WO2024198098A1 - 一种使用二级浮升结构的联动机械手模具及其成型方法 - Google Patents

一种使用二级浮升结构的联动机械手模具及其成型方法 Download PDF

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Publication number
WO2024198098A1
WO2024198098A1 PCT/CN2023/099876 CN2023099876W WO2024198098A1 WO 2024198098 A1 WO2024198098 A1 WO 2024198098A1 CN 2023099876 W CN2023099876 W CN 2023099876W WO 2024198098 A1 WO2024198098 A1 WO 2024198098A1
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WIPO (PCT)
Prior art keywords
robot
process module
mold
station
manipulator
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PCT/CN2023/099876
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English (en)
French (fr)
Inventor
郑志明
周巍
杨晓晨
刘云龙
张福相
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天津津荣天宇精密机械股份有限公司
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Publication of WO2024198098A1 publication Critical patent/WO2024198098A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D35/00—Combined processes according to or processes combined with methods covered by groups B21D1/00 - B21D31/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/08—Dies with different parts for several steps in a process

Definitions

  • the present application relates to the technical field of mold devices, and in particular to a linkage manipulator mold using a two-stage floating structure and a molding method thereof.
  • this is a fixed bracket for a car seat.
  • the material is SPC440, which is a steel with a tensile strength greater than or equal to 440 MPa.
  • the material thickness is 1.40 mm (millimeter).
  • the difficulty of this product is that the entire perimeter needs to be flanging, and the shape is opposite to the punching direction of the circular hole, so it needs to be flipped. It is not suitable for progressive die connection and has a high bending height.
  • the traditional process is to use progressive dies to produce parts, and multi-process single-punch die production, high labor costs, and long production cycles. A mold and molding method that can solve the above problems needs further research and development.
  • a linkage robot mold using a two-stage floating structure is provided.
  • N+1 workstations are arranged in the linkage manipulator mold, and the linkage manipulator mold includes:
  • each of the N workstations is provided with a single-process module
  • a workstation is provided with a material support bracket
  • multiple single-process modules and material support brackets are arranged in a straight line in sequence, the upper modules of the N single-process modules are all installed on the upper mounting plate, and the lower modules of the N single-process modules are all installed on the lower mounting plate 2;
  • N+1 groups of robots each station is equipped with a group of robots, the robots are used to transfer the materials of the current station to the next station and then return.
  • the N+1 groups of robots are all set on the transmission beam, and they move up and down, left and right, or forward and backward with the transmission beam. Move, one of the robots is a flipping robot, the flipping robot is located at the corresponding workstation of the material supporting bracket, the lower mold of the single-process module located at the preceding workstation of the material supporting bracket is a first-level floating mechanism, and the lower mold of the single-process module located at the adjacent subsequent workstation of the material supporting bracket is a second-level floating mechanism.
  • the upper die base of the upper die is mounted on the upper mounting plate via upper feet.
  • the lower die base of the lower die is mounted on the lower mounting plate via lower pads.
  • the first-stage floating lifting mechanism includes a discharge piece and a spring, and the discharge piece is arranged on the lower die base through the spring.
  • the unloading parts of the secondary lifting mechanism include an inclined sliding block, a secondary material supporting block, a secondary material supporting lifting block and a spring.
  • the two inclined sliding blocks are symmetrically arranged.
  • the bottom of each inclined sliding block is arranged on the lower mold base through a spring, and the secondary material supporting block is arranged on the top of the inclined sliding block through a spring.
  • the lower die base is also provided with a secondary material supporting floating block for lifting the secondary material supporting block.
  • the secondary material supporting floating block is slidably connected to the guide column, and the guide column is fixed on the lower die base.
  • the bottom of the secondary material supporting floating block is set on the lower die base through a spring.
  • the stroke of the secondary material supporting floating block is the sum of the strokes of the secondary material supporting block and the material supporting inclined sliding block.
  • N 8
  • the linkage robot mold is provided with nine workstations.
  • the nine workstations are respectively provided with the first single process module, the second single process module, the third single process module, the fourth single process module, the material support bracket, the fifth single process module, the sixth single process module, the seventh single process module and the eighth single process module from front to back.
  • the first single process module to the fourth single process module are all first-level floating lift structures
  • the fifth single process module to the seventh single process module are all second-level floating lift structures
  • the eighth single process module is a first-level floating lift structure.
  • nine manipulators are provided on the transmission beam, which are, from front to back, the first manipulator, the second manipulator, the third manipulator, the fourth manipulator, the fifth manipulator, the sixth manipulator, the seventh manipulator, the eighth manipulator and the ninth manipulator, and the fifth manipulator is a flipping manipulator.
  • a side shaping slider is provided on each side of the seventh single-process module, and the side shaping slider is slidably set on the side shaping fixed seat to shape the two sides of the material.
