CN109676052B - Stamping equipment with in-mold transfer manipulator - Google Patents
Stamping equipment with in-mold transfer manipulator Download PDFInfo
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- CN109676052B CN109676052B CN201910114470.3A CN201910114470A CN109676052B CN 109676052 B CN109676052 B CN 109676052B CN 201910114470 A CN201910114470 A CN 201910114470A CN 109676052 B CN109676052 B CN 109676052B
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- 238000012546 transfer Methods 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000000750 progressive effect Effects 0.000 claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 18
- 239000010959 steel Substances 0.000 description 18
- 239000000463 material Substances 0.000 description 9
- 238000005457 optimization Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D35/00—Combined processes according to or processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/002—Processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/003—Simultaneous forming, e.g. making more than one part per stroke
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- 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
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
Abstract
The invention discloses stamping equipment with an in-mould carrying manipulator, wherein a multi-station progressive die is arranged on a stamping machine tool workbench, a feeding assembly line and a stacking seat are respectively arranged on two opposite sides of the multi-station progressive die, the in-mould carrying manipulator is arranged on the other side of the multi-station progressive die, the in-mould carrying manipulator comprises a frame, an X-axis moving mechanism, a Z-axis moving mechanism and a manipulator, the X-axis moving mechanism comprises a first rotating motor, a first lead screw, a sliding block and a vertical guide rod, the Z-axis moving mechanism is positioned on one axial side of the first lead screw on the frame, the Z-axis moving mechanism comprises a second rotating motor, a second lead screw, a frame-type sliding seat and a horizontal guide rail, the manipulator comprises a mounting rod, a suction rod, a shaft sleeve and a horizontal sliding rail, the shaft sleeve is sleeved on the vertical guide rail, and the horizontal sliding rail is slidably arranged on the horizontal guide rail.
Description
Technical Field
The invention relates to the technical field of stamping machine tool equipment, in particular to stamping equipment with an in-mold transfer manipulator.
Background
The precision locomotive production raw materials are generally imported steel materials, raw materials are relatively expensive, waste materials are generated by continuous die stamping, production efficiency is greatly reduced by single die single stamping, in order to reduce consumable materials and improve production efficiency, an in-die transfer manipulator is designed, steel materials are firstly cut according to product specifications, waste is avoided as much as possible, and the manipulator is used for moving the steel materials from a previous station to a next station in the die, so that production efficiency is greatly improved.
The conventional in-mold manipulator has two moving directions of an X axis and a Y axis, but the manipulator sequentially moves on the two direction axes, so that the moving efficiency of the manipulator is low, and meanwhile, the suction material falls off in the moving process due to unstable movement after the suction material, so that the processing efficiency is influenced; moreover, the stamping equipment often needs manual intervention to carry out feeding, straightening and discharging stacking, and the automation degree is not high.
Disclosure of Invention
The invention aims to provide stamping equipment with an in-mold moving manipulator, which has the advantages of high automation degree and high machining precision, and the manipulator can act simultaneously on an X-axis moving mechanism and a Z-axis moving mechanism, so that the working efficiency is greatly improved.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a have in mould and carry manipulator stamping equipment, includes the stamping machine tool, be equipped with multistation progressive die on the workstation of stamping machine tool, the opposite both sides of multistation progressive die are equipped with material loading assembly line and sign indicating number seat respectively, and its opposite side is equipped with in the mould and carries the manipulator, in the mould carry the manipulator including frame, X axle moving mechanism, Z axle moving mechanism and manipulator, X axle moving mechanism includes first rotating electrical machines, first lead screw, slider and vertical guide arm, and first lead screw rotatable set up in the frame to link to each other with first rotating electrical machines, the slider cover is located first lead screw, and this slider upper end is fixed with vertical guide arm, Z axle moving mechanism is located first lead screw axial one side in the frame, and this Z axle moving mechanism includes second rotating electrical machines, second lead screw, frame type slide and horizontal guide rail, a pair of vertical rotatable setting in the frame to link to each other with the second rotating electrical machines, frame type slide cover is located a pair of second on, and this frame type slide top is equipped with horizontal guide rail, the manipulator includes the installation pole, and set up in the installation pole on the vertical guide arm, the installation pole is equipped with on its horizontal guide rail, the bottom is installed in the vertical guide arm and is installed on the horizontal sleeve.
