CN106944567A - A kind of telescopic loading and unloading manipulator for stamping - Google Patents
A kind of telescopic loading and unloading manipulator for stamping Download PDFInfo
- Publication number
- CN106944567A CN106944567A CN201710183585.9A CN201710183585A CN106944567A CN 106944567 A CN106944567 A CN 106944567A CN 201710183585 A CN201710183585 A CN 201710183585A CN 106944567 A CN106944567 A CN 106944567A
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- China
- Prior art keywords
- plate
- stockpile
- mechanical arm
- screw
- lifting
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Classifications
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
- B21D43/24—Devices for removing sheets from a stack
-
- 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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of telescopic loading and unloading manipulator for stamping, the automatic loading/unloading available for punch press is worked, and optimizes the function of existing manipulator, and adaptation regulation can be carried out for different size lathe size, and charging and discharging mechanism design improves efficiency.The present invention includes frame structure, stockpile mechanism, material fetching mechanism, mechanical arm lifting mechanism and robot assemblies.Material fetching mechanism is driven with mechanical arm by servomotor, and electrical control can realize fast and stable loading and unloading；Stockpile mechanism improves the efficiency of loading and unloading by cylinder control, two block heap disk circulation work.It is accurate easy that the controllability of frame structure installs the adaptation of product.The present invention is simple in construction, and stability is strong, can be directed to different size lathes from self structure by electrical control, improve operating efficiency.
Description
Technical field
The present invention relates to manipulator field, specifically a kind of telescopic loading and unloading manipulator for stamping.
Background technology
It is similar currently for the manipulator of punch press, largely designed for a certain punch press, and up and down
That expects is inefficient, is accomplished by redesigning when the lathe in face of different size, increases substantial amounts of workload, therefore design one
The loading and unloading manipulator that kind can be directed to different size punch press is necessary.
The content of the invention is it is an object of the invention to provide a kind of telescopic loading and unloading manipulator for stamping, to solve
Inefficiency that prior art industry mechanical arm is present, the problem of be difficult to be common to different size lathe.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：Including frame mechanism, stockpile mechanism, feeding
Mechanism, mechanical arm lifting mechanism and mechanical arm, wherein：
Frame mechanism include horizontal firm banking, stand to main body frame, be provided with firm banking a pair it is symmetrical
And respectively along the slide rail of anterior-posterior horizontal direction extension, main body frame top is fixed with horizontal upper mounted plate, and main body frame is left and right
Side bottom is slidably mounted on to be formed on slide rail by sliding block and is slidably matched；
Stockpile mechanism includes stockpile base, stockpile plate, and stockpile base is fixed on the firm banking between two slide rails in frame mechanism
On, a pair of stockpile slide rails that are symmetrical and extending respectively along anterior-posterior horizontal direction, stockpile base are provided with stockpile base
Upper that stockpile sliding cylinder is provided between two stockpile slide rail one end, the stockpile plate is slidably mounted on stockpile by sliding block and slided
Formed and be slidably matched on rail, the vertically-mounted feeding guide pillar having in left-right situs, rewinding guide pillar on stockpile plate, stockpile plate bottom connect
Cylinder contiguous block is connected to, the stockpile sliding cylinder piston rod extends and is connected with cylinder contiguous block along the longitudinal direction；
Material fetching mechanism includes being connected to the supporting plate in frame mechanism on upper mounted plate vertically, and is vertically installed at upper mounted plate
On feeding cylinder, supporting plate upper end level connection joint, which has in linear bearing installing plate, linear bearing installing plate, to be passed through a pair
Linear bearing is slidably fitted with feeding polished rod vertically, and two feeding polished rods are symmetrical before and after, and two feeding polished rod upper ends are connected by polished rod
Extension bar is connected as one, and two feeding polished rod lower ends pass vertically through upper mounted plate and stretch into main body frame and be suspended from stockpile respectively respectively
Forward and backward side above feeding guide pillar in mechanism, each feeding polished rod lower end is connected to sucker installing plate, each sucker installing plate
Bottom is separately installed with sucker, and the piston rod of the feeding cylinder passes vertically through upper mounted plate and stretched into main body frame, and takes
The piston rod rod end of material cylinder is fixedly connected by connecting rod with one of sucker installing plate；
Mechanical arm lifting mechanism includes horizontal servomotor substrate, vertical lifting assistant cylinder, and servomotor substrate is outstanding to be set
In frame mechanism above upper mounted plate, servomotor is installed at the top of servomotor substrate, servomotor spindle is straight down
And by shaft coupling, concentrically axle is connected with ball-screw to servomotor spindle, the ball-screw is straight down through upper
Fixed plate is stretched into main body frame, and upper mounted plate top surface correspondence ball-screw position is provided with ball nut, the ball nut
Screw assembly forms screw pair on ball-screw, and servomotor base plate bottom is also connected with multiple lifting polished rods vertically,
Multiple lifting polished rods are each passed through upper mounted plate and stretched into main body frame, each lifting position of polished rod point of upper mounted plate bottom surface correspondence
Linear bearing is not installed, the linear bearing is respectively assembled to be formed on corresponding lifting polished rod and is slidably matched, the lifting
Assistant cylinder is arranged on upper mounted plate, and the piston rod of lifting assistant cylinder stretches into main body frame through upper mounted plate straight down
It is interior；
Mechanical arm includes horizontal mechanical arm restraining board, the mechanical arm portable plate of level, and the mechanical arm restraining board is suspended from stockpile
Feeding guide pillar in mechanism, above rewinding guide pillar, mechanical arm restraining board bottom is provided with a pair in front and rear symmetrical and respectively along left and right