  • two positioning and guiding pins are fixed on the lower die base of the seventh single-process die set to position the workpiece.
  • Another embodiment of the present application provides a molding method of a linkage robot mold using a two-stage floating structure.
  • a molding method of a linkage manipulator mold using a two-stage floating structure comprises the following steps:
  • the first single process module cuts the coil into sheets of predetermined length, and after the cutting and separation is completed, the first robot transports it to the second station along the trajectory;
  • the second single process module performs downward forming, and the forming punch extrude the sheet to press out the intermediate shape Then the second robot transports it to the third station along the trajectory;
  • the third single-process module punches and guides the nail holes, trims and punches according to the shape of the unfolded sheet, cuts off the end and middle edge of the sheet, and then the third robot transports it to the fourth station along the trajectory;
  • the fourth single-process module performs trimming, trims and punches another part, cuts off the remaining part of the edge of the sheet, and simultaneously performs downward flanging of the two ends of the sheet, and the fourth manipulator conveys it to the fifth station along the trajectory;
  • the fifth manipulator rotates the workpiece by about 180° and transports the workpiece completed in S4 to the sixth station according to the trajectory;
  • the fifth single-process module is flanging upwards, and the entire circumference except the two ends is flanging upwards, and it is bent downwards by about 45°, and then the sixth robot transports it to the seventh station according to the trajectory;
  • the sixth single-process module is bent downward by about 90°, and then the seventh robot transports it to the eighth station along the trajectory;
  • the seventh single-process module adjusts the bending angle laterally, and then the eighth robot transports it to the ninth station along the trajectory;
  • the eighth single-process module punches holes on both sides and punches two reference holes, and then the ninth robot unloads the material.
  • the action modes of the first to fourth manipulators and the sixth to ninth manipulators are as follows:
  • the fifth manipulator simultaneously rotates about 180° when performing 4.2 to lift the workpiece to the transfer height.
  • the fifth robot rotates about 180° and then retreats after releasing the workpiece in step 4.5.
  • FIG. 1 is a front view of a fixing bracket of a car seat.
  • FIG. 2 is a side view of a fixing bracket of a vehicle seat.
  • FIG. 3 is a schematic diagram of a molding method according to some embodiments (top view of a material).
  • FIG. 4 is a schematic diagram of a molding method according to some embodiments (side view of a material).
  • FIG. 5 is a diagram of a motion trajectory of a manipulator according to some embodiments.
  • FIG. 6 is a schematic diagram of the installation of each single-process module in a mold closing state according to some embodiments.
  • FIG. 7 is a schematic diagram of a state in which a robot grips a workpiece according to some embodiments.
  • FIG. 8 is a schematic diagram of a seventh single-process module in an open state according to some embodiments.
  • FIG. 9 is a cross-sectional view of FIG. 8 .
  • FIG. 10 is a schematic diagram of a seventh single-process module in a closed state according to some embodiments.
  • FIG. 11 is a cross-sectional view of FIG. 10 .
  • FIG. 12 is a flow chart of a molding method of a linkage robot mold using a secondary floating structure according to some embodiments.
  • a linkage robot mold using a two-stage floating structure includes an upper mounting plate 1 , a lower mounting plate 2 , N single-process modules, N+1 sets of robots and a transmission beam 33 ;
  • the linkage robot mold includes N+1 stations, wherein each of the N stations is provided with a single process module, and one station is provided with a support bracket 32, and a plurality of single process modules and support brackets 32 are arranged in sequence in a straight line;
  • the upper die sets of N single-process modules are all mounted on the upper mounting plate 1, and the lower die sets of N single-process modules are all mounted on the lower mounting plate 2.
  • the upper die base 3 of the upper die is mounted on the upper mounting plate 1 through the upper foot 4.
  • the lower die base 5 of the lower die is mounted on the lower mounting plate 2 through the lower foot 6.
  • a group of robots is correspondingly arranged at each workstation, and the robots are used to transfer the materials of the current workstation to the next workstation and then return.
  • N+1 groups of robots are all arranged on the transmission beam 33, and move up and down, left and right, or forward and backward with the transmission beam 33.
  • One of the robots is a flipping robot, and the flipping robot corresponds to the workstation located on the material support bracket 32.
  • the lower mold of the single-process module located at the preceding workstation of the material support bracket 32 is a first-level floating mechanism
  • the lower mold of the single-process module located at the adjacent subsequent workstation of the material support bracket 32 is a second-level floating mechanism.
  • the discharge part of the first-stage floating mechanism adopts a combination of an ordinary spring and a discharge part.
  • the discharge part is set on the lower die seat through a spring.
  • the discharge part of the second-stage floating mechanism includes an inclined slider 15, a second-stage support block 16 and a second-stage support floating block 17.
  • the two inclined sliders 15 are symmetrically arranged.
