CN221018363U - Centering feeding small arm for carrying device - Google Patents
Centering feeding small arm for carrying device Download PDFInfo
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- CN221018363U CN221018363U CN202322844355.6U CN202322844355U CN221018363U CN 221018363 U CN221018363 U CN 221018363U CN 202322844355 U CN202322844355 U CN 202322844355U CN 221018363 U CN221018363 U CN 221018363U
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- 210000000245 forearm Anatomy 0.000 claims description 10
- 230000000712 assembly Effects 0.000 abstract description 19
- 238000000429 assembly Methods 0.000 abstract description 19
- 239000000463 material Substances 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000002184 metal Substances 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model provides a centering feeding small arm for a conveying device, which belongs to the technical field of stamping production lines and comprises a feeding arm assembly, wherein the feeding arm assembly has three rotational degrees of freedom in different directions, one end, far away from a power output end, of the feeding arm assembly is provided with a conveying device connecting part, the power output end of the feeding arm assembly is connected with a feeding small arm cross rod, two ends of the feeding small arm cross rod are respectively provided with a cross rod separating shaft, the cross rod separating shafts at the two ends of the feeding small arm cross rod are respectively provided with an adsorption assembly, and the adsorption assemblies arranged on the two cross rod separating shafts can be mutually close to and far away from each other. The utility model has the advantages that the utility model has high adaptability and high flexibility, and after the utility model is arranged on the existing carrying device, the flexibility and the function of the existing carrying device are effectively enhanced, and the plate material carrying and the pose adjustment in the carrying process are realized, thereby improving the plate material carrying efficiency.
Description
Technical Field
The utility model belongs to the technical field of stamping production lines, and particularly relates to a centering feeding small arm for a carrying device.
Background
Currently, in the stamping production of automotive outer panels, a high throughput is achieved since the sheet metal panels supplied by the continuous conveying device are only in the correct position, i.e. when the sheet metal panels or the shaped parts are transferred to the next station at defined set positions, in particular downstream metal forming presses; the workpiece conveying device needs to have a conveying function and also a function of accurately positioning and centering the conveyed object.
Based on this, the more common workpiece handling devices are mainly divided into the following two categories: one is to realize the transportation, centering and positioning of metal plate materials or formed parts by adopting a multi-layer composite structure, for example, the technical scheme provided in international patent WO2008134904A1, but most of the workpiece transportation devices belong to customized products, have complex structures and cannot be directly used in most stamping production lines.
The other type is to use the cooperation of a multifunctional industrial robot and a belt conveyor to realize the carrying, centering and positioning of metal plate materials or formed parts; in a stamping production line provided with the multifunctional robot, the conveying of metal plate materials or formed parts between the presses is realized mainly through the rotation of each joint arm on the multifunctional robot, and the accurate placement of the metal plate materials or formed parts on the belt conveyor is realized through each centering structure arranged on the belt conveyor; however, the existing industrial robot is difficult to adjust the posture of a single plate in the double-plate picking action and adjust the distance between two plates; and then the requirement on a centering structure on a belt conveyor and the industrial robot are higher when the industrial robot is adopted to carry the plate material in the existing stamping production line.
Disclosure of utility model
The utility model aims to solve the problems that the existing industrial robot is difficult to adjust the posture of a single plate in the double-plate picking action and adjust the distance between two plates, and provides a centering feeding small arm for a high-adaptability and high-flexibility carrying device, which can effectively enhance the flexibility and the function of the existing carrying device after being installed on the existing carrying device, realize the plate carrying and the posture adjustment in the carrying process, and further improve the plate carrying efficiency.