The mechanical arm slide rail of horizontal direction extension, the mechanical left and right end in arm restraining board bottom is connected to leading screw bearing installing plate, two
Held between thick stick bearing installing plate by lead screw shaft and be rotatablely equipped with mechanical arm movement ball-screw, the mechanical arm moves ball wire
Thick stick is located between two mechanical arm slide rails and parallel to two mechanical arm slide rails, is wherein also equipped with the leading screw bearing installing plate of one end
Servomotor, the servomotor spindle moves ball-screw corresponding end by belt wheel transmission mechanism and mechanical arm and is connected,
Ball-screw lower end, lifting polished rod lower end are connected at the top of mechanical arm restraining board in the mechanical arm lifting mechanism, machinery
The piston rod rod end of lifting assistant cylinder is connected at the top of mechanical arm restraining board by floating junction in arm lifting mechanism, the machine
It is provided with the top of tool arm portable plate in front and rear symmetrical linear slider, mechanical arm portable plate top is additionally provided between being located at linear slider
It is slidably mounted at the top of ball nut, mechanical arm portable plate by linear slider on the mechanical arm slide rail of mechanical arm restraining board bottom
Formation is slidably matched, and mechanical arm of the ball nut Screw assembly at the top of mechanical arm portable plate at the top of mechanical arm restraining board is moved
Screw pair is formed on dynamic ball-screw, mechanical arm portable plate bottom left or right position is provided with electricity and inhales iron installing plate,
Electricity inhales iron installing plate bottom and inhales iron provided with electricity, and mechanical arm movable floor side is provided with location sensitive block.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：In frame mechanism, fixed bottom
The front and back ends of one of slide rail are individually fixed on slide track seat respectively on seat, and bearing block is respectively equipped with each slide track seat,
Adjusting screw rod is rotatablely equipped between the bearing block of front and back ends, the adjusting screw rod is parallel near the slide rail of respective side, described
The side bottom that main body frame corresponds to adjusting screw rod is connected with adjusting nut block, and adjusting nut is packaged to fit over shape on adjusting screw rod
Coordinate into screw thread.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：Near the adjusting screw rod
Slide rail on be located between main body frame base slider, bearing block position be also respectively provided with limited block.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：In stockpile mechanism, stockpile plate
It is made up of base plate and two stockpile upper plates, base plate is slidably mounted on stockpile slide rail by sliding block, and bottom base plate passes through cylinder
Contiguous block is connected with stockpile sliding cylinder piston rod, on base plate by together in left-right direction horizontal-extending regulating block in front and back
It is separated into two isolated areas upwards, the corresponding bottom parts of each isolated area are respectively as stockpile lower plate, under each stockpile
Seam dish is respectively equipped with plate, stockpile upper plate is corresponded by seam dish and regulating block location and installation in stockpile lower plate, sent
Material guide pillar, rewinding guide pillar are vertically installed on stockpile upper plate respectively, and four corners of stockpile upper plate are provided with open hook.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：In frame mechanism, body frame
Frame left side or bottom right side inwall are provided with the limited block that reloads；Or main body frame left side, bottom right side inwall are mounted on changing
Expect limited block, two reload limited block in left and right symmetrical；In the stockpile plate, each stockpile lower plate region point of bottom base plate correspondence
Not She You limited block, the limited block that reloads in the frame mechanism on the inside of main body frame is placed in real between the limited block of bottom base plate two
Existing spacing, three position is in line relation, and installation Limit screw in the relative face of two limited blocks is stretched by adjusting Limit screw
Go out the length of the limited block particular location spacing to adjust stockpile plate.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：The mechanical arm lifting machine
In structure, servomotor base plate bottom is also connected with a pair of lifting connecting plates vertically, and two lifting connecting plates are stretched into through upper mounted plate
In main body frame, and two lifting connecting plate lower ends are connected in mechanical arm at the top of mechanical arm restraining board.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：In mechanical arm, belt wheel transmission
Mechanism is made up of the cog belt of two tooth circular arc belt wheels of a pair of tooth circular arc belt wheels and drive connection, during one of tooth circular arc belt wheel is common
Heart axle is fixed in mechanical arm on the main shaft of servomotor, and concentrically axle is fixed on mechanical arm movement rolling to another tooth circular arc belt wheel
Ballscrew end.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：Servomotor is installed
Be additionally provided with cog belt regulation bearing assembly on leading screw bearing installing plate, cog belt regulation bearing assembly it is elastic to cog belt enter
Row regulation.
A kind of described telescopic loading and unloading manipulator for stamping, it is characterised in that：In mechanical arm, two leading screws
Bearing installing plate medial surface relative to each other further respectively has buffering spacer.
Advantages of the present invention is：（1）Overall structure is multivariant, can be adjusted for different size punch press；
（2）Portable stockpile mechanism can improve loading and unloading efficiency by electrical control.
Brief description of the drawings
Fig. 1 is a kind of telescopic loading and unloading manipulator overall construction drawing for stamping of the invention.
Fig. 2 is a kind of telescopic loading and unloading manipulator frame construction drawing for stamping of the invention.
Fig. 3 is a kind of telescopic loading and unloading manipulator stockpile mechanism map for stamping of the invention.
Fig. 4 is a kind of telescopic loading and unloading manipulator reclaimer composition for stamping of the invention.
Fig. 5 is a kind of telescopic loading and unloading manipulator mechanical arm lifting mechanism figure for stamping of the invention.
Fig. 6 is a kind of telescopic loading and unloading manipulator mechanical arm fixation kit figure for stamping of the invention.