As a further optimization, the top ends of the pair of second lead screws are arranged at the lower end of a mounting plate fixed with the frame, and a buffer cylinder is arranged between the upper end of the mounting plate and the frame-type sliding seat.
As a further optimization, the rack is provided with a pair of tension wheels with adjustable intervals.
As further optimization, a pair of horizontal guide sliding rails are arranged below the sliding blocks on the frame, and the sliding blocks are slidably arranged on the horizontal guide sliding rails.
As further optimization, a pair of vertical guide sliding rails are arranged on two sides of the frame-shaped sliding seat on the frame, and the frame-shaped sliding seat is slidably arranged on the vertical guide sliding rails.
As further optimization, the front end of the feeding assembly line is provided with a guide groove, and the rear end of the feeding assembly line is provided with a regulating mechanism close to the multi-station progressive die.
As further optimization, the normalizing mechanism comprises a connecting frame and a pair of normalizers arranged on two sides of the connecting frame, and guide plates are arranged on one sides, close to the feeding assembly line, of the normalizers.
As further optimization, the regularizer comprises a sliding sheet, a sliding rod, a base and a cylinder, wherein the sliding rod is fixed on the connecting frame, the sliding sheet is slidably arranged on the sliding rod, the base is arranged at the upper end of the sliding sheet, the cylinder is arranged at the upper end of the base, and the guide sheet is fixed at the telescopic end of the cylinder.
As further optimization, the automatic stacking device further comprises a stacking platform, wherein the stacking platform comprises a support, a driving motor, a platform sliding rail and a sliding plate, the driving motor is arranged on the support, the sliding plate is slidably arranged on the platform sliding rail and is connected with the driving motor, and a stacking seat is arranged at the upper end of the stacking platform.
Compared with the prior art, the invention has the following beneficial effects:
1. the feeding assembly line can realize automatic feeding, and the in-mold moving manipulator can enable the steel sheet to be subjected to multi-station stamping on the same stamping machine tool and stacked in the stacking seat, so that the automatic degree is high, the processing precision is high, and the processing efficiency is high;
2. the manipulator uses linear bearing with X axle moving mechanism to be connected, uses the guide rail slider with Z axle moving mechanism to be connected, and this connected mode can make the manipulator move at X axle moving mechanism and Z axle moving mechanism simultaneously, has improved work efficiency greatly.
Drawings
Fig. 1 is a structural diagram of the present invention.
Fig. 2 is a block diagram of the in-mold transfer robot of the present invention.
Fig. 3 is a view of a bottom view of the manipulator of the present invention.
Fig. 4 is a structural view of the regulating mechanism of the present invention.
Fig. 5 is a block diagram of the present invention with a dock mounted on a dock platform.
In the figure, 1. A feeding assembly line; 11. a guide groove; 12. a regulating mechanism; 121. a connecting frame; 122. a regularizer; 123. a guide piece; 1221. a sliding sheet; 1222. a slide bar; 1223. a base; 1224. a cylinder; 2. a punching machine; 20. a multi-station progressive die; 3. in-mold transfer robot; 30. a moving track; 31. a frame; an x-axis movement mechanism; 321. a first rotating electric machine; 322. a first lead screw; 323. a first drive belt; 324. a slide block; 325. a vertical guide rod; 326. a horizontal guide rail; a z-axis movement mechanism; 331. a second rotating electric machine; 332. a second lead screw; 333. a second drive belt; 334. a frame-type slide; 335. a horizontal guide rail; 336. a tensioning wheel; 337. a buffer cylinder; 338. a vertical guide rail; 34. a manipulator; 341. a mounting rod; 342. a suction rod; 343. a shaft sleeve; 344. a horizontal slide rail; 4. a code base; 41. a code base platform; 411. a bracket; 412. a driving motor; 413. a platform slide rail; 414. a slide plate; 5. an operation table; 6. and an electric control cabinet.