In order to achieve the above purpose, the technical scheme provided by the utility model is as follows: the utility model provides a centering pay-off forearm for handling device, it includes the pay-off arm subassembly, the pay-off arm subassembly has the rotational freedom degree of three different directions, and the one end that keeps away from the power take off on the pay-off arm subassembly is provided with handling device connecting portion, the power take off end of pay-off arm subassembly is connected with the pay-off forearm horizontal pole, the horizontal pole release shaft is all installed at the both ends of pay-off forearm horizontal pole, and all be provided with the adsorption component on the horizontal pole release shaft at pay-off forearm horizontal pole both ends, the adsorption component that sets up on two horizontal pole release shafts can be close to each other and keep away from. At this time, as the feeding arm assembly is provided with the structure with three rotational degrees of freedom in different directions, the utility model can realize the posture adjustment of the plate through the rotation of each joint in the feeding arm assembly, thereby enabling the utility model to adapt to various plate and pickup requirements; meanwhile, as the two groups of adsorption components which can be mutually close to and far away from each other are adopted for picking up the plates, the utility model can also realize the adjustment of the relative distance between the two stamping processes of the double plates when one plate is adsorbed on each of the two adsorption components; when two adsorption components adsorb a plate together, the posture of the plate in the vertical carrying direction is adjusted, so that the aim of centering is finally achieved, and the requirement of the whole stamping production line on a centering structure on a belt conveyor and the requirement on an industrial robot are reduced.
Further, the feeding arm assembly comprises an upper section feeding small arm, a middle section feeding small arm and a lower section feeding small arm, one end of the upper section feeding small arm is arranged to be a conveying device connecting part, and the other end of the upper section feeding small arm is provided with an R-axis rotation driving mechanism; one end of the middle section feeding small arm is in transmission connection with a power output end of the R-axis rotary driving mechanism, and the other end of the middle section feeding small arm is provided with a W-axis rotary driving mechanism; one end of the lower section feeding small arm is in transmission connection with a power output end of the W-axis rotation driving mechanism, the other end of the lower section feeding small arm is in rotation connection with a feeding small arm rotating shaft, the feeding small arm rotating shaft is in transmission connection with the S-axis rotation driving mechanism, and the feeding small arm rotating shaft is fixedly connected with a feeding small arm cross rod.
Further, the rotation plane of the power output end of the R-axis rotation driving mechanism is perpendicular to the rotation plane of the power output end of the W-axis rotation driving mechanism and the rotation plane of the power output end of the S-axis rotation driving mechanism in pairs, and are not parallel to each other, namely, the rotation plane of the middle section feeding small arm is perpendicular to the rotation plane of the lower section feeding small arm and the rotation plane of the feeding small arm rotation shaft in pairs, and are not parallel to each other. And at the moment, the utility model can drive the feeding small arm cross rod to rotate in the corresponding rotation plane under the action of the R-axis rotation driving mechanism, the W-axis rotation driving mechanism and the S-axis rotation driving mechanism, so as to respectively realize equal height or unequal height of the adsorption components at the two ends of the feeding small arm cross rod; the posture adjustment of the adsorption assemblies at the two ends of the feeding small arm cross rod in the same horizontal plane is realized, namely the adjustment of the inclination angle of the feeding small arm cross rod in the horizontal plane is realized; the equal height or unequal heights of the adsorption structures at the two sides in the same group of adsorption components are realized.
Further, the rotation axis of the feeding small arm rotation shaft is parallel to the axis of the feeding small arm cross rod, and the utility model mainly adjusts the included angle between the feeding small arm cross rod and the ground to be a fixed angle through the rotation of the feeding small arm rotation shaft at the moment.
Further, the rotation plane of the power output end of the W-axis rotation driving mechanism is a horizontal plane, the rotation plane of the power output end of the R-axis rotation driving mechanism is a vertical plane, and at the moment, the equal height or unequal heights of the adsorption assemblies at the two ends of the transverse rod of the feeding small arm are realized through the R-axis rotation driving mechanism; the gesture adjustment of the adsorption assemblies at the two ends of the feeding small arm cross rod in the same horizontal plane is realized through the W-axis rotary driving mechanism, namely, the adjustment of the inclination angle of the feeding small arm cross rod in the horizontal plane is realized.
Further, the rotation plane of the power output end of the R-axis rotation driving mechanism is a horizontal plane, the rotation plane of the power output end of the W-axis rotation driving mechanism is a vertical plane, and at the moment, the equal height or unequal heights of the adsorption assemblies at the two ends of the transverse rod of the feeding small arm are realized through the W-axis rotation driving mechanism; the posture adjustment of the adsorption assemblies at the two ends of the feeding small arm cross rod in the same horizontal plane is realized through the R-axis rotary driving mechanism, namely, the adjustment of the inclination angle of the feeding small arm cross rod in the horizontal plane is realized.