Fig. 7 is a kind of telescopic loading and unloading manipulator mechanical arm movable component figure for stamping of the invention.
Embodiment
As shown in figure 1, a kind of telescopic loading and unloading manipulator for stamping, including frame mechanism 1, stockpile mechanism 2,
Material fetching mechanism 3, mechanical arm lifting mechanism 4 and mechanical arm 5, wherein：
As shown in Fig. 2 frame mechanism 1 include horizontal firm banking 11, stand to main body frame 14, set on firm banking 11
There are a pair of slide rails 12 that are symmetrical and extending respectively along anterior-posterior horizontal direction, the top of main body frame 14 is fixed with horizontal upper
Fixed plate 15, the left and right side bottom of main body frame 14 is slidably mounted on to be formed on slide rail 12 by sliding block 13 and is slidably matched.
In frame mechanism 1, the front and back ends of one of slide rail are individually fixed on slide track seat respectively on firm banking 11,
It is respectively equipped with each slide track seat between bearing block 8, the bearing block 8 of front and back ends and is rotatablely equipped with adjusting screw rod 9, the regulation spiral shell
Bar 9 is parallel near the slide rail of respective side, and the side bottom that main body frame 14 corresponds to adjusting screw rod 9 is connected with adjusting nut
Block 7, adjusting nut block 7, which is assemblied on adjusting screw rod 9, forms screw thread cooperation.
It is located at position between the base slider of main body frame 14, bearing block on slide rail near adjusting screw rod 9 also to set respectively
Limited location block 10.
In the present invention, frame structure 1 includes firm banking 11, and the parallel mounting seat slide rail 12 in the both sides of firm banking 11 is sliding
Be slidably installed main body frame 14 on rail, the affixed upper mounted plate 15 in the top of main body frame 14, affixed before and after the side of lower section to install a pair
Sliding block 13 is installed in adjusting nut block 7, the bottom of main body frame 14, coordinates with slide rail formation prismatic pair, with tune in firm banking 11
Section nut block 7 the same side, which is also equipped with coordinating in a pair of bearing 8, bearing block, installs adjusting screw rod 9, and adjusting screw rod 9 is through peace
Coordinate loaded on main body frame bottom and the identical side of adjusting nut block 7 with the formation screw thread of adjusting nut block 7.Pass through spiral shell on slide rail
Bolt is installed a pair of limited blocks 10 and is located at respectively between bearing block and sliding block.
In the present invention, main body frame 14 can carry out the position adjustment of horizontal direction flexibly to fit by sliding block 13 with slide rail 12
The size of different punch presses is answered to require, main body frame 14 carries out accurate degree adjustment by adjusting screw rod 9, is tightened after position adjustment is good
The bolt of limited block 10 is locked, and completes position adjustment.
As shown in figure 3, stockpile mechanism 2 includes stockpile base 19, stockpile plate, stockpile base 19 is fixed in frame mechanism 1
On firm banking 11 between two slide rails 12, be provided with stockpile base 19 a pair it is symmetrical and respectively along anterior-posterior horizontal side
To the stockpile slide rail 20 of extension, stockpile sliding cylinder 21 is installed between the one end of two stockpile slide rail 20 on stockpile base 19,
Stockpile plate is slidably mounted on to be formed on stockpile slide rail 20 by sliding block 71 and is slidably matched, vertically-mounted on stockpile plate to have in left and right row
The feeding guide pillar 22 of row, rewinding guide pillar 24, stockpile plate bottom are connected with cylinder contiguous block 29, the piston rod edge of stockpile sliding cylinder 21
Fore-and-aft direction extends and is connected with cylinder contiguous block 29.
In stockpile mechanism 2, stockpile plate is made up of base plate and two stockpile upper plates 25, and base plate is slidably mounted on by sliding block 71
On stockpile slide rail 20, and bottom base plate is connected by cylinder contiguous block 29 with the piston rod of stockpile sliding cylinder 21, by one on base plate
Horizontal-extending regulating block 26 is separated into two isolated areas, each isolated area correspondence in the longitudinal direction in left-right direction in road
Bottom parts respectively as stockpile lower plate 28, be respectively equipped with seam dish 27 in each stockpile lower plate 28, stockpile upper plate 25 is one by one
Correspondence is by seam dish 27 and the location and installation of regulating block 26 in stockpile lower plate 28, and feeding guide pillar 22, rewinding guide pillar 24 are erected respectively
Directly it is arranged on stockpile upper plate 25, open hook 18 is arranged on the dress for being easy to stockpile upper plate 25 on four angles of stockpile upper plate 25
Unload.
In frame mechanism 1, the left side of main body frame 14 or bottom right side inwall are provided with the limited block 6 that reloads；Or body frame
The left side of frame 14, bottom right side inwall are mounted on the limited block 6 that reloads, and two reload limited block 6 in left and right symmetrical；In stockpile plate, bottom
The plate bottom each region of stockpile lower plate 28 of correspondence is respectively equipped with reloading on the inside of main body frame 14 in limited block 16, frame mechanism 1
Limited block 6, which is placed between the limited block 16 of bottom base plate two, to be realized spacing, and three position is in line relation.
