TWI748848B - Robot arm transferring device in continuous stamping mold - Google Patents

Abstract

A robot arm transferring device in continuous stamping mold includes movable bases, sliding rails, a linking mechanism, sliding portions, a linkage robot arm, a driving rod, sensors, and sensing positions. When the continuous stamping mold is opened, the driving rod pushes the movable bases to move the robot arm of the linkage robot arm to pick an object along a first direction. In addition, during opening the mold, a signal from the PLC is sent to a motor to drive the robot arm to move along a second direction, and processes a shifting action. The objects which do not accomplish all continuous stamping procedures are moved to a next process, and which have accomplished all continuous stamping procedures are moved outside the continuous stamping mold. When the continuous stamping mold is closed, the driving rod pushes the movable bases to move the robot arm of the linkage robot arm along a third direction. The object s which do not accomplish all continuous stamping procedures are released to next process, and which have accomplished all continuous stamping procedures falls on a conveyor line. During the mold is closing, a signal from the PLC is sent to the motor to drive the robot arm to move along a fourth direction. By the above motions, the object can be moved to a next process after the mold is opened, and the robot arm escapes outside the mold and back to an original position after the mold is closed. Therefore, it can eliminate additional material which is used to transfer an object in the mold during the production of the continuous stamping mold.

Description

In-mold manipulator transfer device for stamping continuous die

The invention relates to a manipulator transfer device in a continuous stamping die, in particular to a transfer device which is arranged in the continuous stamping die and can be used to transfer objects in the continuous stamping die.

In the production of the existing continuous stamping die, additional materials must be used as a medium when objects are transferred in each process, which inevitably causes waste of materials and increases costs.

The technical problem to be solved by the present invention is to provide an in-mold manipulator transfer device for stamping continuous molds in view of the deficiencies of the prior art, which can solve the problem that products produced by continuous molds must be transferred through additional materials as the media for each process. The problem of material waste.

In order to solve the above-mentioned technical problems, the present invention provides an in-mold robot transfer device for a stamping continuous die, which includes: a first slide rail arranged on a lower bottom plate of a mold; and a first movable seat, the The first movable seat is arranged on the first slide rail, so that the first movable seat can move along a first direction and a third direction; a second slide rail is arranged on the first slide rail Seat; a second movable seat, the second movable seat is arranged on the second slide rail, so that the second movable seat can move along a second direction, a fourth direction; a transmission rod, the transmission rod Set on the upper bottom plate of a mold, the transmission rod can cooperate with the opening and closing action of the continuous stamping mold to move along a vertical direction; a connecting mechanism, the transmission rod is connected to the first movable seat through the connecting mechanism, and can be used Drive the first movable seat to move along the first direction and the third direction; and a link manipulator, the link manipulator has a link, the link is connected to a plurality of robot arms, and the link mechanism The hand is connected with the second movable seat, and the link manipulator can be driven by a driving device to move along the second direction and the fourth direction.

The beneficial effect of the present invention is that the in-mold robot transfer device for stamping continuous die provided by the present invention includes a first slide rail, a first movable seat, a second slide rail, a second movable seat, a transmission rod, a connecting mechanism, and Connecting rod manipulator. When the continuous stamping die is opened, the transmission rod pushes the movable seat to drive the robotic arm to move and grab the object in the first direction, and in the process of opening the mold, a signal is given to the driving device to drive the robotic arm to move in the second direction and perform transfer. The movement of the object, the object that has not completed all the continuous mold processes is transferred to the next process, and the object that has completed all the continuous mold processes is transferred to the outside of the continuous mold. When the continuous stamping die is closed, the transmission rod pushes the movable seat to drive the robot arm to move to the third direction and release. The objects that have not completed all the continuous mold processes are released to the next process, and the objects that have completed all the continuous mold processes are dropped. Into the assembly line, and in the process of clamping the mold, the driving device drives the robot arm to move in the fourth direction. Using the above actions, the object is moved to the next process after the mold is opened. After the mold is closed, the mechanical arm avoids the mold and returns to the original point to reset. As a result, it is possible to eliminate the material waste of the objects in the transfer mold when additional materials are used as the original continuous stamping mold production. In addition, the present invention can also effectively reduce the size of the mold and reduce the cost of the mold.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings about the present invention. However, the provided drawings are only for reference and description, and are not used to limit the present invention.