The transverse rod separating shaft comprises a driving screw rod which is arranged in parallel with the feeding small arm transverse rod, the driving screw rod is rotatably arranged at the end part of the feeding small arm transverse rod through a bearing seat, the end part of the driving screw rod is in transmission connection with a driving motor, and the middle part of the driving screw rod is fixedly connected with the adsorption components through a nut seat, so that when two adsorption components adsorb one plate material respectively, the axial movement of the adsorption components can be realized through the rotation of the corresponding driving screw rod, and the relative distance adjustment of the two plate materials between two stamping processes can be realized; when two adsorption assemblies adsorb a plate together, the utility model can realize the axial movement of the adsorption assemblies by corresponding to the rotation of the driving screw rod, and realize the posture adjustment of the plate in the vertical carrying direction.
Further, the cross rod separating shaft comprises a driving power cylinder, a cylinder body of the driving power cylinder is fixedly arranged at the end part of the feeding small arm cross rod, and a piston rod of the driving power cylinder is fixedly connected with the middle part of the adsorption assembly, so that when two adsorption assemblies adsorb one plate respectively, the axial movement of the adsorption assembly can be realized through the expansion and contraction of the corresponding driving power cylinder, and the relative distance adjustment of the double plates between two stamping processes can be realized; when two adsorption assemblies adsorb a plate together, the utility model can realize the axial movement of the adsorption assemblies by correspondingly driving the stretching of the power cylinders, and realize the posture adjustment of the plate in the vertical carrying direction.
Further, the output end of the S-axis rotation driving mechanism is in transmission connection with the feeding small arm rotation shaft through a belt transmission mechanism. In addition, the device can also adopt other transmission mechanisms such as a chain transmission mechanism, a gear transmission mechanism and the like for transmission connection.
Further, the adsorption component is a vacuum chuck component, and the two groups of adsorption components are preferably controlled by adopting two control pipelines.
From the above technical scheme, the utility model has the following advantages: firstly, the feeding arm assembly is provided with a structure with three rotational degrees of freedom in different directions, and two groups of adsorption assemblies which can be mutually close to and far away from each other are adopted for picking up the plate, so that the gesture adjustment of the plate can be realized through the rotation of each joint in the feeding arm assembly; meanwhile, when one plate is adsorbed on each of the two adsorption assemblies, the utility model can realize the adjustment of the relative distance between the two plates in the two stamping processes; when two adsorption assemblies adsorb a plate together, the posture of the plate in the vertical carrying direction is adjusted, so that the utility model can carry out quick centering and carrying on the plate with various materials and shape specifications, thereby meeting the posture requirement of a stamping device on the plate, being better applicable to a high-speed stamping production line, reducing the requirement of the whole stamping production line on a centering structure on a belt conveyor and reducing the configuration cost of the stamping production line; secondly, the structural system is novel, the system has high integration and ingenious structural design, and has innovation; the automatic centering device has the advantages of compact integral structure, easy maintenance, high automation level, high centering efficiency and high flexibility, and is beneficial to improving the unit yield of a stamping production line and the economic benefit of an automobile production enterprise.
Drawings
In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a specific embodiment of the present utility model;
FIG. 2 is a schematic view of the structure of the present utility model in an operating state;
FIG. 3 is a schematic view of the structure of the present utility model when picking up a first sheet in the process of picking up double sheets;
FIG. 4 is a schematic view of the structure of the present utility model when picking up a second sheet in the process of picking up double sheets;
FIG. 5 is a schematic view of the structure of the present utility model when two sheets are placed in the process of picking up double sheets;
FIG. 6 is a schematic view of the structure of the present utility model when picking up single sheets;
FIG. 7 is a schematic view of the structure of the suction assembly of the present utility model when picking up obliquely placed slabs;
Fig. 8 is a schematic view of the structure of the beam separation shaft according to the present utility model.