  • the bottom of each inclined slider 15 is set on the lower die seat through a spring
  • the second-stage support block 16 is set on the top of the inclined slider 15 through a spring.
  • the lower die seat is also provided with a second-stage support floating block 17 for supporting the second-stage support block 16.
  • the second-stage support floating block 17 is slidably connected to the guide column 18, and the guide column 18 is fixed on the lower die seat.
  • the bottom of the second-stage support floating block 17 is set on the lower die seat through a spring.
  • the stroke of the second-stage support floating block 17 is the sum of the strokes of the second-stage support support block 16 and the support inclined slider 15.
  • the two symmetrical inclined slide blocks 15 are lifted up by the springs placed on the lower mold seat.
  • the robot cannot grab the product 31, so a secondary support is required.
  • the secondary support support block 16 lifts the product 31 again.
  • the secondary support support block 16 is narrow, and the spring force alone is not enough to complete the unloading. It can only be lifted from the outside through the secondary support buoyancy block 17. Due to space limitations, the secondary support buoyancy block 17 is placed outside the product 31 to make room for the robot to grab the product 31.
  • N 8, and nine stations are provided on the linkage manipulator mold.
  • the nine stations are respectively provided with the first single process module 7, the second single process module 8, the third single process module 9, the fourth single process module 10, the support bracket 32, the fifth single process module 11, the sixth single process module 12, the seventh single process module 13, and the eighth single process module 14 from front to back.
  • the first single process module 7 to the fourth single process module 10 are all primary floating structures
  • the fifth single process module 11 to the seventh single process module 13 are all secondary floating structures
  • the eighth single process module 14 is a primary floating structure.
  • nine manipulators are provided on the transmission beam 33, and the nine manipulators are respectively the first manipulator 19, the second manipulator 20, the third manipulator 21, the fourth manipulator 22, the fifth manipulator 23, the sixth manipulator 24, and the sixth manipulator 25 from front to back. 24, the seventh robot 25, the eighth robot 26, and the ninth robot 27.
  • the first robot 19 clamps the workpiece on the first single-process module 7, rises to a predetermined height, and transports it to the second single-process module 8. It descends to the placement position to release the material and retreats, and then returns to the initial position of the first single-process module 7. And so on.
  • the second robot 20 to the fourth robot 22, the sixth robot 24 to the ninth robot 27 have the same action mode as the first robot 19.
  • the fifth manipulator 23 is a flip manipulator, which clamps the workpiece on the support bracket 32 and rotates about 180° during the ascending process, and then delivers it to the fifth single-process module 11, descends to the placement position to release the sheet, rotates about 180° during the retreat process, and then returns to the initial position of the support bracket 32.
  • the fifth manipulator 23 is a flip manipulator, which clamps the workpiece on the support bracket 32 and rotates about 180° during the ascending process, and then delivers it to the fifth single-process module 11, descends to the placement position to release the sheet, rotates 180° during the retreat process, and then returns to the initial position of the support bracket 32.
  • the actions of the first manipulator 19 to the fourth manipulator 22 and the sixth manipulator 24 to the ninth manipulator 27 are as follows:
  • the fifth robot 23 rotates about 180° synchronously when performing step 4.2 to lift the workpiece to the conveying height. In some embodiments, the fifth robot 23 rotates about 180° and then retreats after releasing the workpiece in step 4.5. In some embodiments, the fifth robot 23 rotates about 180° synchronously when performing step 4.2 to lift the workpiece to the conveying height. In some embodiments, the fifth robot 23 rotates about 180° and then retreats after releasing the workpiece in step 4.5.
  • a molding method of a linkage manipulator mold using a two-stage floating structure based on the above embodiment includes the following steps:
  • the first single-process module 7 cuts the coil into sheets of predetermined length, and after the cutting and separation is completed, the first manipulator 19 transports it to the second station along the trajectory;
  • the second single-process module 8 performs downward forming, the forming punch extrude the sheet to form an intermediate shape, and then the second manipulator 20 transports it to the third station along the trajectory;
  • the third single-process module 9 punches and guides the nail holes, trims and punches according to the shape of the unfolded sheet, and cuts off the end and middle edge parts of the sheet, as shown in S3 in Figure 3, a, b, c, and then the third manipulator 21 transports it to the fourth station along the trajectory; the outer edge of the sheet is used to position it in S1-S3;
  • the fourth single-process module 10 performs trimming, trims and punches another part, and cuts off the remaining part of the edge of the sheet.
  • d and e are the parts that need to be punched in this step.
