CN106944567B - 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
- CN106944567B CN106944567B CN201710183585.9A CN201710183585A CN106944567B CN 106944567 B CN106944567 B CN 106944567B CN 201710183585 A CN201710183585 A CN 201710183585A CN 106944567 B CN106944567 B CN 106944567B
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- Prior art keywords
- plate
- mechanical arm
- material heap
- screw
- main body
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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 manipulators for stamping, can be used for the automatic loading/unloading work of punching machine, optimize the function of existing manipulator, and adaptation adjusting can be carried out for different size lathe size, and charging and discharging mechanism design improves efficiency.The present invention includes frame structure, material heap mechanism, material fetching mechanism, mechanical arm lifting mechanism and robot assemblies.Material fetching mechanism is driven with mechanical arm by servo motor, and electrical control can realize fast and stable loading and unloading；Material heap mechanism is controlled by cylinder, and two block heap disk cycle operations improve the efficiency of loading and unloading.It is accurate easy that the controllability of frame structure makes the adaptation of product install.The configuration of the present invention is simple, stability is strong, can be directed to different size lathes from self structure by electrical control, improve work 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 for the manipulator of punching machine at present, it is largely designed for a certain punching machine, and up and down
That expects is inefficient, just needs to redesign when in face of the lathe of different size, increases a large amount of workload, therefore design one
The loading and unloading manipulator that kind can be directed to different size punching machine is necessary.
The object of the present invention is to provide a kind of telescopic loading and unloading manipulators for stamping for invention content, to solve
Inefficiency existing for prior art industry mechanical arm, the problem of being 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, material heap mechanism,
Material fetching mechanism, mechanical arm lifting mechanism and mechanical arm, wherein：
Frame mechanism includes horizontal firm banking, stand to main body frame, be provided on firm banking a pair of in left and right
Sliding rail that is symmetrical and extending respectively along anterior-posterior horizontal direction, main body frame top are fixed with horizontal upper mounted plate, main body frame
Left and right side bottom is slidably mounted on to be formed on sliding rail by sliding block and is slidably matched；
Material heap mechanism includes material heap pedestal, material heap plate, and material heap pedestal is fixed on the fixation between two sliding rails in frame mechanism
On pedestal, a pair of material heap sliding rail that is symmetrical and extending respectively along anterior-posterior horizontal direction, material heap are provided on material heap pedestal
Material heap sliding cylinder is installed between two material heap sliding rail one end, the material heap plate is slidably mounted on material by sliding block on pedestal
It is formed and is slidably matched on heap sliding rail, it is vertically-mounted on material heap plate to have the feeding guide post in left-right situs, rewinding guide post, material heap board bottom
Portion is connected with cylinder link block, and the material heap sliding cylinder piston rod extends and connect with cylinder link block along the longitudinal direction；
Material fetching mechanism includes the support plate being connected to vertically in frame mechanism on upper mounted plate, and is vertically installed at solid
Feeding cylinder on fixed board, support plate upper end horizontal connection have linear bearing mounting plate, pass through in linear bearing mounting plate
A pair of of linear bearing vertical sliding is equipped with feeding polished rod, and two feeding polished rods are in front and back symmetrical, and two feeding polished rod upper ends pass through light
Bar connecting rod 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 respectively respectively
Forward and backward side above feeding guide post in material heap mechanism, each feeding polished rod lower end are connected separately with sucker mounting plate, each sucker peace
Loading board bottom is separately installed with sucker, and the piston rod of the feeding cylinder passes vertically through upper mounted plate and stretches into main body frame,
And the piston rod rod end of feeding cylinder is fixedly connected by connecting rod with one of sucker mounting plate；
Mechanical arm lifting mechanism includes horizontal servo motor substrate, vertical lifting assistant cylinder, servo motor substrate
It is hung in frame mechanism above upper mounted plate, servo motor substrate top is equipped with servo motor, and servomotor spindle is vertical
By shaft coupling, concentrically axis is sequentially connected with ball-screw to downward and servomotor spindle, and the ball-screw is worn straight down
It crosses upper mounted plate to stretch into main body frame, upper mounted plate top surface corresponds to ball-screw position and is equipped with ball nut, the ball
Nut thread, which is assemblied on ball-screw, forms screw pair, and servo motor base plate bottom is also connected with multiple lifting light vertically
Bar, multiple lifting polished rods are each passed through upper mounted plate and stretch into main body frame, and upper mounted plate bottom surface corresponds to each lifting polished rod position
It sets and is separately installed with linear bearing, the linear bearing is respectively assembled to be formed on corresponding lifting polished rod and be slidably matched, described