Description of the embodiments
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 5, a stamping device with an in-mold carrying manipulator comprises a stamping machine 2, a multi-station progressive die 20 is arranged on a workbench of the stamping machine 2, a feeding assembly line 1 and a stacking base 4 are respectively arranged on two opposite sides of the multi-station progressive die 20, the in-mold carrying manipulator 3 is arranged on the other side of the multi-station progressive die 20, the in-mold carrying manipulator 3 comprises a frame 31, an X-axis moving mechanism 32, a Z-axis moving mechanism 33 and a manipulator 34, the X-axis moving mechanism 32 comprises a first rotating motor 321, a first lead screw 322, a sliding block 324 and a vertical lead screw 325, the first lead screw 322 is rotatably arranged on the frame 31 and is connected with the first rotating motor 321 through a first transmission belt 323, the sliding block 324 is sleeved on the first lead screw 322, the upper end of the sliding block 324 is fixedly provided with the vertical lead screw 325, the Z-axis moving mechanism 33 is arranged on one side of the first lead screw 322 in the frame 31, the Z-axis moving mechanism 33 comprises a second rotating motor 331, a second lead screw 332, a frame-shaped sliding seat 334 and a horizontal guide rail 335, a pair of second sliding seats 332 are vertically rotatably arranged on the frame 31, and a plurality of sliding guide shafts 341 are arranged on the sliding guide shafts 341 and a plurality of sliding shafts 341 through a second transmission belt 335, a sliding sleeve is arranged on the sliding guide shaft body 341 and a top end of the sliding guide sleeve is arranged on the sliding guide shafts 341.
The top ends of the pair of second screws 332 are disposed at the lower end of the mounting plate 311 fixed to the frame 31, and a buffer cylinder 337 is disposed between the upper end of the mounting plate 311 and the frame-type slider 334.
The frame 31 is provided with a pair of tensioning wheels 336 with adjustable intervals, and the second rotating motor, the pair of tensioning wheels and the pair of second lead screws are connected through a second transmission belt.
A pair of horizontal guiding sliding rails 326 is disposed below the sliding blocks 324 on the frame 31, and the sliding blocks 324 are slidably disposed on the horizontal guiding sliding rails 326.
A pair of vertical guide sliding rails 338 are arranged on two sides of the frame-shaped sliding seat 334 on the frame 31, and the frame-shaped sliding seat 334 is slidably arranged on the vertical guide sliding rails 338.
The in-mold transfer manipulator sucks steel materials to move into a first station of the multi-station progressive die, meanwhile, the steel materials processed by the current station are sequentially moved into a next station, the in-mold transfer manipulator adopts a modularized structural unit, assembly and maintenance are convenient, and the whole in-mold transfer manipulator can move and adjust on the moving rail 30 to adapt to the position of the die; the servo is used for providing power for movement of the Z axis and the X axis of the manipulator in the mould, the servo can ensure that the manipulator moves stably and accurately, the manipulator is prevented from impacting the mould in the mould, the Z axis uses a servo motor to drive two second lead screws to rotate through a second transmission belt, synchronous and accurate lifting can be ensured, in order to enable lifting to be stable, vertical guide sliding rails are additionally arranged on two sides of a rack, meanwhile, buffer cylinders are additionally arranged in the middle, severe shaking caused by too high speed is avoided, the mode is more stable compared with the common direct lifting, falling in the sucking process can be avoided, the working efficiency is influenced, the X axis uses the servo motor to drive the first lead screws to move, the manipulator can accurately move left and right, in order to ensure that rotation offset can not occur during the movement of the X axis, the manipulator is additionally arranged on two sides of the first lead screws, a linear bearing is used for connecting the manipulator with the X axis moving mechanism, a guide rail sliding block is used for connecting the Z axis moving mechanism, and the manipulator can move simultaneously on the X axis moving mechanism and the Z axis moving mechanism, and the working efficiency is greatly improved.