Stockpile mechanism 2 includes installing stockpile sliding cylinder 21, stockpile base in stockpile base 19, stockpile base in the present invention
Top is parallel to install stockpile slide rail 20, and stockpile lower plate 28 is coordinated by sliding block 71 and slide rail formation prismatic pair, in stockpile lower plate 28
Between install seam dish 27, stockpile upper plate 25 by seam dish location and installation in stockpile lower plate, it is vertically-mounted on stockpile upper plate to send
Expect guide pillar 22 and rewinding guide pillar 24, send rewinding guide pillar to be arranged on by spline 23 on stockpile upper plate, gas is installed below stockpile lower plate
Cylinder contiguous block 29 is connected with stockpile sliding cylinder piston rod, and stopping means, including the He of limited block 16 are also installed in stockpile lower plate side
Limit screw 17, Limit screw 17 is installed in the relative face of two limited blocks 16, and limited block is stretched out by adjusting Limit screw 17
The 16 length particular location spacing to adjust stockpile plate.
Stockpile lower plate 28 is moved by stockpile sliding cylinder 21 on stockpile slide rail 20 in the present invention, and spacing by reloading
Block 6 and the limitation movement of limited block 16 and Limit screw 17, when the rewinding of rewinding guide pillar 22 on a block heap upper plate 25 is finished, material
Heap sliding cylinder 21, which works, is moved to another stockpile upper plate suitable station continuation loading and unloading, and another block heap upper plate is removable
Progress rewinding work is unloaded, and then completes the continuous work of manipulator and punch press.Wherein stockpile upper plate 25 passes through seam when mounted
Disk 27 is positioned with regulating block 26.
As shown in figure 4, material fetching mechanism 5 includes the supporting plate 34 being connected to vertically in frame mechanism 1 on upper mounted plate 15, with
And the feeding cylinder 35 on upper mounted plate 15 is vertically installed at, the upper end level connection joint of supporting plate 34 has linear bearing installing plate 36,
Feeding polished rod 32 is slidably fitted with vertically by a pair of linear bearings 33 in linear bearing installing plate 36, before two feeding polished rods 32 are in
Symmetrical afterwards, the upper end of two feeding polished rod 32 is connected as one by polished rod connecting rod 37, and the lower end of two feeding polished rod 32 is worn vertically respectively
Upper mounted plate 15 is crossed to stretch into main body frame 14 and be suspended from the forward and backward side in the top of feeding guide pillar 22, Mei Gequ in stockpile mechanism 2 respectively
Material polished rod 32 lower end is connected to sucker installing plate 30, and each bottom of sucker installing plate 30 is separately installed with sucker, feeding gas
The piston rod of cylinder 35 passes vertically through upper mounted plate 15 and stretched into main body frame 14, and the piston rod rod end of feeding cylinder 35 passes through
Connecting rod 31 is fixedly connected with one of sucker installing plate.
In the present invention, material fetching mechanism 5 includes linear bearing installing plate 36, and it is horizontally arranged at upper fixation by supporting plate 34
15 on plate, two feeding polished rods 32 are pacified vertically by two linear bearings 33 on linear bearing installing plate 36 and upper mounted plate 15
Fill and in upper end connection polished rod connecting rod 37, feeding cylinder 35 is parallelly mounted on upper mounted plate 15 with feeding polished rod 32, feeding
Cylinder piston rod is connected by connecting rod 31 with one of feeding polished rod, and sucker installing plate 30 is installed below feeding polished rod.
In the present invention, feeding cylinder 35 drives the vertical shift of feeding polished rod 32 by connecting rod 31, completes reclaiming process.
As shown in figure 5, mechanical arm lifting mechanism 4 includes horizontal servomotor substrate 41, vertical lifting assistant cylinder
45, servomotor substrate 41 is hung on the top of upper mounted plate 15 in frame mechanism 1, and the top of servomotor substrate 41 is provided with servo
Motor 44, the main shaft of servomotor 44 straight down and the main shaft of servomotor 44 by shaft coupling 46, concentrically axle is connected with rolling
Ballscrew 51, ball-screw 51 is stretched into main body frame 14 through upper mounted plate 15 straight down, the top surface of upper mounted plate 15 correspondence
The position of ball-screw 51 is provided with ball nut 49, and the Screw assembly of ball nut 49 forms feed screw nut on ball-screw 51
Pair, the bottom of servomotor substrate 41 is also connected with four lifting polished rods 38 vertically, and four lifting polished rods 38 are each passed through fixation
Plate 15 is stretched into main body frame 14, and the bottom surface of upper mounted plate 15 each position of lifting polished rod 38 of correspondence is separately installed with linear bearing
40, linear bearing 40 is respectively assembled to be formed on corresponding lifting polished rod 38 and is slidably matched, and lifting assistant cylinder 45 is arranged on upper
In fixed plate 15, the piston rod of lifting assistant cylinder 45 is stretched into main body frame 14 through upper mounted plate 15 straight down.
In mechanical arm lifting mechanism 4, the bottom of servomotor substrate 41 is also connected with a pair of lifting connecting plates 39, two lifts vertically
Connecting plate 39 is risen to stretch into main body frame 14 through upper mounted plate 15, and the lower end of two lifting connecting plate 39 is connected to mechanical arm
The mechanical top of arm restraining board 62 in 3.
Mechanical arm lifting mechanism 4 includes installing servomotor on servomotor substrate 41, servomotor substrate in the present invention
Supporting plate 42 and servomotor installing plate 43, servomotor 44 are arranged on servomotor installing plate, and servomotor spindle passes through
Shaft coupling 46 is connected with ball-screw 51, and ball-screw 51 is arranged on fixed plate 15 by ball nut 49, servo
The lower section of motor base board 41 is symmetrically installed four lifting polished rods 38 and two pieces of lifting connecting plates 39, and lifting polished rod passes through linear bearing 40
On upper mounted plate 15, the side of servomotor substrate 41 accommodates lifting assistant cylinder 45 by vertical in semi-circular recesses,
Lifting assistant cylinder 45 is arranged on upper mounted plate by cylinder mounting seat 47, and the piston rod of lifting assistant cylinder 45 is connect by floating
First 50 are connected with mechanical arm restraining board 62.