  • the two ends of the sheet (as shown in S4 in FIG. 3, f) are turned down, and the fourth manipulator 22 transports it to the fifth station according to the trajectory; S4 adopts the guide pin hole positioning of S3;
  • the fifth robot 23 rotates the workpiece by about 180° and transports the workpiece completed in S4 to the sixth station according to the trajectory;
  • the fifth single-process module 11 is flanging upwards, and the entire circumference except the two ends is flanging upwards, and the two end portions (f in S4) do not need to be flanging, and are bent downwards by about 45°, and then the sixth manipulator 24 transports it to the seventh station according to the trajectory;
  • the sixth single-process module 12 is bent downward by about 90°, and then the seventh robot 25 transports it to the eighth station along the trajectory;
  • the seventh single-process module 13 adjusts the bending angle laterally, and then the eighth robot 26 transports it to the ninth station along the trajectory;
  • the eighth single-process module 14 punches holes on both sides and punches two reference holes, and then the ninth robot 27 unloads the material.
  • the fifth single-process module 11 is flanged upward, and the entire circumference is flanged except for the two ends.
  • the two end portions (f in S4) do not need to be flanged, and are bent downward by 45°. Then the sixth robot 24 transports it to the seventh station along the trajectory.
  • the sixth single-process module 12 is bent downward by 90°, and then the seventh robot 25 transports it to the eighth station along the trajectory.
  • the workpiece processed by S6 has upward flanges and raised ribs in the bending part, so the forming dies of the fifth single-process module 11 to the seventh single-process module 13 are made into the form of an inclined slide 15.
  • the lower forming die needs to retreat, otherwise it cannot be unloaded and the product cannot be taken out.
  • the inclined slide 15 needs to consider the strength and unloading stroke, so a secondary support is required to ensure the consistent transmission height of the robot.
  • a side shaping slider 29 is provided on each side of the seventh single-process module 13.
  • the side shaping slider 29 is slidably set on the side shaping fixed seat 30 to shape the two sides of the material.