It is lifted assistant cylinder to be mounted on upper mounted plate, the piston rod for being lifted assistant cylinder stretches into main body across upper mounted plate straight down
In frame；
Mechanical arm includes horizontal mechanical arm restraining board, horizontal mechanical arm movable plate, and the machinery arm restraining board is suspended from
Feeding guide post in material heap mechanism, above rewinding guide post, mechanical arm restraining board bottom is provided with a pair of in front and back symmetrical and edge respectively
The mechanical arm sliding rail that left and right horizontal direction extends, the mechanical left and right end in arm restraining board bottom are connected separately with leading screw bearing mounting plate,
It is held by lead screw shaft between two leading screw bearing mounting plates and is rotatablely equipped with mechanical arm movement ball-screw, the mechanical arm movement rolling
Ballscrew is between two mechanical arm sliding rails and is parallel to two mechanical arm sliding rails, wherein also pacifies on the leading screw bearing mounting plate of one end
Equipped with servo motor, the servomotor spindle moves the transmission of ball-screw corresponding end by belt wheel transmission mechanism and mechanical arm and connects
It connects, 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, machine
The piston rod rod end that assistant cylinder is lifted in tool arm lifting mechanism is connected to by floating junction at the top of mechanical arm restraining board, described
It is in front and back symmetrical linear slider to be equipped at the top of mechanical arm movable plate, is also set between linear slider at the top of mechanical arm movable plate
There is ball nut, is slidably mounted on the mechanical arm sliding rail of mechanical arm restraining board bottom at the top of mechanical arm movable plate by linear slider
Upper formation is slidably matched, and mechanical arm of the ball nut Screw assembly at the top of mechanical arm restraining board at the top of mechanical arm movable plate
Screw pair is formed on mobile ball-screw, mechanical arm movable plate bottom left or right position is equipped with electricity and inhales iron installation
Plate, electricity inhale iron mounting plate bottom and are equipped with electricity suction iron, and mechanical arm movable floor side is equipped with location sensitive block.
A kind of 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 sliding rail are individually fixed on slide track seat respectively on seat, and bearing block is respectively equipped on each slide track seat,
It is rotatablely equipped with adjusting screw rod between the bearing block of front and back ends, the adjusting screw rod is parallel near the sliding 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
At screw-thread fit.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：Near the adjusting screw rod
Sliding rail between main body frame base slider, bearing block position be also respectively provided with limited block.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：In material heap mechanism, material heap plate
It is made of bottom plate and two material heap upper plates, bottom plate is slidably mounted on by sliding block on material heap sliding rail, and bottom base plate passes through cylinder
Link block is connect with material heap sliding cylinder piston rod, on bottom plate by together in left-right direction horizontal-extending adjusting block in front and back
It is separated into two isolated areas upwards, the corresponding bottom parts of each isolated area are respectively as material heap lower plate, under each material heap
Seam dish is respectively equipped on plate, material heap upper plate is corresponded through seam dish and adjusting block location and installation in material heap lower plate, sent
Material guide post, rewinding guide post are vertically installed at respectively on material heap upper plate, and material heap upper plate four corners are equipped with open hook.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：In frame mechanism, body frame
Frame left or right side bottom interior wall is equipped with the limited block that reloads；Or main body frame left side, bottom right side inner wall are mounted on and change
Expect limited block, two reload limited block in left and right symmetrical；In the material heap plate, bottom base plate corresponds to each material heap lower plate region point
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 two limited block of bottom base plate
It now limits, three position is in line relationship, and Limit screw is installed in the opposite face of two limited blocks, is stretched by adjusting Limit screw
Go out the length of limited block to adjust the specific location of material heap plate limit.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：The mechanical arm is lifted machine
In structure, servo motor base plate bottom is also connected with a pair of of lifting connecting plate vertically, and two lifting connecting plates are stretched into across 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 telescopic loading and unloading manipulator for stamping, it is characterised in that：In mechanical arm, belt wheel transmission
Mechanism is made of the toothed belt of a pair of of tooth circular arc belt wheel and the two tooth circular arc belt wheels that are sequentially connected, during one of tooth circular arc belt wheel is total
Mandrel is fixed in mechanical arm on the main shaft of servo motor, and concentrically axis is fixed on mechanical arm movement rolling to another tooth circular arc belt wheel
Ballscrew end.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：Servo motor is installed
Be additionally provided with toothed belt on leading screw bearing mounting plate and adjust bearing assembly, the toothed belt adjust bearing assembly it is elastic to toothed belt into
Row is adjusted.
A kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：In mechanical arm, two leading screws
Bearing mounting 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 punching machine；
（2）Mobile material heap mechanism can improve loading and unloading efficiency by electrical control.
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 material heap 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.
Specific implementation mode
As shown in Figure 1, a kind of telescopic loading and unloading manipulator for stamping, including frame mechanism 1, material heap 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, on firm banking 11
It is provided with a pair of sliding rail 12 that is symmetrical and extending respectively along anterior-posterior horizontal direction, 14 top of main body frame is fixed with level
Upper mounted plate 15,14 left and right side bottom of main body frame by sliding block 13 be slidably mounted on sliding rail 12 formed be slidably matched.
In frame mechanism 1, the front and back ends of one of sliding rail are individually fixed on slide track seat respectively on firm banking 11,
It is respectively equipped with bearing block 8 on each slide track seat, is rotatablely equipped with adjusting screw rod 9 between the bearing block 8 of front and back ends, the adjusting spiral shell
Bar 9 is parallel near the sliding 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 are assemblied on adjusting screw rod 9 and form screw-thread fit.
Position is also respectively set between 14 base slider of main body frame, bearing block on sliding rail near adjusting screw rod 9
There is limited block 10.
In the present invention, frame structure 1 includes firm banking 11, and the parallel mounting seat sliding rail 12 in 11 both sides of firm banking is sliding
Be slidably installed main body frame 14 on rail, the 14 affixed upper mounted plate 15 in top of main body frame, and affixed installation is a pair of before and after the side of lower section
Adjusting nut block 7,14 bottom of main body frame install sliding block 13, with sliding rail formed prismatic pair cooperation, in firm banking 11 with tune
7 the same side of section nut block is also equipped with a pair of bearing 8, installation and adjustment screw rod 9 is coordinated in bearing block, adjusting screw rod 9 is through peace
Screw-thread fit is formed loaded on main body frame bottom side identical with adjusting nut block 7 and adjusting nut block 7.Pass through spiral shell on sliding rail
Bolt installation a pair of limited block 10 is located between bearing block and sliding block.
In the present invention, the position that main body frame 14 can carry out horizontal direction by sliding block 13 with sliding rail 12 is adjusted flexibly to fit
The size of different punching machines is answered to require, main body frame 14 carries out accurate degree adjustment by adjusting screw rod 9, and position is tightened after adjusting
The bolt of limited block 10 is locked, and position adjustment is completed.
As shown in figure 3, material heap mechanism 2 includes material heap pedestal 19, material heap plate, material heap pedestal 19 is fixed in frame mechanism 1
On firm banking 11 between two sliding rails 12, it is provided on material heap pedestal 19 a pair of symmetrical and respectively along anterior-posterior horizontal side
To the material heap sliding rail 20 of extension, material heap sliding cylinder 21 is installed between two material heap sliding rails, 20 one end on material heap pedestal 19,
Material heap plate is slidably mounted on to be formed on material heap sliding rail 20 by sliding block 71 and is slidably matched, vertically-mounted on material heap plate to have in left and right row
Feeding guide post 22, the rewinding guide post 24 of row, material heap board bottom portion are connected with cylinder link block 29,21 piston rod edge of material heap sliding cylinder
Front-rear direction extends and is connect with cylinder link block 29.
In material heap mechanism 2, material heap plate is made of bottom plate and two material heap upper plates 25, and bottom plate is slidably mounted on by sliding block 71
On material heap sliding rail 20, and bottom base plate is connect by cylinder link block 29 with 21 piston rod of material heap sliding cylinder, by one on bottom plate
Horizontal-extending adjusting block 26 is separated into two isolated areas in the longitudinal direction in left-right direction in road, and each isolated area corresponds to
Bottom parts respectively as material heap lower plate 28, be respectively equipped with seam dish 27 in each material heap lower plate 28, material heap upper plate 25 is one by one
In material heap lower plate 28, feeding guide post 22, rewinding guide post 24 erect corresponding seam dish 27 and 26 location and installation of adjusting block of passing through respectively
It is directly mounted on material heap upper plate 25, open hook 18 is mounted on the dress for being convenient for material heap upper plate 25 on four angles of material heap upper plate 25
It unloads.
