to each other. Referring to fig. 1 and 7, a material guiding channel 501 is disposed on the feeding conveyor line 5, the material guiding channel 501 extends along a conveying direction of the feeding conveyor line 5, the material guiding channel 501 is close to a discharging end of the feeding conveyor line 5, a central axis of the material guiding channel 501 coincides with a central axis of the feeding conveyor line 5, and an inlet of the material guiding channel 501 is in a shape of a Chinese character 'ba'. The feeding conveying line 5 is further provided with a baffle 502 for blocking the workpiece, and the baffle 502 is positioned on one side of the material guide channel 501 close to the discharging end of the feeding conveying line 5.

As shown in fig. 2, the punch loading and unloading mechanism 6 includes a multi-axis robot and a punch loading and unloading gripper provided on a wrist 27 of the multi-axis robot.

The multi-axis robot in this embodiment is a four-axis palletizing robot in the prior art (model number BRTIRPZ1508A or BRTIRPZ1825A, manufactured by kuntongbernt intelligent equipment corporation, although higher robots such as six-axis or eight-axis robots may be used as required), the structure is shown in fig. 3, which comprises a base 22, a rotary seat 23, a big arm 24, a small arm 25, a wrist 27 and a vacuum generator 26, wherein the base 22 is arranged at the bottommost part, the rotary seat 23 is arranged above the base 22 to rotate, the big arm 24 is connected above the rotary seat 23 and rotates back and forth along with the rotary seat 23, the small arm 25 is connected above the big arm 24, and moves with the large arm 24, the vacuum generator 26 is placed on the small arm 25, the wrist 27 is hinged to the end of the small arm 25, and wrist 27 department installs and snatchs driving motor, and a plurality of flange is installed to snatch driving motor's output shaft, and the mechanism that snatchs of different functions can be installed according to the work needs to the flange below.

The structure of the punching feeding and discharging grabbing piece is shown in fig. 4-6, and comprises a connecting arm 28 fixed on the bottom surface of a connecting flange of a wrist 27 through bolts and a connecting disc 29 fixed at the free end of the connecting arm 28 through bolts, wherein a punching feeding piece and a punching discharging piece are arranged on the connecting disc 29, the punching feeding piece is used for transferring a workpiece shown in fig. 8 from a feeding conveying line 5 to a processing station of a punch press 7, and the punching discharging piece is used for transferring the workpiece shown in fig. 9 after processing from the processing station of the punch press 7 to a discharging conveying line 8. The punching feeding part comprises a punching feeding arm 31 fixed on the connecting disc 29 and a vacuum suction cup 30 arranged on the punching feeding arm 31, wherein the vacuum suction cup 30 is connected with the vacuum generator 26 and is used for sucking and putting down a workpiece by the vacuum suction cup 30. The punching blanking piece comprises a punching blanking arm 32 fixed on the connecting disc 29, an acute angle is formed between the punching blanking arm 32 and the punching feeding arm 31, a punching blanking cylinder 33 is installed at the top of the punching blanking arm 32, an elastic clamping body 35 is fixed at the bottom of the punching blanking arm 32, a punching blanking push block 34 is fixed at the output end of the punching blanking cylinder 33, the punching blanking push block 34 is vertically and slidably connected into the elastic clamping body 35, and the diameter of the punching blanking push block 34 is larger than the aperture of a mounting hole 1000 of a workpiece. When the work piece after the needs are accomplished to the counterboring centre gripping, elasticity clamping body 35 inserts the work piece inboardly, thereby utilize elasticity that elasticity clamping body 35 itself had to make to have great frictional force between elasticity clamping body 35 and the work piece inside wall and realize the centre gripping to the work piece, after elasticity clamping body 35 shifts the work piece to unloading transmission line 8 on, promote the inboard unloading ejector pad 34 that punches a hole of work piece through punching a hole unloading cylinder 33 and move, the unloading ejector pad 34 that punches a hole takes off the work piece from elasticity clamping body 35, realize the unloading of punching a hole of work piece promptly.