The following are specific specific examples to illustrate related implementations disclosed in the present invention, and those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be based on different viewpoints and applications, and various modifications and changes can be made without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to actual size, and are stated in advance. The following embodiments will further describe the related technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

[First Embodiment]

1 to 4, the present invention provides a continuous stamping die in-mold robot transfer device, including a first slide rail 1, a first movable seat 2, a second slide rail 3, a second movable seat 4. A transmission rod 5, a connecting mechanism 6 and a connecting rod manipulator 7.

The first slide rail 1 is arranged on a lower bottom plate 100 of a mold, and can be used to guide the first movable seat 2 to move along a first direction A and a third direction C. The first direction A is toward the continuous stamping die. The third direction C is the direction facing away from the continuous stamping die, and the first direction A and the third direction C are opposite directions. The first movable seat 2 is arranged on the first slide rail 1. The first movable seat 2 can move on the first slide rail 1, so that the first movable seat 2 can move along the first direction A and the third direction C move.

The second slide rail 3 is arranged on the first movable seat 2, so that the second slide rail 3 and the second movable seat 4 can be driven by the first movable seat 2, and the second slide rail 3 can be used to guide the second movable seat The seat 4 moves along the second direction B and the fourth direction D. The second movable seat 4 is arranged on the second slide rail 3, the second movable seat 4 can move on the second slide rail 3, so that the second movable seat 4 can be along the second direction B and the fourth direction D move. The second direction B and the fourth direction D are opposite directions, and the second direction B and the fourth direction D may be perpendicular to the first direction A and the third direction C.

The transmission rod 5 is disposed on an upper bottom plate 200 of a mold. The transmission rod 5 can move along the up and down direction (Z axis) in cooperation with the opening and closing actions of the continuous stamping die. The transmission rod 5 may have a first sliding groove 51. The transmission rod 5 is connected to the first movable seat 2 through the connecting mechanism 6 and can be used to drive the first movable seat 2 to move along the first direction A and the third direction C. The connecting mechanism 6 is arranged on the first movable seat 2. The connecting mechanism 6 may have a first sliding portion 61 that cooperates with the first sliding groove 51 to connect the connecting mechanism 6 to the transmission rod 5. . When the transmission rod 5 moves in the vertical direction, the first sliding portion 61 can be pushed through the first sliding groove 51, so that the connecting mechanism 6 drives the first movable seat 2 to move along the first direction A and the third direction C.

The link manipulator 7 has a link 71 that connects a plurality of robot arms 72, the link manipulator 7 is connected to the second movable seat 4, and the link 71 can also be connected to a second sliding part 73 . The link manipulator 7 can be driven by the second movable seat 4 to move along the second direction B and the fourth direction D. The link manipulator 7 can be connected to a motor 10 (driving device), which can be given to the motor 10 by PLC The signal drives the link manipulator 7 to move in the second direction B and the fourth direction D. The lower bottom plate 100 of the mold can be provided with a slide groove seat 20, the slide groove seat 20 has a second slide groove 201, when the first movable seat 2 moves in the first direction A, the second sliding portion 73 can be The sliding grooves 201 are in contact with each other.

The transfer device of the present invention may further include a first detection 50, a first detection position 55, a second detection 60, a second detection position 65, a third detection 70, and a third detection position. The detection position 75, a fourth detection 80 and a fourth detection position 85 (please refer to Figs. 5 to 8). The first inspection 50 and the second inspection 60 can be arranged on the connecting mechanism 6, the first inspection position 55 and the second inspection position 65 can be arranged on the transmission rod 5, the third inspection position 75 and the fourth inspection position The position 85 may be located on the second slide rail 3, and the third detection 70 and the fourth detection 80 are close to the second slide rail 3. The position of each detection and the setting of each detection position is not limited.

The first detection 50 and the first detection position 55 are matched with each other and can be used to trigger a signal (PLC signal) to make the second movable seat 4 start to move in the second direction B. The second detection 60 and the second detection position 65 are matched with each other and can be used to trigger a signal (PLC signal) to make the second movable seat 4 start to move in the fourth direction D. The third detection 70 and the third detection position 75 are matched with each other and can be used to trigger a signal (PLC signal) to stop the second movable seat 4 from moving in the second direction B. The fourth detection 80 and the fourth detection position 85 are matched with each other and can be used to trigger a signal (PLC signal) to stop the second movable seat 4 from moving in the fourth direction D.