The front end of the feeding assembly line 1 is provided with a guide groove 11, guide plates on two sides of the guide groove are adjustable, the distance can be adjusted according to the product requirement, and the position lateral deviation of the guide groove can be effectively avoided by adopting two optical axes; the rear end of the feeding assembly line is close to the multi-station progressive die 20, a regulating mechanism 12 is arranged, the regulating mechanism 12 comprises a connecting frame 121 and a pair of regulators 122 arranged on two sides of the connecting frame 121, one side, close to the feeding assembly line 1, of each of the regulators 122 is provided with a guide plate 123, each of the regulators 122 comprises a sliding sheet 1221, a sliding rod 1222, a base 1223 and a cylinder 1224, the sliding rod 1222 is fixed on the connecting frame 121, the sliding sheet 1221 is slidably arranged on the sliding rod 1222, the upper end of the sliding sheet 1221 is provided with the base 1223, the cylinder 1224 is arranged on the upper end of the base 1223, and the guide plates 123 are fixed at the telescopic ends of the cylinders 1224.
The feeding assembly line adopts belt feeding, the belt feeding adopts a speed regulating motor to provide power, the speed regulating motor can ensure stable transportation of steel, and the speed is adjustable to ensure that the speed is consistent with the processing speed of a punching machine, so that the subsequent steel can be effectively prevented from being collided to influence the absorption and displacement of the steel in place, and two proximity switches for in-place detection are arranged on two sides of the belt, so that whether the steel is in place can be detected; the normalizing mechanism is located the belt both sides, and after steel put in place, the normalizing action is put steel in place, and the normalizing adopts the cylinder action, compares in other modes, and the cylinder is more convenient for change, if the normalizing breaks down, can quick replacement maintenance, does not influence normal production, and the normalizing mechanism uses the lead screw to adjust, can adjust the interval of a pair of normalizing ware according to the demand.
The device further comprises a stacking platform 41, wherein the stacking platform 41 comprises a support 411, a driving motor 412, a platform sliding rail 413 and a sliding plate 414, the driving motor 412 is arranged on the support 411, the sliding plate 414 is slidably arranged on the platform sliding rail 413 and is connected with the driving motor 412, and a stacking seat 4 is arranged at the upper end of the stacking platform.
Working principle:
the PLC in the electric control cabinet 6 is controlled by the operation table 5 to execute operation, steel falls into a belt line from a guide groove, two approach switches for in-place detection are arranged at the tail end of the belt line, when the steel is in place, the normalizing mechanism on the two sides of the belt line acts, after the steel is normalized, the in-mold loading manipulator sucks the steel to be placed at the first station, the manipulator resets, the stamping machine acts, after the operation is completed, the manipulator shifts the steel at the first station to the second station, meanwhile, the normalized steel on the belt line is placed at the first station, the manipulator resets again, the stamping machine executes the operation, the stamping machine sequentially moves until the processing is completed, the product after the processing is moved to a code base by the in-mold loading manipulator, the detection device is installed at a plurality of positions of equipment, and the operation can be stopped in an emergency under special conditions.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. The stamping equipment with the in-mold loading manipulator comprises a stamping machine tool (2), and is characterized in that a multi-station progressive die (20) is arranged on a workbench of the stamping machine tool (2), a feeding assembly line (1) and a stacking base (4) are respectively arranged on two opposite sides of the multi-station progressive die (20), the in-mold loading manipulator (3) is arranged on the other side of the multi-station progressive die, the in-mold loading manipulator (3) comprises a rack (31), an X-axis moving mechanism (32), a Z-axis moving mechanism (33) and a manipulator (34), the X-axis moving mechanism (32) comprises a first rotating motor (321), a first lead screw (322), a sliding block (324) and a vertical guide rod (325), the