  • Two positioning guide pins 28 are fixed on the lower die seat of the seventh single-process module 13 to position the material.
  • This application uses a manipulator to link the production of molds in each sub-process, saving labor costs and improving production efficiency;
  • the synergistic effect of the manipulator of the present application and the lower mold of the primary and secondary floating lift mechanisms can ensure smooth processing of workpieces and improve workpiece quality.

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Abstract

一种使用二级浮升结构的联动机械手模具及其成型方法，联动机械手模具，包括上安装板（1）、下安装板（2）、传输梁（33）、N个单工序模组以及N+1组机械手；联动机械手模具中设置N+1个工位，其中N个工位的每一个工位上设置一个单工序模组，一个工位设置托料支架（32），多个单工序模组及托料支架（32）按顺序呈直线排布；每一个工位上对应设置一组机械手，机械手用于将当前工位的料件传输至下一工位后返回，位于托料支架（32）的前序工位上的单工序模组的下模具均为一级浮升机构，位于托料支架（32）的相邻后序工位的单工序模组的下模具为二级浮升机构。

Description

一种使用二级浮升结构的联动机械手模具及其成型方法
相关申请
本申请要求2023年03月29日申请的，申请号为202310315404.9，名称为“一种使用二级浮升结构的联动机械手模具及其成型方法”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及模具装置技术领域，特别是涉及一种使用二级浮升结构的联动机械手模具及其成型方法。
背景技术
如图1-图2所示，是汽车座椅的固定支架，材质SPC440，即一种抗拉大于或等于440mpa的钢材，材料厚度1.40mm(毫米)，此产品难点在于全周都需要翻边，且外形与圆孔冲裁方向相反，需要翻转，不适合级进模连料，折弯高度高。传统工艺是使用级进模生产制件，多工序单冲模具生产，人工成本高，生产周期长。一种可以解决以上问题的模具及成型方法有待于进一步研究和开发。
发明内容
根据本申请的各种实施例，提供一种使用二级浮升结构的联动机械手模具。
一种使用二级浮升结构的联动机械手模具中，联动机械手模具中设置N+1个工位，联动机械手模具包括：
上安装板；
下安装板；
传输梁；
N个单工序模组，N个工位的每一个工位上设置一个单工序模组，一个工位设置托料支架，多个单工序模组及托料支架按顺序呈直线排布，N个单工序模组的上模组均安装在上安装板上，N个单工序模组的下模组均安装在下安装板2上；及
N+1组机械手，每一个工位上对应设置一组机械手，所述机械手用于将当前工位的料件传输至下一工位后返回，N+1组机械手均设置于所述传输梁上，随传输梁升降、左右或前后 移动，其中一个机械手为翻转机械手，所述翻转机械手对应位于所述托料支架的工位上，位于所述托料支架的前序工位上的单工序模组的下模具均为一级浮升机构，位于所述托料支架的相邻后序工位的单工序模组的下模具为二级浮升机构。
在上述技术方案中，上模具的上模座通过上垫脚安装在上安装板上。
在上述技术方案中，下模具的下模座通过下垫脚安装在下安装板上。
在上述技术方案中，一级浮升机构包括卸料件和弹簧，所述卸料件通过弹簧设置在下模座上。
在上述技术方案中，二级浮升机构的卸料件包括斜滑块、二级托料支撑块、二级托料浮升块和弹簧，两个斜滑块对称设置，每一个斜滑块的底部通过弹簧设置在下模座上，二级托料支撑块通过弹簧设置在斜滑块的顶部。
在上述技术方案中，所述下模座上还设有用于托起二级托料支撑块的二级托料浮升块，二级托料浮升块滑动连接在导柱上，导柱固定在下模座上，二级托料浮升块的底部通过弹簧设置在下模座上，二级托料浮升块的行程是二级托料支撑块和托料斜滑块两者行程之和。
在上述技术方案中，N＝8，所述联动机械手模具上设有九个工位。
在上述技术方案中，九个工位从前到后分别设有第一单工序模组、第二单工序模组、第三单工序模组、第四单工序模组、托料支架、第五单工序模组、第六单工序模组、第七单工序模组、第八单工序模组，第一单工序模组至第四单工序模组均为一级浮升结构，第五单工序模组至第七单工序模组均为二级浮升结构，第八单工序模组为一级浮升结构。
在上述技术方案中，传输梁上设有九个机械手，九个机械手从前到后分别为第一机械手、第二机械手、第三机械手、第四机械手、第五机械手、第六机械手、第七机械手、第八机械手以及第九机械手，第五机械手为翻转机械手。
在上述技术方案中，所述第七单工序模组的两侧还各设有一个侧整形滑块，侧整形滑块滑动设置在侧整形固定座上，对料件两侧进行成型。
在上述技术方案中，所述第七单工序模组的下模座上固定有两个定位导正钉，对料件进行定位。
本申请的另一实施例，提供一种使用二级浮升结构的联动机械手模具的成型方法。