The present invention can also be further provided with a connecting rod 90 for connecting the two sets of transfer devices, and the detection and detection positions only need to be set on one side. In addition, the motor 10 can also link the connecting rod 90 and the connecting rod manipulator 7 through the screw 95 to move in the second direction B and the fourth direction D.

Please refer to FIG. 5, when the continuous stamping die is opened, the transmission rod 5 can rise to the highest level with the driving of the upper bottom plate 200 of the mold. The first movable seat 2 can be driven to move in the first direction A, so that the robot arm 72 of the link manipulator 7 can touch the object in the mold. At this time, the second sliding part 73 and the second sliding groove 201 are in contact with each other . The movement in the second direction B is made to follow the trajectory of the second sliding groove 201 and can be buffered by a cylinder 30.

Please refer to FIG. 6, when the first detection 50 senses the first detection position 55 when the upper bottom plate 200 of the mold drives the transmission rod 5 to rise, the PLC will give a signal to the motor 10 to drive the connecting rod manipulator 7 to lift the semi-finished product (Object) and the finished product (object) that has completed the last process, move to the second direction B to the third detection 70 and stop when the third detection position 75 is sensed. Along the trajectory of the second sliding groove 201 of the lower bottom plate 100 of the mold (the cylinder 30 is used for high and low buffering), the semi-finished product is lifted away from the template for the next process in the transfer mold. If the final process is completed, the finished product is transferred to the outside of the mold.

Please refer to FIG. 7, when the continuous stamping die is closed, the transmission rod 5 can be lowered to the lowest level with the driving of the upper bottom plate 200 of the mold. Influence, the first movable seat 2 can be driven to move to the third direction C, and the robotic arm 72 is released to allow the semi-finished product (object) to reach the next process, and the finished product (object) that has completed the last process will fall into the assembly line.

Please refer to FIG. 8, when the second detection 60 senses the second detection position 65 when the transmission rod 5 is lowered, the PLC will give a signal to the motor 10 to drive the robotic arm 72 to move in the fourth direction D to the fourth direction. The detection 80 stops when the fourth detection position 85 is sensed. Then repeat the transfer action described above.

[Beneficial effects of the embodiment]

The beneficial effect of the present invention is that the in-mold robot transfer device for stamping continuous die provided by the present invention includes a first slide rail, a first movable seat, a second slide rail, a second movable seat, a transmission rod, a connecting mechanism, and Connecting rod manipulator. When the continuous stamping die is opened, the transmission rod pushes the movable seat to drive the robotic arm to move and grab the object in the first direction, and in the process of opening the mold, a signal is given to the driving device to drive the robotic arm to move in the second direction and perform transfer. The movement of the object, the object that has not completed all the continuous mold processes is transferred to the next process, and the object that has completed all the continuous mold processes is transferred to the outside of the continuous mold. When the continuous stamping die is closed, the driving rod pushes the movable seat to drive the robotic arm to move to the third direction. The objects that have not completed all the continuous mold processes are released to the next process, and the objects that have completed all the continuous mold processes fall into the assembly line. During the mold clamping process, the driving device drives the robotic arm to move in the fourth direction. Using the above actions, the object is moved to the next process after the mold is opened. After the mold is closed, the mechanical arm avoids the mold and returns to the original point to reset. As a result, it is possible to eliminate the material waste of the objects in the transfer mold when additional materials are used as the original continuous stamping mold production, and the present invention can also effectively reduce the size of the mold and reduce the cost of the mold.

The content disclosed above is only a preferred and feasible embodiment of the present invention, and does not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the description and schematic content of the present invention are included in the application of the present invention. Within the scope of the patent.

1: The first slide 2: The first movable seat 3: The second slide 4: The second movable seat 5: Transmission rod 51 first chute 6: Linking institutions 61 first sliding part 7: Connecting rod manipulator 71: connecting rod 72: Robotic arm 73: second sliding part 10: Motor 20: Chute seat 201: Second Chute 30: cylinder 50: First check 55: First check position 60: second inspection 65: second detection position 70: Third Inspection 75: third check position 80: Fourth Inspection 85: fourth check position 90: connecting rod 95: screw A: The first direction B: second direction C: Third party D: Fourth direction 100: Mold bottom plate 200: mold upper bottom plate

Figure 1 is a three-dimensional view (1) of the robot transfer device in the continuous stamping die of the present invention.

Figure 2 is a three-dimensional view (2) of the robot transfer device in the continuous stamping die of the present invention.