In frame mechanism 1,14 left or right side bottom interior wall of main body frame is equipped with the limited block 6 that reloads；Or body frame
14 left side of frame, bottom right side inner wall are mounted on the limited block 6 that reloads, and two reload limited block 6 in left and right symmetrical；In material heap plate, bottom
Board bottom portion corresponds to each 28 region of material heap lower plate and is respectively equipped with limited block 16, and 14 inside of main body frame reloads in frame mechanism 1
Limited block 6, which is placed between two limited block 16 of bottom base plate, realizes limit, and three position is in line relationship.
Material heap mechanism 2 includes material heap pedestal 19 in the present invention, and material heap sliding cylinder 21, material heap pedestal are installed in material heap pedestal
The parallel installation material heap sliding rail 20 in top, material heap lower plate 28 forms prismatic pair by sliding block 71 and sliding rail and coordinates, in material heap lower plate 28
Between install seam dish 27, material heap upper plate 25 by seam dish location and installation in material heap lower plate, it is vertically-mounted on material heap upper plate to send
Expect guide post 22 and rewinding guide post 24, rewinding guide post is sent to be mounted on material heap upper plate by spline 23, gas is installed below material heap lower plate
Cylinder link block 29 is connected with material heap sliding cylinder piston rod, and limiting device, including 16 He of limited block are also installed in material heap lower plate side
Limit screw 17, Limit screw 17 are installed in the opposite face of two limited blocks 16, stretch out limited block by adjusting Limit screw 17
16 length come adjust material heap plate limit specific location.
Material heap lower plate 28 is moved by material heap sliding cylinder 21 on material heap sliding rail 20 in the present invention, and passes through limit of reloading
Block 6 and the limitation movement of limited block 16 and Limit screw 17, when 22 rewinding of rewinding guide post on a block heap upper plate 25 finishes, material
Another material heap upper plate is moved to suitable station and continues loading and unloading by the work of heap sliding cylinder 21, and another block heap upper plate is removable
It unloads and carries out rewinding work, and then complete the continuous work of manipulator and punching machine.Wherein material heap upper plate 25 passes through seam allowance when mounted
Disk 27 is positioned with adjusting block 26.
As shown in figure 4, material fetching mechanism 5 includes the support plate 34 being connected to vertically in frame mechanism 1 on upper mounted plate 15, with
And it is vertically installed at the feeding cylinder 35 on upper mounted plate 15,34 upper end horizontal connection of support plate has linear bearing mounting plate 36,
Feeding polished rod 32 is equipped with by 33 vertical sliding of a pair of of linear bearing in linear bearing mounting plate 36, before two feeding polished rods 32 are in
Symmetrical afterwards, two feeding polished rods, 32 upper end is connected as one by polished rod connecting rod 37, and two feeding polished rods, 32 lower end is worn vertically respectively
Upper mounted plate 15 is crossed to stretch into main body frame 14 and be suspended from the 22 forward and backward side in top of feeding guide post, Mei Gequ in material heap mechanism 2 respectively
32 lower end of material polished rod is connected separately with sucker mounting plate 30, and each 30 bottom of sucker mounting plate is separately installed with sucker, feeding gas
The piston rod of cylinder 35 passes vertically through upper mounted plate 15 and stretches 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 mounting plate.
In the present invention, material fetching mechanism 5 includes linear bearing mounting plate 36, and upper fixation is horizontally arranged at by support plate 34
15 on plate, two feeding polished rods 32 are pacified vertically by two linear bearings 33 on linear bearing mounting plate 36 and upper mounted plate 15
It fills and in upper end connection polished rod connecting rod 37, feeding cylinder 35 is parallelly mounted to feeding polished rod 32 on upper mounted plate 15, feeding
Cylinder piston rod is connected by connecting rod 31 with one of feeding polished rod, installation sucker mounting plate 30 below feeding polished rod.
In the present invention, feeding cylinder 35 drives 32 vertical shift of feeding polished rod by connecting rod 31, completes reclaiming process.