In the present invention, the main shaft of servomotor 44 is connected drive ball-screw 51 with ball-screw 51 by shaft coupling and rotated,
Now ball nut 49 carries out relative upper and lower displacement with ball-screw 51, and ball nut 49 is bolted to upper mounted plate 15 again
On, therefore whole mechanical arm lifting mechanism carries out upper and lower displacement and driving mechanical arm upper and lower displacement.
As shown in Figure 6, Figure 7, mechanical arm 3 includes horizontal mechanical arm restraining board 62, the mechanical arm portable plate 66 of level, machine
Tool arm restraining board 62 is suspended from feeding guide pillar 22 in stockpile mechanism 2, the top of rewinding guide pillar 24, and the mechanical bottom of arm restraining board 66 is set
There are a pair in mechanical arm slide rails 61 that are front and rear symmetrical and extending respectively along left and right horizontal direction, the mechanical bottom of arm restraining board 62 is left,
Right-hand member is connected between leading screw bearing installing plate 56, two leading screw bearing installing plates 56 and holds the machine of being rotatablely equipped with by lead screw shaft
Tool arm moves ball-screw 60, and mechanical arm movement ball-screw 60 is located between two mechanical arm slide rails 61 and parallel to two mechanical arms
Servomotor 52 is also equipped with the leading screw bearing installing plate of slide rail 61, wherein one end, the main shaft of servomotor 52 is passed by belt wheel
Motivation structure is connected with mechanical arm movement ball-screw 60 corresponding end, the lower end of ball-screw 51, lift in mechanical arm lifting mechanism 4
Rise the work that the lower end of polished rod 38 is connected to lifting assistant cylinder 45 in the mechanical top of arm restraining board 62, mechanical arm lifting mechanism 4
Stopper rod rod end is connected to the mechanical top of arm restraining board 62 by floating junction 50, and the top of mechanical arm portable plate 66 is provided with front and rear right
The linear slider 64 of title, the top of mechanical arm portable plate 66 is additionally provided with ball nut 67 between being located at linear slider 64, and mechanical arm is lived
The dynamic top of plate 66 is slidably mounted on to be formed on the mechanical arm slide rail 61 of the mechanical bottom of arm restraining board 62 by linear slider 64 to be slided
Coordinate, and the Screw assembly of ball nut 67 at the top of mechanical arm portable plate 66 is in the mechanical arm movement at the mechanical top of arm restraining board 62
Screw pair is formed on ball-screw 60, the bottom left or right position of mechanical arm portable plate 66 is provided with electricity and inhales iron installing plate
69, electricity inhales the bottom of iron installing plate 69 and inhales iron 70, mechanical arm portable plate side installation site sensor block 68 provided with electricity.
In mechanical arm 3, belt wheel transmission mechanism by a pair of tooth circular arc belt wheels 54,55 and drive connection two tooth circular arc belt wheels 54,
55 cog belt 53 is constituted, and concentrically axle is fixed on the main shaft of servomotor 52 in mechanical arm 3 to one of tooth circular arc belt wheel 54
On, concentrically axle is fixed on mechanical arm movement ball-screw 60 end to another tooth circular arc belt wheel 55.
It is provided with the leading screw bearing installing plate of servomotor 52 and is additionally provided with cog belt regulation bearing assembly 57, cog belt is adjusted
Nodal axisn bearing assembly 57 is elastic to cog belt 53 to be adjusted.
In mechanical arm 3, two leading screw bearing installing plate 56 medial surfaces relative to each other further respectively have buffering spacer 63.
In the present invention, mechanical arm includes mechanical arm restraining board 62 and mechanical arm portable plate 66, lifting polished rod, lifting connecting plate
All it is fixed on mechanical arm restraining board 62 with the piston rod of lifting assistant cylinder, mechanical arm restraining board upper rear passes through servo electricity
Machine installing plate 59 installs servomotor 52, and servomotor installing plate is fixed on mechanical arm restraining board 62 by strengthening version 58, machine
Leading screw bearing installing plate 56 is installed at two ends below tool arm restraining board, and mechanical arm movement ball-screw 60 is installed to be installed on by bearing
Between two pieces of bearing installing plates, two mechanical arm slide rails 61, servo electricity are also horizontally mounted in mechanical arm movement ball-screw both sides
The shaft end of machine 52 and mechanical arm movement ball-screw 60 homonymy one end correspond to install tooth circular arc belt wheel 54,55, tooth circular arc belt wheel respectively
54th, cog belt 53 is covered on 55, servomotor 52 moves ball-screw 60 by cog belt formation synchronous matching with mechanical arm, watched
Take on motor mounting plate, cog belt regulation bearing assembly 57 is also equipped with the same side of cog belt 53.The tail of mechanical arm portable plate 66
Rectangular array, which is installed, above portion installs ball nut mounting seat 65 at four linear sliders 64, its center, mounting seat passes through spiral shell
Mother installs ball nut 67, and ball nut coordinates with the mechanical arm movement formation prismatic pair of ball-screw 60, mechanical arm activity
Plate lower head installs electricity and inhales iron installing plate 69, and electricity suction iron 70 is arranged on electricity and inhaled below iron installing plate.