一种使用二级浮升结构的联动机械手模具的成型方法，包括以下步骤：
S1，在第一工位，所述第一单工序模组将卷料切断为预定长度的板料，完成切断分离后，第一机械手按轨迹将其输送至第二工位；
S2，在第二工位，所述第二单工序模组进行向下成型，由成型冲头挤压料片，压出中间形 状，然后第二机械手按轨迹将其输送至第三工位；
S3，在第三工位，所述第三单工序模组冲导正钉孔、按展开料片形状修边冲裁，裁切掉料片的端部和中部边缘部分，然后第三机械手按轨迹将其输送至第四工位；
S4，在第四工位，所述第四单工序模组进行切边，对另一部分修边冲裁，裁切掉料片边缘的剩余部分，同时对料片的两端部进行向下翻边，第四机械手按轨迹将其输送至第五工位；
S5，在第五工位，第五机械手将制件进行约180°旋转同时按轨迹将完成S4的制件输送至第六工位的；
S6，在第六工位，所述第五单工序模组进行向上翻边，向上翻边时除两个端部之外全周翻边，同时向下折弯约45°，然后第六机械手按轨迹将其输送至第七工位；
S7，在第七工位，所述第六单工序模组向下折弯约90°，然后第七机械手按轨迹将其输送至第八工位；
S8，在第八工位，所述第七单工序模组对折弯角度进行侧向调整，然后第八机械手按轨迹将其输送至第九工位；
S9，在第九工位，所述第八单工序模组对两侧冲孔，并正冲两个基准孔，然后第九机械手卸料。
在上述技术方案中，第一机械手至第四机械手、第六机械手至第九机械手的动作方式如下：
4.1夹取制件；
4.2提升制件到传送高度；
4.3传送制件到下一工序；
4.4下降到放置位置；
4.5释放制件并后退；
4.6返回并初始位置。
在上述技术方案中，第五机械手在进行4.2提升制件到传送高度时同步进行约180°旋转。
在上述技术方案中，第五机械手在进行步骤4.5释放制件后回转约180°再后退。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传 统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。
图1为汽车座椅的固定支架的主视图。
图2为汽车座椅的固定支架的侧视图。
图3为根据一些实施例的成型方法示意图(俯视料件)。
图4为根据一些实施例的成型方法示意图(侧视料件)。
图5为根据一些实施例的机械手运动轨迹图。
图6为根据一些实施例的合模状态下各个单工序模组安装示意图。
图7为根据一些实施例的机械手夹取制件状态示意图。
图8为根据一些实施例的打开状态下第七单工序模组示意图。
图9为图8的剖面图。
图10为根据一些实施例的闭合状态下第七单工序模组示意图。
图11为图10的剖面图。
图12为根据一些实施例的使用二级浮升结构的联动机械手模具的成型方法的流程图。
图中：1-上安装板，2-下安装板，3-上模座，4-上垫脚，5-下模座，6-下垫脚，7-第一单工序模组，8-第二单工序模组，9-第三单工序模组，10-第四单工序模组，11-第五单工序模组，12-第六单工序模组13-第七单工序模组，14-第八单工序模组，15-斜滑块，16-二级托料支撑块，17-二级托料浮升块，18-导柱，19-第一机械手，20-第二机械手，21-第三机械手，22-第四机械手，23-第五机械手，24-第六机械手，25-第七机械手，26-第八机械手，27-第九机械手，28-定位导正钉，29-侧整形滑块，30-侧整形固定座，31-产品，32-托料支架，33-传输梁。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在一些实施例中，一种使用二级浮升结构的联动机械手模具，如图6所示，包括上安装板1、下安装板2、N个单工序模组、N+1组机械手及传输梁33；
联动机械手模具包括N+1个工位，其中N个工位的每一个工位上设置一个单工序模组，一个工位设置托料支架32，多个单工序模组及托料支架32按顺序呈直线排布；
N个单工序模组的上模组均安装在上安装板1上，N个单工序模组的下模组均安装在下安装板2上。在一些实施例中，上模具的上模座3通过上垫脚4安装在上安装板1上。在一些实施例中，下模具的下模座5通过下垫脚6安装在下安装板2上。
如图7所示，每一个工位上对应设置一组机械手，所述机械手用于将当前工位的料件传输至下一工位后返回，N+1组机械手均设置于所述传输梁33上，随传输梁33升降、左右或前后移动，其中一个机械手为翻转机械手，所述翻转机械手对应位于所述托料支架32的工位上，位于所述托料支架32的前序工位上的单工序模组的下模具均为一级浮升机构，位于所述托料支架32的相邻后序工位的单工序模组的下模具为二级浮升机构。
如图8和图9所示，一级浮升机构的卸料件采用普通的弹簧和卸料件相结合的方式，卸料件通过弹簧设置在下模座上，开模时，依靠弹簧力，卸料件上升将制件抬起。二级浮升机构的卸料件包括斜滑块15、二级托料支撑块16以及二级托料浮升块17，两个斜滑块15对称设置，每一个斜滑块15的底部通过弹簧设置在下模座上，二级托料支撑块16通过弹簧设置在斜滑块15的顶部。在一些实施例中，所述下模座上还设有用于托起二级托料支撑块16的二级托料浮升块17，二级托料浮升块17滑动连接在导柱18上，导柱18固定在下模座上，二级托料浮升块17的底部通过弹簧设置在下模座上，二级托料浮升块17的行程是二级托料支撑块16和托料斜滑块15两者行程之和。
对称的两个斜滑块15在模具打开时被放置在下模座的弹簧顶起，此时由于产品翻边的存在，机械手无法抓取产品31，这样就需要二级托料，二级托料支撑块16将产品31再次托起。二级托料支撑块16较窄，单独加弹簧力不够，无法完成卸料，只能从外部通过二级托料浮升块17托起，受限于空间限制，二级托料浮升块17放置在产品31外侧，给机械手抓取产品31让出了空间。