As shown in figure 5, mechanical arm lifting mechanism 4 includes horizontal servo motor substrate 41, vertical lifting assistant cylinder
45, servo motor substrate 41 is hung on 15 top of upper mounted plate in frame mechanism 1, and 41 top of servo motor substrate is equipped with servo
Motor 44,44 main shaft of servo motor straight down and 44 main shaft of servo motor by shaft coupling 46, concentrically axis is sequentially connected with rolling
Ballscrew 51, ball-screw 51 are stretched into across upper mounted plate 15 in main body frame 14 straight down, and 15 top surface of upper mounted plate corresponds to
51 position of ball-screw is equipped with ball nut 49, and 49 Screw assembly of ball nut forms feed screw nut on ball-screw 51
Pair, also connection is each passed through fixation to 41 bottom of servo motor substrate there are four polished rod 38, four lifting polished rods 38 are lifted vertically
Plate 15 stretches into main body frame 14, and 15 bottom surface of upper mounted plate corresponds to each 38 position of lifting polished rod and is separately installed with linear bearing
40, linear bearing 40 is respectively assembled to be formed on corresponding lifting polished rod 38 and be slidably matched, and lifting assistant cylinder 45 is mounted on upper
In fixed plate 15, the piston rod of lifting assistant cylinder 45 is stretched into across upper mounted plate 15 in main body frame 14 straight down.
In mechanical arm lifting mechanism 4,41 bottom of servo motor substrate is also connected with a pair of of lifting connecting plate 39, two lifts vertically
It rises connecting plate 39 to stretch into main body frame 14 across upper mounted plate 15, and two 39 lower ends of lifting connecting plate are connected to mechanical arm
62 top of mechanical arm restraining board in 3.
Mechanical arm lifting mechanism 4 includes servo motor substrate 41 in the present invention, and servo motor is installed on servo motor substrate
Support plate 42 and servo motor mounting plate 43, servo motor 44 are mounted on servo motor mounting plate, and servomotor spindle passes through
Shaft coupling 46 is connect with ball-screw 51, and ball-screw 51 is mounted on by ball nut 49 on fixed plate 15, servo
41 lower section of motor base board 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 15,41 side of servo motor substrate is lifted assistant cylinder 45 by being accommodated vertically in semi-circular recesses,
It is lifted assistant cylinder 45 to be mounted on upper mounted plate by cylinder mounting base 47, lifting 45 piston rod of assistant cylinder connects by floating
First 50 connect with mechanical arm restraining board 62.
In the present invention, 44 main shaft of servo motor, which is connect by shaft coupling with ball-screw 51, drives ball-screw 51 to rotate,
Ball nut 49 carries out opposite upper and lower displacement with ball-screw 51 at this time, and ball nut 49 is bolted to upper mounted plate 15 again
On, therefore entire mechanical arm lifting mechanism carries out upper and lower displacement and drives mechanical arm upper and lower displacement.
As shown in Figure 6, Figure 7, mechanical arm 3 includes horizontal mechanical arm restraining board 62, horizontal mechanical arm movable plate 66, machine
Tool arm restraining board 62 is suspended from feeding guide post 22 in material heap mechanism 2,24 top of rewinding guide post, the setting of 66 bottom of mechanical arm restraining board
Have it is a pair of in mechanical arm sliding rail 61 that is front and back symmetrical and extending respectively along left and right horizontal direction, 62 bottom of a mechanical arm restraining board left side,
Right end is connected separately with leading screw bearing mounting plate 56, and the machine of being rotatablely equipped with is held by lead screw shaft between two leading screw bearing mounting plates 56
Tool arm moves ball-screw 60, and mechanical arm movement ball-screw 60 between two mechanical arm sliding rails 61 and is parallel to two mechanical arms
Sliding rail 61 is wherein also equipped with servo motor 52 on the leading screw bearing mounting plate of one end, and 52 main shaft of servo motor is passed by belt wheel
Motivation structure is sequentially connected with mechanical arm movement 60 corresponding end of ball-screw, 51 lower end of ball-screw, lift in mechanical arm lifting mechanism 4
It rises 38 lower end of polished rod and is connected to 62 top of mechanical arm restraining board, the work of assistant cylinder 45 is lifted in mechanical arm lifting mechanism 4
Stopper rod rod end is connected to 62 top of mechanical arm restraining board by floating junction 50, and 66 top of mechanical arm movable plate is equipped in front and back right
The linear slider 64 of title, 66 top of mechanical arm movable plate are additionally provided with ball nut 67 between linear slider 64, and mechanical arm is lived
66 top of movable plate, which is slidably mounted on to be formed on the mechanical arm sliding rail 61 of 62 bottom of mechanical arm restraining board by linear slider 64, to be slided
Cooperation, and 67 Screw assembly of ball nut at 66 top of mechanical arm movable plate is in the mechanical arm movement at 62 top of mechanical arm restraining board
Screw pair is formed on ball-screw 60,66 bottom left or right position of mechanical arm movable plate is equipped with electricity and inhales iron mounting plate
69, electricity inhales 69 bottom of iron mounting plate and is equipped with electricity suction iron 70, mechanical arm movable plate side installation site sensor block 68.