Servomotor 52 drives ball-screw 60 to revolve by the way that cog belt 53 and tooth circular arc belt wheel 54,55 are synchronous in the present invention
Turn, ball nut 67 moves along a straight line on ball-screw 60, ball nut is arranged on mechanical arm portable plate by mounting seat 65
And driving mechanical arm portable plate is moved along a straight line, linear slider 64 realizes the work(that auxiliary is oriented to the cooperation of mechanical arm slide rail 61
Can, while there is also mounted buffering spacer 63 on the inside of bearing installing plate.
During work, punching is placed in feeding guide pillar 22, stockpile sliding cylinder 21 drives the feeding guide pillar for placing punching
Operation to suitable position, now servomotor 52 completes machine by the cooperation of cog belt 53, the ball-screw 60 of ball nut 67
Tool arm movable component, which is retreated to electricity, inhales iron 70 in the top of feeding guide pillar 22, and feeding cylinder 35 drives feeding polished rod 32 to move downward,
30 times installation suckers of sucker installing plate adsorb punching, and feeding cylinder 35 drives feeding polished rod 32 to move up, when punching with
Electricity inhaled and blocked when iron 70 is contacted by electricity suction iron 70, and now feeding polished rod 32 continues to move up and departed from punching, completes punching feeding mistake
Journey, now punching is attracted to electricity and inhaled on iron 70, and servomotor 52 drives mechanical arm movable component to advance to stamping station again, complete
Into feeding process.
During feeding, mechanical arm portable plate 66 is moved to stamping station, and electricity is inhaled iron 70 and is powered, and adsorbs punching, and mechanical arm is retreated
Iron is inhaled to electricity and is located at the top of rewinding guide pillar 24, and electricity inhales iron power-off, and punching drops down onto rewinding guide pillar 24, completes rewinding process.
When punching is machined on feeding guide pillar 22 finishes, stockpile sliding cylinder 21 drives another piece to place punching
Feeding guide pillar 22 is moved to work station and proceeds to produce, and the rewinding guide pillar 24 on another block heap upper plate can carry out rewinding,
And punching will be placed on feeding guide pillar 22 again, wait the work of next circulation.
Claims (9)
1. a kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：Including frame mechanism, stockpile mechanism, take
Expect mechanism, mechanical arm lifting mechanism and mechanical arm, wherein：
Frame mechanism include horizontal firm banking, stand to main body frame, be provided with firm banking a pair it is symmetrical
And respectively along the slide rail of anterior-posterior horizontal direction extension, main body frame top is fixed with horizontal upper mounted plate, and main body frame is left and right
Side bottom is slidably mounted on to be formed on slide rail by sliding block and is slidably matched；
Stockpile mechanism includes stockpile base, stockpile plate, and stockpile base is fixed on the firm banking between two slide rails in frame mechanism
On, a pair of stockpile slide rails that are symmetrical and extending respectively along anterior-posterior horizontal direction, stockpile base are provided with stockpile base
Upper that stockpile sliding cylinder is provided between two stockpile slide rail one end, the stockpile plate is slidably mounted on stockpile by sliding block and slided
Formed and be slidably matched on rail, the vertically-mounted feeding guide pillar having in left-right situs, rewinding guide pillar on stockpile plate, stockpile plate bottom connect
Cylinder contiguous block is connected to, the stockpile sliding cylinder piston rod extends and is connected with cylinder contiguous block along the longitudinal direction；
Material fetching mechanism includes being connected to the supporting plate in frame mechanism on upper mounted plate vertically, and is vertically installed at upper mounted plate
On feeding cylinder, supporting plate upper end level connection joint, which has in linear bearing installing plate, linear bearing installing plate, to be passed through a pair
Linear bearing is slidably fitted with feeding polished rod vertically, and two feeding polished rods are symmetrical before and after, and two feeding polished rod upper ends are connected by polished rod
Extension bar is connected as one, and two feeding polished rod lower ends pass vertically through upper mounted plate and stretch into main body frame and be suspended from stockpile respectively respectively
Forward and backward side above feeding guide pillar in mechanism, each feeding polished rod lower end is connected to sucker installing plate, each sucker installing plate
Bottom is separately installed with sucker, and the piston rod of the feeding cylinder passes vertically through upper mounted plate and stretched into main body frame, and takes
The piston rod rod end of material cylinder is fixedly connected by connecting rod with one of sucker installing plate；
Mechanical arm lifting mechanism includes horizontal servomotor substrate, vertical lifting assistant cylinder, and servomotor substrate is outstanding to be set
In frame mechanism above upper mounted plate, servomotor is installed at the top of servomotor substrate, servomotor spindle is straight down
And by shaft coupling, concentrically axle is connected with ball-screw to servomotor spindle, the ball-screw is straight down through upper
Fixed plate is stretched into main body frame, and upper mounted plate top surface correspondence ball-screw position is provided with ball nut, the ball nut
Screw assembly forms screw pair on ball-screw, and servomotor base plate bottom is also connected with multiple lifting polished rods vertically,
Multiple lifting polished rods are each passed through upper mounted plate and stretched into main body frame, each lifting position of polished rod point of upper mounted plate bottom surface correspondence
Linear bearing is not installed, the linear bearing is respectively assembled to be formed on corresponding lifting polished rod and is slidably matched, the lifting
Assistant cylinder is arranged on upper mounted plate, and the piston rod of lifting assistant cylinder stretches into main body frame through upper mounted plate straight down
It is interior；