Figure 3 is a three-dimensional view (3) of the robot transfer device in the continuous stamping die of the present invention.

Figure 4 is a three-dimensional view (4) of the robot transfer device in the continuous stamping die of the present invention.

Figure 5 is an action diagram (1) of the robot transfer device in the continuous stamping die of the present invention.

Fig. 6 is an action diagram (2) of the in-mold robot transfer device of the continuous stamping die of the present invention.

Fig. 7 is an action diagram (3) of the in-mold robot transfer device of the continuous stamping die of the present invention.

Fig. 8 is an action diagram (4) of the in-mold robot transfer device of the continuous stamping die of the present invention.

1: The first slide

2: The first movable seat

3: The second slide

4: The second movable seat

5: Transmission rod

51: The first chute

6: Linking institutions

61: The first sliding part

7: Connecting rod manipulator

71: connecting rod

72: Robotic arm

A: The first direction

B: second direction

C: Third party

D: Fourth direction

100: Mold bottom plate

200: mold upper bottom plate

Claims (10)

An in-mold manipulator transfer device of a stamping continuous die, comprising: A first slide rail, the first slide rail is arranged on a bottom plate of a mold; A first movable seat, the first movable seat is arranged on the first slide rail, so that the first movable seat can move along a first direction and a third direction; A second slide rail, the second slide rail is arranged on the first movable seat; A second movable seat, the second movable seat is arranged on the second slide rail, so that the second movable seat can move along a second direction and a fourth direction; A transmission rod, the transmission rod is arranged on the upper bottom plate of a mold, and the transmission rod can cooperate with the opening and closing action of the continuous stamping die to move in an up-and-down direction; A connecting mechanism, the transmission rod is connected to the first movable seat through the connecting mechanism, and can be used to drive the first movable seat to move along the first direction and the third direction; and A link manipulator, the link manipulator has a link, the link is connected to a plurality of manipulators, and the link manipulator is connected to the second movable seat, the link manipulator can be driven by a driving device Move along the second and fourth directions. The in-mold robot transfer device for stamping continuous molds according to claim 1, wherein the transmission rod has a first sliding groove, the connecting mechanism is disposed on the first movable seat, and the connecting mechanism has a first sliding part , The first sliding portion and the first sliding groove cooperate with each other, and when the transmission rod moves along the up and down direction, the first sliding portion can be pushed through the first sliding groove, so that the connecting mechanism drives the first movable seat Move along the first direction and the third direction. The in-mold robot transfer device for stamping continuous molds according to claim 1, wherein the connecting rod is connected to a second sliding part, a slide groove seat is provided on the lower bottom plate of the mold, and the slide groove seat has a second slide groove When the first movable seat moves in the first direction, the second sliding portion and the second sliding groove are in contact with each other, and the movement in the second direction is along the track of the second sliding groove and is buffered by a cylinder . The in-mold robot transfer device for stamping continuous die according to claim 1, which further includes a first detection and a first detection position, the first detection and the first detection position are matched with each other, Used to trigger a signal to make the second movable seat start to move in the second direction. The in-mold manipulator transfer device for stamping continuous die according to claim 4, which further includes a second detection position and a second detection position. The second detection position and the second detection position are matched with each other to be able to Used to trigger a signal to make the second movable seat start to move in the fourth direction. The in-mold robot transfer device for stamping continuous die as described in claim 5, which further includes a third detection position and a third detection position. The third detection position and the third detection position are matched with each other to be able to Used to trigger a signal to stop the second movable seat from moving in the second direction. The in-mold robot transfer device for stamping continuous die according to claim 6, which further includes a fourth detection position and a fourth detection position. The fourth detection position and the fourth detection position are matched with each other, Used to trigger a signal to stop the second movable seat from moving in the fourth direction. The in-mold robot transfer device for a continuous stamping die according to claim 1, wherein the first direction is a direction toward the continuous stamping die, the second direction is a direction away from the continuous stamping die, and the first direction And the third direction is the opposite direction. The in-mold robot transfer device for stamping continuous die according to claim 8, wherein the second direction and the fourth direction are opposite directions, and the second direction and the fourth direction are the same as the first direction and the The third directions are perpendicular to each other. The in-mold robot transfer device for a stamping continuous die according to claim 1, wherein the link manipulator is connected to a driving device to drive the link manipulator to move in the second direction and the fourth direction.

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