In mechanical arm 3, belt wheel transmission mechanism by a pair of of tooth circular arc belt wheel 54,55 and be sequentially connected two tooth circular arc belt wheels 54,
55 toothed belt 53 is constituted, and concentrically axis is fixed on the main shaft of servo motor 52 in mechanical arm 3 to one of tooth circular arc belt wheel 54
On, concentrically axis is fixed on 60 end of mechanical arm movement ball-screw to another tooth circular arc belt wheel 55.
It is equipped on the leading screw bearing mounting plate of servo motor 52 and is additionally provided with toothed belt adjusting bearing assembly 57, toothed belt tune
Nodal axisn bearing assembly 57 is elastic to toothed belt 53 to be adjusted.
In mechanical arm 3, two leading screw bearing mounting 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 movable plate 66, lifting polished rod, lifting connecting plate
It is all 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 mounting plate 59 installs servo motor 52, and servo motor mounting plate is fixed in by strengthening version 58 on mechanical arm restraining board 62, machine
Both ends installation leading screw bearing mounting plate 56 below tool arm restraining board, the mechanical arm movement installation of ball-screw 60 are installed on by bearing
Between two pieces of bearing mounting plates, two mechanical arm sliding rails 61, servo electricity are also horizontally mounted in mechanical arm movement ball-screw both sides
52 shaft end of machine and 60 homonymy one end of mechanical arm movement ball-screw correspond to installation tooth circular arc belt wheel 54,55, tooth circular arc belt wheel respectively
54, toothed belt 53 is covered on 55, servo motor 52 forms synchronous matching by toothed belt with mechanical arm movement ball-screw 60, watching
It takes on motor mounting plate, being also equipped with toothed belt with 53 the same side of toothed belt adjusts bearing assembly 57.66 tail of mechanical arm movable plate
Rectangular array installs four linear sliders 64 above portion, installs ball nut mounting base 65 at center, mounting base passes through spiral shell
Mother's installation ball nut 67, ball nut form prismatic pair cooperation, mechanical arm activity with mechanical arm movement ball-screw 60
Plate lower head installation electricity inhales iron mounting plate 69, and electricity suction iron 70 is mounted on electricity and inhales below iron mounting plate.
Servo motor 52 is revolved by toothed belt 53 and 54,55 synchronous drive ball-screw 60 of tooth circular arc belt wheel in the present invention
Turn, ball nut 67 moves along a straight line on ball-screw 60, and ball nut is mounted on by mounting base 65 on mechanical arm movable plate
And mechanical arm movable plate is driven to move along a straight line, the work(that auxiliary is oriented to is realized in the cooperation of linear slider 64 and mechanical arm sliding rail 61
Can, while buffering spacer 63 is also mounted on the inside of bearing mounting plate.
When work, punching is placed in feeding guide post 22, material heap sliding cylinder 21 drives the feeding guide post for placing punching
Machine is completed in operation to suitable position, at this time servo motor 52 by the cooperation of toothed belt 53,67 ball-screw 60 of ball nut
Tool arm movable component, which is retreated to electricity, inhales iron 70 above feeding guide post 22, and feeding cylinder 35 drives feeding polished rod 32 to move downward,
30 times installation suckers of sucker mounting plate adsorb punching, and feeding cylinder 35 drives feeding polished rod 32 to move up, when punching with
Electricity, which is inhaled, to be blocked when iron 70 contacts by electricity suction iron 70, and feeding polished rod 32 continues to move up and is detached from punching at this time, completes punching feeding mistake
Journey, at this time punching are attracted to electricity and inhale on iron 70, and servo motor 52 drives mechanical arm movable component to advance to stamping station again, complete
At feeding process.