Mechanical arm includes horizontal mechanical arm restraining board, the mechanical arm portable plate of level, and the mechanical arm restraining board is suspended from stockpile
Feeding guide pillar in mechanism, above rewinding guide pillar, mechanical arm restraining board bottom is provided with a pair in front and rear symmetrical and respectively along left and right
The mechanical arm slide rail of horizontal direction extension, the mechanical left and right end in arm restraining board bottom is connected to leading screw bearing installing plate, two
Held between thick stick bearing installing plate by lead screw shaft and be rotatablely equipped with mechanical arm movement ball-screw, the mechanical arm moves ball wire
Thick stick is located between two mechanical arm slide rails and parallel to two mechanical arm slide rails, is wherein also equipped with the leading screw bearing installing plate of one end
Servomotor, the servomotor spindle moves ball-screw corresponding end by belt wheel transmission mechanism and mechanical arm and is connected,
Ball-screw lower end, lifting polished rod lower end are connected at the top of mechanical arm restraining board in the mechanical arm lifting mechanism, machinery
The piston rod rod end of lifting assistant cylinder is connected at the top of mechanical arm restraining board by floating junction in arm lifting mechanism, the machine
It is provided with the top of tool arm portable plate in front and rear symmetrical linear slider, mechanical arm portable plate top is additionally provided between being located at linear slider
It is slidably mounted at the top of ball nut, mechanical arm portable plate by linear slider on the mechanical arm slide rail of mechanical arm restraining board bottom
Formation is slidably matched, and mechanical arm of the ball nut Screw assembly at the top of mechanical arm portable plate at the top of mechanical arm restraining board is moved
Screw pair is formed on dynamic ball-screw, mechanical arm portable plate bottom left or right position is provided with electricity and inhales iron installing plate,
Electricity inhales iron installing plate bottom and inhales iron provided with electricity, and mechanical arm movable floor side is provided with location sensitive block.
2. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：Bare bones
In structure, the front and back ends of one of slide rail are individually fixed on slide track seat respectively on firm banking, are set respectively on each slide track seat
Having be rotatablely equipped with adjusting screw rod between bearing block, the bearing block of front and back ends, the parallel slide rail positioned at respective side of the adjusting screw rod
Near, the side bottom that the main body frame corresponds to adjusting screw rod is connected with adjusting nut block, and adjusting nut is packaged to fit over tune
Save and formed on screw rod screw thread cooperation.
3. a kind of telescopic loading and unloading manipulator for stamping according to claim 2, it is characterised in that：It is described to adjust
It is located at position between main body frame base slider, bearing block on slide rail near section screw rod and is also respectively provided with limited block.
4. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：Stockpile machine
In structure, stockpile plate is made up of base plate and two stockpile upper plates, and base plate is slidably mounted on stockpile slide rail by sliding block, and base plate bottom
Portion is connected by cylinder contiguous block with stockpile sliding cylinder piston rod, by horizontal-extending regulation in left-right direction together on base plate
Block is separated into two isolated areas in the longitudinal direction, the corresponding bottom parts of each isolated area respectively as stockpile lower plate,
Seam dish is respectively equipped with each stockpile lower plate, stockpile upper plate is corresponded by seam dish and regulating block location and installation in stockpile
In lower plate, feeding guide pillar, rewinding guide pillar are vertically installed on stockpile upper plate respectively, and four angles of stockpile upper plate are provided with open hanger
Hook.
5. a kind of telescopic loading and unloading manipulator for stamping according to claim 4, it is characterised in that：Bare bones
In structure, main body frame left side or bottom right side inwall are provided with the limited block that reloads；Or main body frame left side, bottom right side inwall
The limited block that reloads is mounted on, two reload limited block in left and right symmetrical；In the stockpile plate, each stockpile of bottom base plate correspondence
The limited block that reloads that lower plate region is respectively equipped with limited block, the frame mechanism on the inside of main body frame is placed in bottom base plate two
Realize spacing between limited block, three position is in line relation, and Limit screw is installed in the relative face of two limited blocks, is passed through and is adjusted
Save the length of the Limit screw stretching limited block particular location spacing to adjust stockpile plate.
6. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：The machine
In tool arm lifting mechanism, servomotor base plate bottom is also connected with a pair of lifting connecting plates vertically, and two lifting connecting plates pass through upper
Fixed plate is stretched into main body frame, and two lifting connecting plate lower ends are connected in mechanical arm at the top of mechanical arm restraining board.
7. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：Mechanical arm
In, belt wheel transmission mechanism is made up of the cog belt of two tooth circular arc belt wheels of a pair of tooth circular arc belt wheels and drive connection, one of tooth
Concentrically axle is fixed in mechanical arm on the main shaft of servomotor circular arc belt wheel, and concentrically axle is fixed on another tooth circular arc belt wheel
Mechanical arm movement ball-screw end.
8. a kind of telescopic loading and unloading manipulator for stamping according to claim 7, it is characterised in that：It is provided with
Cog belt regulation bearing assembly is additionally provided with the leading screw bearing installing plate of servomotor, the cog belt adjusts bearing assembly to tooth
Shape band is elastic to be adjusted.
9. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：Mechanical arm
In, two leading screw bearing installing plate medial surfaces relative to each other further respectively have buffering spacer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710183585.9A CN106944567B (en) | 2017-03-24 | 2017-03-24 | A kind of telescopic loading and unloading manipulator for stamping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710183585.9A CN106944567B (en) | 2017-03-24 | 2017-03-24 | A kind of telescopic loading and unloading manipulator for stamping |
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| Publication Number | Publication Date |
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| CN106944567A true CN106944567A (en) | 2017-07-14 |
| CN106944567B CN106944567B (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710183585.9A Expired - Fee Related CN106944567B (en) | 2017-03-24 | 2017-03-24 | A kind of telescopic loading and unloading manipulator for stamping |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962100A (en) * | 2017-10-20 | 2018-04-27 | 武汉纺织大学 | A kind of sheet metal cutting equipment and its control method |
| CN108177939A (en) * | 2017-12-26 | 2018-06-19 | 珠海创智科技有限公司 | Material transport system and material transportation method |
| CN108311605A (en) * | 2018-01-04 | 2018-07-24 | 昆山巧乐机器人有限公司 | Plate stamping combines feeding system |
| CN108746330A (en) * | 2018-06-19 | 2018-11-06 | 武汉马腾科技发展有限公司 | A kind of Continuous maching perforating device produced in enormous quantities for nut |
| CN108839102A (en) * | 2018-08-09 | 2018-11-20 | 深圳市祁科作物科技有限公司 | Lithium battery accessory punch press structure |
| CN109399189A (en) * | 2018-10-23 | 2019-03-01 | 深圳市博辉特科技有限公司 | A kind of 90 ° of rotation material fetching mechanisms |
| CN109399222A (en) * | 2018-12-20 | 2019-03-01 | 中铝东南材料院（福建）科技有限公司 | Mechanical hard disk aluminium alloy base plate bunching device and its working method |
| CN109676052A (en) * | 2019-02-14 | 2019-04-26 | 苏州卯是卯自动化设备有限公司 | One kind having shifting mechanical arm stamping equipment in mould |
| CN110170590A (en) * | 2019-06-14 | 2019-08-27 | 王忠文 | A kind of punching machine integrated punching manipulator |
| CN110899542A (en) * | 2019-12-20 | 2020-03-24 | 青岛华满机械科技有限公司 | Strip numerical control feeder |
| CN112024674A (en) * | 2020-09-21 | 2020-12-04 | 合肥工业大学 | Clutch hub double-roller composite die |
| CN112489822A (en) * | 2020-11-27 | 2021-03-12 | 中国科学院合肥物质科学研究院 | Cladding maintenance transfer mechanism for nuclear fusion device |
| CN113203692A (en) * | 2021-06-03 | 2021-08-03 | 江苏悦菱控制设备有限公司 | Fiber whiteness measuring system |
| CN114947582A (en) * | 2022-06-02 | 2022-08-30 | 昆明理工大学 | Back rubbing device and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962100A (en) * | 2017-10-20 | 2018-04-27 | 武汉纺织大学 | A kind of sheet metal cutting equipment and its control method |
| CN108177939A (en) * | 2017-12-26 | 2018-06-19 | 珠海创智科技有限公司 | Material transport system and material transportation method |
| CN108177939B (en) * | 2017-12-26 | 2019-10-18 | 珠海创智科技有限公司 | Material transport system and material transportation method |
| CN108311605B (en) * | 2018-01-04 | 2019-06-18 | 昆山巧乐机器人有限公司 | Plate stamping combines feeding system |
| CN108311605A (en) * | 2018-01-04 | 2018-07-24 | 昆山巧乐机器人有限公司 | Plate stamping combines feeding system |
| CN108746330A (en) * | 2018-06-19 | 2018-11-06 | 武汉马腾科技发展有限公司 | A kind of Continuous maching perforating device produced in enormous quantities for nut |
| CN108839102A (en) * | 2018-08-09 | 2018-11-20 | 深圳市祁科作物科技有限公司 | Lithium battery accessory punch press structure |
| CN109399189A (en) * | 2018-10-23 | 2019-03-01 | 深圳市博辉特科技有限公司 | A kind of 90 ° of rotation material fetching mechanisms |
| CN109399222A (en) * | 2018-12-20 | 2019-03-01 | 中铝东南材料院（福建）科技有限公司 | Mechanical hard disk aluminium alloy base plate bunching device and its working method |
| CN109399222B (en) * | 2018-12-20 | 2023-06-27 | 中铝东南材料院（福建）科技有限公司 | Mechanical aluminum alloy substrate stacking device for hard disk and working method thereof |
| CN109676052A (en) * | 2019-02-14 | 2019-04-26 | 苏州卯是卯自动化设备有限公司 | One kind having shifting mechanical arm stamping equipment in mould |
| CN109676052B (en) * | 2019-02-14 | 2024-02-20 | 苏州卯是卯自动化设备有限公司 | Stamping equipment with in-mold transfer manipulator |
| CN110170590A (en) * | 2019-06-14 | 2019-08-27 | 王忠文 | A kind of punching machine integrated punching manipulator |
| CN110899542A (en) * | 2019-12-20 | 2020-03-24 | 青岛华满机械科技有限公司 | Strip numerical control feeder |
| CN112024674A (en) * | 2020-09-21 | 2020-12-04 | 合肥工业大学 | Clutch hub double-roller composite die |
| CN112024674B (en) * | 2020-09-21 | 2024-05-10 | 合肥工业大学 | Clutch hub double-roller composite die |
| CN112489822A (en) * | 2020-11-27 | 2021-03-12 | 中国科学院合肥物质科学研究院 | Cladding maintenance transfer mechanism for nuclear fusion device |
| CN112489822B (en) * | 2020-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Cladding maintenance transfer mechanism for nuclear fusion device |
| CN113203692A (en) * | 2021-06-03 | 2021-08-03 | 江苏悦菱控制设备有限公司 | Fiber whiteness measuring system |
| CN114947582A (en) * | 2022-06-02 | 2022-08-30 | 昆明理工大学 | Back rubbing device and using method thereof |
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| CN106944567B (en) | 2018-09-14 |
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