在一些实施例中，N＝8，联动机械手模具上设有九个工位。在一些实施例中，九个工位从前到后分别设有第一单工序模组7、第二单工序模组8、第三单工序模组9、第四单工序模组10、托料支架32、第五单工序模组11、第六单工序模组12、第七单工序模组13、第八单工序模组14，第一单工序模组7至第四单工序模组10均为一级浮升结构，第五单工序模组11至第七单工序模组13均为二级浮升结构，第八单工序模组14为一级浮升结构。
在一些实施例中，传输梁33上设有九个机械手，九个机械手从前到后分别为第一机械手19、第二机械手20、第三机械手21、第四机械手22、第五机械手23、第六机械手 24、第七机械手25、第八机械手26、第九机械手27，第一单工序模组7开模后，第一机械手19将第一单工序模组7上夹取制件后，上升至预定高度，输送至第二单工序模组8，下降到放置位置释放料片并后退，再返回至第一单工序模组7的初始位置，依次类推，第二机械手20至第四机械手22、第六机械手24至第九机械手27的动作方式与第一机械手19。
第五机械手23为翻转机械手，将托料支架32上的制件夹取后上升过程中同时进行约180°旋转，输送至第五单工序模组11，下降到放置位置释放料片，回退过程中回转约180°，再返回至托料支架32的初始位置。在一些实施例中，第五机械手23为翻转机械手，将托料支架32上的制件夹取后上升过程中同时进行180°旋转，输送至第五单工序模组11，下降到放置位置释放料片，回退过程中回转180°，再返回至托料支架32的初始位置。
第一机械手19至第四机械手22、第六机械手24至第九机械手27的动作方式如下：
4.1夹取制件；
4.2提升制件到传送高度；
4.3传送制件到下一工序；
4.4下降到放置位置；
4.5释放制件并后退；
4.6返回并初始位置。
在一些实施例中，第五机械手23在进行4.2提升制件到传送高度时同步进行约180°旋转。在一些实施例中，在进行步骤4.5释放制件后回转约180°再后退。在一些实施例中，第五机械手23在进行4.2提升制件到传送高度时同步进行180°旋转。在一些实施例中，在进行步骤4.5释放制件后回转180°再后退。
如图3、图4、图5及图12所示，在一些实施例中，基于上述实施例的使用二级浮升结构的联动机械手模具的成型方法，包括以下步骤：
S1，在第一工位，所述第一单工序模组7将卷料切断为预定长度的板料，完成切断分离后，第一机械手19按轨迹将其输送至第二工位；
S2，在第二工位，所述第二单工序模组8进行向下成型，由成型冲头挤压料片，压出中间形状，然后第二机械手20按轨迹将其输送至第三工位；
S3，在第三工位，所述第三单工序模组9冲导正钉孔、按展开料片形状修边冲裁，裁切掉料片的端部和中部边缘部分，如图3中S3所示a、b、c三个部分，然后第三机械手21按轨迹将其输送至第四工位；S1-S3中利用料片的外形边缘对其定位；
S4，在第四工位，所述第四单工序模组10进行切边，对另一部分修边冲裁，裁切掉料片边缘的剩余部分，如图3中S4所示的d、e为本步骤中需要冲裁的部分，同时对料片的两端部(如图3中S4所示的f)进行向下翻边，第四机械手22按轨迹将其输送至第五工位；S4采用的S3的导正钉孔定位；
S5，在第五工位，第五机械手23将制件进行约180°旋转同时按轨迹将完成S4的制件输送至第六工位的；
S6，在第六工位，所述第五单工序模组11进行向上翻边，向上翻边时除两个端部之外全周翻边，两个端部部分(S4中f)无需翻边，同时向下折弯约45°，然后第六机械手24按轨迹将其输送至第七工位；
S7，在第七工位，所述第六单工序模组12向下折弯约90°，然后第七机械手25按轨迹将其输送至第八工位；
S8，在第八工位，所述第七单工序模组13对折弯角度进行侧向调整，然后第八机械手26按轨迹将其输送至第九工位；
S9，在第九工位，所述第八单工序模组14对两侧冲孔，并正冲两个基准孔，然后第九机械手27卸料。
在一些实施中，在第六工位，所述第五单工序模组11进行向上翻边，向上翻边时除两个端部之外全周翻边，两个端部部分(S4中f)无需翻边，同时向下折弯45°，然后第六机械手24按轨迹将其输送至第七工位。
在一些实施中，在第七工位，所述第六单工序模组12向下折弯90°，然后第七机械手25按轨迹将其输送至第八工位。
经过S6加工后的制件在折弯部分包含向上翻边和凸起的压筋，所以第五单工序模组11至第七单工序模组13的成型凹模做成斜滑块15的形式，在模具打开状态，下型的成型凹模需要后退，否则无法卸料，产品无法取出。而斜滑块15需要考虑强度和卸料行程，这样就需要二级托料，保证机械手的传送高度一致。
如图10和图11所示，所述第七单工序模组13的两侧还各设有一个侧整形滑块29，侧整形滑块29滑动设置在侧整形固定座30上，对料件两侧进行成型，所述第七单工序模组13的下模座上固定有两个定位导正钉28，对料件进行定位。
与传统技术相比，本申请的有益效果是：
1.本申请使用机械手将各个分工序的模具联动生产，节省人工成本，提高生产效率；
2.本申请的机械手和一级浮升机构、二级浮升机构的下模协同作用，可保证工件加工的舒畅进行，提高工件质量。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种使用二级浮升结构的联动机械手模具，其特征在于，联动机械手模具中设置N+1个工位，联动机械手模具包括：
    上安装板；
    下安装板；
    传输梁；