When feeding, mechanical arm movable plate 66 is moved to stamping station, and electricity inhales iron 70 and is powered, and adsorbs punching, and mechanical arm retreats
Iron is inhaled to electricity and is located at 24 top of rewinding guide post, and electricity inhales iron power-off, and punching drops down onto rewinding guide post 24, completes rewinding process.
When punching is machined on feeding guide post 22 finishes, material heap sliding cylinder 21 drives another piece to place punching
Feeding guide post 22 is moved to work station and continues to produce, and the rewinding guide post 24 on another block heap upper plate can carry out rewinding,
And punching will be placed again on feeding guide post 22, wait for the work of next cycle.
Claims (8)
1. a kind of telescopic loading and unloading manipulator for stamping, it is characterised in that：Including frame mechanism, material heap mechanism, take
Expect mechanism, mechanical arm lifting mechanism and mechanical arm, wherein：
Frame mechanism includes horizontal firm banking, stand to main body frame, be provided on firm banking a pair of symmetrical
And the sliding rail extended respectively along anterior-posterior horizontal direction, main body frame top are fixed with horizontal upper mounted plate, main body frame is left and right
Side bottom is slidably mounted on to be formed on sliding rail by sliding block and is slidably matched；
Material heap mechanism includes material heap pedestal, material heap plate, and material heap pedestal is fixed on the firm banking between two sliding rails in frame mechanism
On, a pair of material heap sliding rail that is symmetrical and extending respectively along anterior-posterior horizontal direction, material heap pedestal are provided on material heap pedestal
Upper that material heap sliding cylinder is equipped between two material heap sliding rail one end, the material heap plate is slidably mounted on material heap by sliding block and slides
It is formed and is slidably matched on rail, it is vertically-mounted on material heap plate to there is the feeding guide post in left-right situs, rewinding guide post, material heap board bottom portion to connect
It is connected to cylinder link block, the material heap sliding cylinder piston rod extends and connect with cylinder link block along the longitudinal direction；
Material fetching mechanism includes the support plate being connected to vertically in frame mechanism on upper mounted plate, and is vertically installed at upper mounted plate
On feeding cylinder, support plate upper end horizontal connection has linear bearing mounting plate, passes through a pair in linear bearing mounting plate
Linear bearing vertical sliding is equipped with feeding polished rod, and two feeding polished rods are in front and back symmetrical, 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 material heap respectively respectively
Forward and backward side above feeding guide post in mechanism, each feeding polished rod lower end is connected separately with sucker mounting plate, each sucker mounting plate
Bottom is separately installed with sucker, and the piston rod of the feeding cylinder passes vertically through upper mounted plate and stretches into main body frame, and takes
The piston rod rod end of material cylinder is fixedly connected by connecting rod with one of sucker mounting plate；
Mechanical arm lifting mechanism includes horizontal servo motor substrate, vertical lifting assistant cylinder, and servo motor substrate is outstanding to be set
In frame mechanism above upper mounted plate, servo motor substrate top is equipped with servo motor, and servomotor spindle is straight down
And by shaft coupling, concentrically axis is sequentially connected with ball-screw to servomotor spindle, the ball-screw passes through upper straight down
Fixed plate stretches into main body frame, and upper mounted plate top surface corresponds to ball-screw position and is equipped with ball nut, the ball nut
Screw assembly forms screw pair on ball-screw, and servo motor base plate bottom is also connected with multiple lifting polished rods vertically,
Multiple lifting polished rods are each passed through upper mounted plate and stretch into main body frame, and upper mounted plate bottom surface corresponds to each lifting position of polished rod point
Linear bearing is not installed, the linear bearing is respectively assembled to be formed on corresponding lifting polished rod and be slidably matched, the lifting
Assistant cylinder is mounted on upper mounted plate, and the piston rod for being lifted assistant cylinder stretches into main body frame across upper mounted plate straight down
It is interior；
Mechanical arm includes horizontal mechanical arm restraining board, horizontal mechanical arm movable plate, and the machinery arm restraining board is suspended from material heap
Feeding guide post in mechanism, above rewinding guide post, mechanical arm restraining board bottom is provided with a pair of in front and back symmetrical and respectively along left and right
The mechanical arm sliding rail that horizontal direction extends, the mechanical left and right end in arm restraining board bottom are connected separately with leading screw bearing mounting plate, two
It is held by lead screw shaft between thick stick bearing mounting plate and is rotatablely equipped with mechanical arm movement ball-screw, the mechanical arm moves ball wire
Thick stick is between two mechanical arm sliding rails and is parallel to two mechanical arm sliding rails, is wherein also equipped on the leading screw bearing mounting plate of one end