The specific implementation process of this embodiment is as follows:

when the workpiece in the shape of a cylindrical trough as shown in fig. 8 is conveyed on the feeding conveyor line 5, the workpiece is guided by the material guiding passage 501 when the workpiece moves to the entrance of the material guiding passage 501, and the workpiece continues to move forward in the material guiding passage 501 until the workpiece is stopped by the baffle 502 on the feeding conveyor line 5. At the moment, the vacuum chuck 30 on the four-axis palletizing robot moves to the position above the workpiece with the static baffle 502 along with the small arm 25, the vacuum chuck 30 grabs the workpiece, then the chuck moves to the processing position of the punch press 7 along with the small arm 25 of the four-axis palletizing robot, at the moment, firstly, the elastic clamping body 35 grabs the last finished workpiece on the punch press 7 after punching, then, the grabbing driving motor at the wrist 27 of the four-axis palletizing robot drives the connecting flange to rotate, thereby driving the connecting arm 28 and the connecting disc 29 to rotate along with the connecting flange, so that the elastic clamping body 35 clamps the workpiece to be processed far away from the processing position of the punch press 7, meanwhile, the workpiece to be processed, which is grabbed by the vacuum chuck 30, moves to the processing position of the punch press 7, then the vacuum chuck 30 puts the workpiece to be punched to the processing position of the punch press 7, thereby realizing the loading of the workpiece, then the elastic clamping body 35 moves to the position above the blanking conveying line 8 along with the small arm 25 of the four-axis palletizing robot, and putting down the finished product to realize the blanking of the finished product, and conveying the finished product to the next station on a blanking conveying line 8 for subsequent processing.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the technical scope of the present invention, and the technical scope of the present invention is also considered to fall into the scope of the claims.

Claims

1. A unloading system on robot for clutch housing punches a hole, a serial communication port, including punch press, material loading transmission line, unloading transmission line and the unloading mechanism of punching a hole, the unloading mechanism of punching a hole includes the multiaxis robot and sets up in the unloading grasping piece of punching a hole of multiaxis robot wrist department, the unloading mechanism of punching a hole is used for shifting the work piece on the material loading transmission line to the punch press and shifts the work piece that the completion punched a hole on with the punch press to the unloading transmission line, the punch press is located the discharge end one side of material loading transmission line, and the punch press is located the feed end one side of unloading transmission line, and the unloading transmission line is located the below of material loading transmission line.

2. The robotic loading and unloading system for clutch cover punching according to claim 1, wherein a material guiding channel is provided on the loading conveyor line, the material guiding channel extending along a conveying direction of the loading conveyor line, the material guiding channel being located near a discharge end of the loading conveyor line.

3. The robotic loading and unloading system for clutch housing punching according to claim 2, wherein the central axis of the material guiding channel coincides with the central axis of the loading conveyor line.

4. The robotic loading and unloading system for clutch housing punching according to claim 3, wherein the inlet of the material guiding channel is splayed.

5. The robotic loading and unloading system for clutch housing punching according to claim 4, wherein a baffle for blocking the workpiece is further provided on the loading conveyor line, the baffle being located at an end of the material guide channel near the discharge end of the loading conveyor line.

6. The robotic loading and unloading system for clutch housing punching according to claim 5, wherein the conveying direction of the unloading conveyor line and the loading conveyor line are perpendicular to each other.

7. The robotic loading and unloading system for clutch housing punching according to claim 6, wherein both the unloading conveyor line and the loading conveyor line employ conveyor belts.

8. The robotic loading and unloading system for clutch housing punching according to claim 7, wherein the punching loading and unloading gripper mechanism comprises a punching loading part for transferring workpieces from a loading conveyor line to a punching station of a punch press, and a punching unloading part for transferring workpieces from the punching station of the punch press to an unloading conveyor line.

9. The robotic loading and unloading system for clutch housing punching according to claim 8, wherein the punching loading and unloading grabbing mechanism further comprises a connecting arm arranged at a wrist of the multi-axis robot and a connecting disc connected to the connecting arm, the punching loading part comprises a punching loading arm arranged on the connecting disc and a vacuum chuck arranged on the punching loading arm, the punching unloading part comprises a punching unloading arm arranged on the connecting disc, a punching unloading cylinder is arranged on the punching unloading arm, a punching unloading push block is fixed at an output end of the punching unloading cylinder, and an elastic clamping body capable of being inserted into the clutch housing is wrapped outside the punching unloading push block.