In the figure: 1. an upper feeding small arm; 2. an R-axis rotation driving mechanism; 3. a middle section feeding small arm; 4. a W-axis rotation driving mechanism; 5. a feeding small arm rotating shaft; 6. a lower feeding small arm; 7. an adsorption assembly; 8. a conveying device connecting part; 9. driving a screw rod; 10. and (5) feeding the small arm cross rod.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1 to 8, the present utility model provides a high-adaptability and high-flexibility centering feeding small arm for a handling device, which comprises a feeding arm assembly with three rotational degrees of freedom in different directions, wherein the feeding arm assembly comprises an upper section feeding small arm 1, a middle section feeding small arm 3 and a lower section feeding small arm 6, one end of the upper section feeding small arm 1 is provided with a handling device connecting part 8 for connecting with the handling device, and the other end of the upper section feeding small arm 1 is provided with an R-axis rotation driving mechanism 2; one end of the middle section feeding small arm 3 is in transmission connection with a power output end of the R-axis rotation driving mechanism 2, and a W-axis rotation driving mechanism 4 is arranged at the other end of the middle section feeding small arm 3; one end of the lower section feeding small arm 6 is in transmission connection with a power output end of the W-axis rotation driving mechanism 4, the other end of the lower section feeding small arm 6 is rotationally connected with a feeding small arm rotation shaft 5, the feeding small arm rotation shaft 5 is in transmission connection with an S-axis rotation driving mechanism through a belt transmission mechanism, and the feeding small arm rotation shaft 5 is fixedly connected with a feeding small arm cross rod 10.
As shown in fig. 1 and 2, the rotation plane of the power output end of the R-axis rotation driving mechanism 2 is perpendicular to the rotation plane of the power output end of the W-axis rotation driving mechanism 4 and the rotation plane of the power output end of the S-axis rotation driving mechanism, and are not parallel to each other, that is, the rotation plane of the middle feeding small arm 3 is perpendicular to the rotation plane of the lower feeding small arm 6 and the rotation plane of the feeding small arm rotation shaft 5, the rotation plane of the power output end of the W-axis rotation driving mechanism 4 is a horizontal plane, the rotation plane of the power output end of the R-axis rotation driving mechanism 2 is a vertical plane parallel to the axis of the feeding small arm, and the rotation plane of the power output end of the S-axis rotation driving mechanism is a vertical plane perpendicular to the axis of the feeding small arm cross bar 10. In addition, according to actual production requirements, the utility model can also adjust the rotation plane of the power output end of the R-axis rotation driving mechanism 2, the rotation plane of the power output end of the W-axis rotation driving mechanism 4 and the direction of the rotation plane of the power output end of the S-axis rotation driving mechanism so as to adapt to different production environments.
In addition, as shown in fig. 1, 3 and 8, the two ends of the feeding small arm cross rod 10 are respectively provided with a cross rod separating shaft, and the cross rod separating shafts at the two ends of the feeding small arm cross rod 10 are respectively provided with an adsorption component 7, so that the adsorption components 7 arranged on the two cross rod separating shafts can be mutually close to and far away from each other. Specifically, the horizontal pole separation axle includes the drive lead screw 9 with pay-off forearm horizontal pole 10 parallel arrangement, drive lead screw 9 passes through the bearing frame rotation and installs the tip at pay-off forearm horizontal pole 10, just the tip transmission of drive lead screw 9 is connected with driving motor, the middle part of drive lead screw 9 passes through nut seat and adsorption component 7 fixed connection.
When two adsorption components 7 adsorb one plate material respectively, the axial movement of the adsorption components 7 can be realized by corresponding to the rotation of the driving screw rod 9, and the relative distance between two plate materials in two stamping processes can be adjusted; when two adsorption assemblies 7 adsorb a plate together, the utility model can realize the axial movement of the adsorption assemblies 7 by corresponding to the rotation of the driving screw 9, and realize the posture adjustment of the plate in the vertical carrying direction. In addition, the equal height or unequal heights of the adsorption assemblies 7 at the two ends of the feeding small arm cross rod 10 can be realized through the R-axis rotary driving mechanism 2; the gesture adjustment of the adsorption assemblies 7 at the two ends of the feeding small arm cross rod 10 in the same horizontal plane is realized through the W-axis rotary driving mechanism 4, namely the adjustment of the inclination angle of the feeding small arm cross rod 10 in the horizontal plane is realized; the equal heights or unequal heights of the adsorption structures at two sides in the same group of adsorption assemblies 7 are realized through the S-axis rotary driving mechanism; and finally, the utility model can rapidly center and carry flat plate materials with various materials and shapes and specifications so as to meet the pose requirements of the stamping device on the plate materials, and is better applicable to a high-speed stamping production line, thereby reducing the requirement of the whole stamping production line on a centering structure on a belt conveyor and reducing the configuration cost of the stamping production line.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a centering pay-off forearm for handling device, includes pay-off arm assembly, its characterized in that, the pay-off arm assembly has the rotation degree of freedom of three different directions, and the one end that keeps away from the power take off on the pay-off arm assembly is provided with handling device connecting portion, and the power take off end of pay-off arm assembly is connected with the pay-off forearm horizontal pole, and the horizontal pole release shaft is all installed at the both ends of pay-off forearm horizontal pole, and all is provided with the adsorption component on the horizontal pole release shaft at pay-off forearm horizontal pole both ends, and the adsorption component that sets up on two horizontal pole release shafts can be close to each other and keep away from.