Servo motor, the servomotor spindle move ball-screw corresponding end by belt wheel transmission mechanism and mechanical arm and are sequentially 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 that assistant cylinder is lifted in arm lifting mechanism is connected to by floating junction at the top of mechanical arm restraining board, the machine
It is in front and back symmetrical linear slider to be equipped at the top of tool arm movable plate, is additionally provided between linear slider at the top of mechanical arm movable plate
Ball nut, mechanical arm movable plate top are slidably mounted on by linear slider on the mechanical arm sliding 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 movable plate at the top of mechanical arm restraining board moves
Screw pair is formed on dynamic ball-screw, mechanical arm movable plate bottom left or right position is equipped with electricity and inhales iron mounting plate,
Electricity inhales iron mounting plate bottom and is equipped with electricity suction iron, and mechanical arm movable floor side is equipped with location sensitive block；
In frame mechanism, the front and back ends of one of sliding rail are individually fixed on slide track seat respectively on firm banking, each sliding
It is respectively equipped with bearing block on rail chair, adjusting screw rod is rotatablely equipped between the bearing block of front and back ends, the parallel position of the adjusting screw rod
Near the sliding rail of respective side, the side bottom that the main body frame corresponds to adjusting screw rod is connected with adjusting nut block, adjusts
Nut block, which is assemblied on adjusting screw rod, forms screw-thread fit.
2. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：The tune
Position is also respectively provided with limited block between main body frame base slider, bearing block on sliding rail near section screw rod.
3. a kind of telescopic loading and unloading manipulator for stamping according to claim 1, it is characterised in that：Material heap machine
In structure, material heap plate is made of bottom plate and two material heap upper plates, and bottom plate is slidably mounted on by sliding block on material heap sliding rail, and bottom plate bottom
Portion is connect by cylinder link block with material heap sliding cylinder piston rod, by horizontal-extending adjusting in left-right direction together on bottom plate
Block is separated into two isolated areas in the longitudinal direction, the corresponding bottom parts of each isolated area respectively as material heap lower plate,
Seam dish is respectively equipped in each material heap lower plate, material heap upper plate is corresponded through seam dish and adjusting block location and installation in material heap
In lower plate, feeding guide post, rewinding guide post are vertically installed at respectively on material heap upper plate, and four angles of material heap upper plate are equipped with open hanger
Hook.
4. a kind of telescopic loading and unloading manipulator for stamping according to claim 3, it is characterised in that：Bare bones
In structure, main body frame left or right side bottom interior wall is equipped with the limited block that reloads；Or main body frame left side, bottom right side inner wall
It is mounted on the limited block that reloads, two reload limited block in left and right symmetrical；In the material heap plate, bottom base plate corresponds to each material heap
Lower plate region is respectively equipped with limited block, and the limited block that reloads in the frame mechanism on the inside of main body frame is placed in bottom base plate two
Realize that limit, three position are in line relationship between limited block, installation Limit screw, passes through tune in the opposite face of two limited blocks
Section Limit screw stretches out the length of limited block to adjust the specific location of material heap plate limit.
5. 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, servo motor base plate bottom is also connected with a pair of of lifting connecting plate vertically, and two lifting connecting plates pass through upper
Fixed plate stretches into main body frame, and two lifting connecting plate lower ends are connected in mechanical arm at the top of mechanical arm restraining board.
6. 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 of the toothed belt of a pair of of tooth circular arc belt wheel and the two tooth circular arc belt wheels that are sequentially connected, one of tooth
Concentrically axis is fixed in mechanical arm on the main shaft of servo motor circular arc belt wheel, and concentrically axis is fixed on another tooth circular arc belt wheel
Mechanical arm moves ball-screw end.
7. a kind of telescopic loading and unloading manipulator for stamping according to claim 6, it is characterised in that：It is equipped with
It is additionally provided with toothed belt on the leading screw bearing mounting plate of servo motor and adjusts bearing assembly, the toothed belt adjusts bearing assembly to tooth
Shape band is elastic to be adjusted.
8. 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 mounting 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 CN106944567A (en) | 2017-07-14 |
| CN106944567B true CN106944567B (en) | 2018-09-14 |
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| CN106944567A (en) | 2017-07-14 |
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