    N个单工序模组，N个工位的每一个工位上设置一个单工序模组，一个工位设置托料支架，多个单工序模组及托料支架按顺序呈直线排布，N个单工序模组的上模组均安装在上安装板上，N个单工序模组的下模组均安装在下安装板2上；及
    N+1组机械手，每一个工位上对应设置一组机械手，所述机械手用于将当前工位的料件传输至下一工位后返回，N+1组机械手均设置于所述传输梁上，随传输梁升降、左右或前后移动，其中一个机械手为翻转机械手，所述翻转机械手对应位于所述托料支架的工位上，位于所述托料支架的前序工位上的单工序模组的下模具均为一级浮升机构，位于所述托料支架的相邻后序工位的单工序模组的下模具为二级浮升机构。
  2. 如权利要求1所述的使用二级浮升结构的联动机械手模具，其特征在于，上模具的上模座通过上垫脚安装在上安装板上。
  3. 如权利要求1或2所述的使用二级浮升结构的联动机械手模具，其特征在于，下模具的下模座通过下垫脚安装在下安装板上。
  4. 如权利要求1-3中任一项所述的使用二级浮升结构的联动机械手模具，其特征在于，一级浮升机构包括卸料件和弹簧，所述卸料件通过弹簧设置在下模座上。
  5. 如权利要求1-4中任一项所述的使用二级浮升结构的联动机械手模具，其特征在于，二级浮升机构的卸料件包括斜滑块、二级托料支撑块、二级托料浮升块和弹簧，两个斜滑块对称设置，每一个斜滑块的底部通过弹簧设置在下模座上，二级托料支撑块通过弹簧设置在斜滑块的顶部。
  6. 如权利要求5所述的使用二级浮升结构的联动机械手模具，其特征在于，所述下模座上还设有用于托起二级托料支撑块的二级托料浮升块，二级托料浮升块滑动连接在导柱上，导柱固定在下模座上，二级托料浮升块的底部通过弹簧设置在下模座上，二级托料浮升块的行程是二级托料支撑块和托料斜滑块两者行程之和。
  7. 如权利要求1-6中任一项所述的使用二级浮升结构的联动机械手模具，其特征在于，N＝8，所述联动机械手模具上设有九个工位。
  8. 如权利要求1-7中任一项所述的使用二级浮升结构的联动机械手模具，其特征在于，所述九个工位从前到后分别设有第一单工序模组、第二单工序模组、第三单工序模组、第四单工序模组、托料支架、第五单工序模组、第六单工序模组、第七单工序模组、第八单工序模组，第一单工序模组至第四单工序模组均为一级浮升结构，第五单工序模组至第七单工序模组均为二级浮升结构，第八单工序模组为一级浮升结构。
  9. 如权利要求8所述的使用二级浮升结构的联动机械手模具，其特征在于，所述传输梁上设有九个机械手，九个机械手从前到后分别为第一机械手、第二机械手、第三机械手、第四机械手、第五机械手、第六机械手、第七机械手、第八机械手以及第九机械手，第五机械手为翻转机械手。
  10. 如权利要求8或9所述的使用二级浮升结构的联动机械手模具，其特征在于，所述第七单工序模组的两侧还各设有一个侧整形滑块，侧整形滑块滑动设置在侧整形固定座上，对料件两侧进行成型。
  11. 如权利要求8-10中任一项所述的使用二级浮升结构的联动机械手模具，其特征在于，所述第七单工序模组的下模座上固定有两个定位导正钉，对料件进行定位。
  12. 使用如权利要求8-11中任一项所述的二级浮升结构的联动机械手模具的成型方法，其特征在于，包括以下步骤：
    S1，在第一工位，所述第一单工序模组将卷料切断为预定长度的板料，完成切断分离后，第一机械手按轨迹将其输送至第二工位；
    S2，在第二工位，所述第二单工序模组进行向下成型，由成型冲头挤压料片，压出中间形状，然后第二机械手按轨迹将其输送至第三工位；
    S3，在第三工位，所述第三单工序模组冲导正钉孔、按展开料片形状修边冲裁，裁切掉料片的端部和中部边缘部分，然后第三机械手按轨迹将其输送至第四工位；
    S4，在第四工位，所述第四单工序模组进行切边，对另一部分修边冲裁，裁切掉料片边缘的剩余部分，同时对料片的两端部进行向下翻边，第四机械手按轨迹将其输送至第五工位；
    S5，在第五工位，第五机械手将制件进行约180°旋转同时按轨迹将完成S4的制件输送至第六工位；
    S6，在第六工位，所述第五单工序模组进行向上翻边，向上翻边时除两个端部之外全周翻边，同时向下折弯约45°，然后第六机械手按轨迹将其输送至第七工位；
    S7，在第七工位，所述第六单工序模组向下折弯成型约90°，然后第七机械手按轨迹将其输送至第八工位；
    S8，在第八工位，所述第七单工序模组对折弯角度进行侧向调整，然后第八机械手按轨迹将其输送至第九工位；
    S9，在第九工位，所述第八单工序模组对对两侧冲孔，并正冲两个基准孔，然后第九机械手卸料。
  13. 如权利要求12所述的成型方法，其特征在于，第一机械手至第四机械手、第六机械手至第九机械手的动作方式如下：
    4.1夹取制件；
    4.2提升制件到传送高度；
    4.3传送制件到下一工序；
    4.4下降到放置位置；
    4.5释放制件并后退；
    4.6返回并初始位置。
  14. 如权利要求13所述的成型方法，其特征在于，第五机械手在进行4.2提升制件到传送高度时同步进行约180°旋转。
  15. 如权利要求13或14所述的成型方法，其特征在于，第五机械手在进行步骤4.5释放制件后回转约180°再后退。
PCT/CN2023/099876 2023-03-29 2023-06-13 一种使用二级浮升结构的联动机械手模具及其成型方法 WO2024198098A1 (zh)

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