first lead screw (322) is rotatably arranged on the rack (31) and is connected with the first rotating motor (321), the sliding block (324) is sleeved on the first lead screw (322), the upper end of the sliding block (324) is fixedly provided with the vertical guide rod (325), the Z-axis moving mechanism (33) is arranged on one axial side of the first lead screw (322) on the rack (31), the Z-axis moving mechanism (33) comprises a second lead screw (33) and a second lead screw (332) which is rotatably arranged on the first lead screw (332), the manipulator (34) comprises a mounting rod (341) and a plurality of suction rods (342) arranged at the top end of the mounting rod (341), a shaft sleeve (343) vertically penetrating through the body of the mounting rod (341) and a horizontal sliding rail (344) arranged at the bottom end of the mounting rod are arranged on the mounting rod (341), the shaft sleeve (343) is sleeved on the vertical guide rod (325), and the horizontal sliding rail (344) is slidably arranged on the horizontal guide rail (335);
the front end of the feeding assembly line (1) is provided with a guide groove (11), and the rear end of the guide groove is provided with a regulating mechanism (12) close to the multi-station progressive die (20);
the regulating mechanism (12) comprises a connecting frame (121) and a pair of regulators (122) arranged on two sides of the connecting frame (121), and guide sheets (123) are arranged on one side, close to the feeding assembly line (1), of each of the regulators (122);
the regularizer (122) comprises a sliding sheet (1221), a sliding sheet (1222), a base (1223) and a cylinder (1224), wherein the sliding sheet (1222) is fixed on the connecting frame (121), the sliding sheet (1221) is slidably arranged on the sliding sheet (1222), the base (1223) is arranged at the upper end of the sliding sheet, the cylinder (1224) is arranged at the upper end of the base (1223), and the guide sheet (123) is fixed at the telescopic end of the cylinder (1224);
still include sign indicating number seat platform (41), sign indicating number seat platform (41) include support (411), driving motor (412), platform slide rail (413) and slide (414), driving motor (412) set up on support (411), slide (414) slidable set up on platform slide rail (413), and link to each other with driving motor (412), its upper end is provided with sign indicating number seat (4).
2. The stamping device with the in-mold transfer robot according to claim 1, wherein the top ends of the pair of second lead screws (332) are arranged at the lower end of a mounting plate (311) fixed with the frame (31), and a buffer cylinder (337) is arranged between the upper end of the mounting plate (311) and the frame-type sliding seat (334).
3. Stamping apparatus with in-mould displacement manipulator according to claim 1, characterized in that the frame (31) is provided with a pair of adjustable spacing tensioning wheels (336).
4. The stamping device with the in-mold transfer robot according to claim 1, wherein a pair of horizontal guide slide rails (326) is provided on the frame (31) below the slide blocks (324), and the slide blocks (324) are slidably disposed on the horizontal guide slide rails (326).
5. The stamping device with the in-mold mobile manipulator according to claim 1, wherein a pair of vertical guide sliding rails (338) are arranged on two sides of the frame-type sliding seat (334) on the frame (31), and the frame-type sliding seat (334) is slidably arranged on the vertical guide sliding rails (338).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910114470.3A CN109676052B (en) | 2019-02-14 | 2019-02-14 | Stamping equipment with in-mold transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910114470.3A CN109676052B (en) | 2019-02-14 | 2019-02-14 | Stamping equipment with in-mold transfer manipulator |
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| Publication Number | Publication Date |
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| CN109676052A CN109676052A (en) | 2019-04-26 |
| CN109676052B true CN109676052B (en) | 2024-02-20 |
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| CN201910114470.3A Active CN109676052B (en) | 2019-02-14 | 2019-02-14 | Stamping equipment with in-mold transfer manipulator |
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| CN115635014A (en) * | 2022-11-09 | 2023-01-24 | 广州众山紧固件有限公司 | Manipulator and continuous stamping device in mould |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109676052A (en) | 2019-04-26 |
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