2. The centering feed arm for a handling device of claim 1, wherein the feed arm assembly comprises an upper section feed arm, a middle section feed arm and a lower section feed arm, one end of the upper section feed arm is provided with a handling device connecting part, and the other end of the upper section feed arm is provided with an R-axis rotation driving mechanism; one end of the middle section feeding small arm is in transmission connection with a power output end of the R-axis rotary driving mechanism, and the other end of the middle section feeding small arm is provided with a W-axis rotary driving mechanism; one end of the lower section feeding small arm is in transmission connection with a power output end of the W-axis rotation driving mechanism, the other end of the lower section feeding small arm is in rotation connection with a feeding small arm rotating shaft, the feeding small arm rotating shaft is in transmission connection with the S-axis rotation driving mechanism, and the feeding small arm rotating shaft is fixedly connected with a feeding small arm cross rod.
3. The centering feed arm for a transporting apparatus according to claim 2, wherein the rotation plane of the power output end of the R-axis rotation driving mechanism and the rotation plane of the power output end of the W-axis rotation driving mechanism are perpendicular to each other and are not parallel to each other.
4. A centering feed arm for a handling device according to claim 3, wherein the axis of rotation of the feed arm rotation shaft is parallel to the axis of the feed arm cross bar.
5. A centering feed arm for a conveying apparatus according to claim 3, wherein the rotation plane of the power output end of the W-axis rotation driving mechanism is a horizontal plane, and the rotation plane of the power output end of the R-axis rotation driving mechanism is a vertical plane.
6. A centering feed arm for a conveying device according to claim 3, wherein the rotation plane of the power output end of the R-axis rotation driving mechanism is a horizontal plane, and the rotation plane of the power output end of the W-axis rotation driving mechanism is a vertical plane.
7. The centering feeding small arm for the carrying device according to claim 1, wherein the cross rod separating shaft comprises a driving screw rod which is arranged in parallel with the feeding small arm cross rod, the driving screw rod is rotatably arranged at the end part of the feeding small arm cross rod through a bearing seat, the end part of the driving screw rod is in transmission connection with a driving motor, and the middle part of the driving screw rod is fixedly connected with the adsorption assembly through a nut seat.
8. The centering and feeding small arm for a carrying device according to claim 1, wherein the cross rod separating shaft comprises a driving power cylinder, a cylinder body of the driving power cylinder is fixedly arranged at the end part of the cross rod of the feeding small arm, and a piston rod of the driving power cylinder is fixedly connected with the middle part of the adsorption assembly.
9. The centering and feeding arm for a carrying device according to claim 1, wherein the output end of the S-axis rotation driving mechanism is in transmission connection with the rotation axis of the feeding arm through a belt transmission mechanism.
10. The centering and feeding arm for a handling device of claim 1, wherein the suction assembly is a vacuum chuck assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322844355.6U CN221018363U (en) | 2023-10-23 | 2023-10-23 | Centering feeding small arm for carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322844355.6U CN221018363U (en) | 2023-10-23 | 2023-10-23 | Centering feeding small arm for carrying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221018363U true CN221018363U (en) | 2024-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322844355.6U Active CN221018363U (en) | 2023-10-23 | 2023-10-23 | Centering feeding small arm for carrying device |
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| Country | Link |
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| CN (1) | CN221018363U (en) |
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2023
- 2023-10-23 CN CN202322844355.6U patent/CN221018363U/en active Active
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