CN110449502A - A kind of pick-and-place mechanism and stamping line - Google Patents
A kind of pick-and-place mechanism and stamping line Download PDFInfo
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- CN110449502A CN110449502A CN201910849931.1A CN201910849931A CN110449502A CN 110449502 A CN110449502 A CN 110449502A CN 201910849931 A CN201910849931 A CN 201910849931A CN 110449502 A CN110449502 A CN 110449502A
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- sliding part
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- pick
- actuated element
- screw rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000004080 punching Methods 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 24
- 230000008569 process Effects 0.000 abstract description 20
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 5
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- 230000008859 change Effects 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
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- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
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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
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
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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
- B21D43/12—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by chains or belts
-
- 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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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pick-and-place mechanism and stamping lines, it is related to stamping technology field, pick-and-place mechanism includes horizontal slide, vertical sliding component, the conveying device for workpiece to be punched to be delivered to first position and two manipulators, horizontal slide includes first motor, the first actuated element, horizontal sliding part, slidable connection, the rotational power of first motor are converted into the horizontal linear movement power of sliding part through the first actuated element along the vertical direction for sliding part and the first actuated element；Vertical sliding component includes the second motor, the second actuated element, second actuated element is in contact with the lower end of sliding part, the rotational power of second motor is converted into the lifting drive of sliding part through the second actuated element, two manipulators by the workpiece pick-and-place to be punched of first position to stamping position, by stamped workpieces pick-and-place to collection device, two manipulators are arranged on sliding part.So set, operating process is simple, labour, high degree of automation are saved.
Description
Technical field
The present invention relates to manipulator technical fields, more specifically to a kind of pick-and-place mechanism and stamping line.
Background technique
In engineering, it is a step important in stamping procedure that punching machine, which is usually to wait stamped workpieces to carry out punching press plate,.
In the prior art, stamped workpieces are treated using punching machine and carries out punching press, it is necessary to which workpiece to be punched is placed on wait rush
It presses on position, after the completion of waiting punching machines to treat stamped workpieces progress stamping procedure, then the workpiece transfer that stamping procedure will be completed, although
The punching press time of punching machine is very short, but during this, the placement and the more complicated trouble of transfer process of workpiece, and this process is more
For manual operation, labor intensive, while expending that the time is also long, and the degree of automation is low.
Therefore, the complicated placement of workpiece in the prior art and transfer process, labor intensive and time, automatic how to be solved
The low problem of change degree becomes those skilled in the art's important technological problems to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of pick-and-place mechanisms and stamping line to solve work existing in the prior art
The placement of part and the technical problem that transfer process is complicated, labor intensive and time, the degree of automation are low.It is provided by the invention all
Many technical effects elaboration as detailed below that optimal technical scheme in more technical solutions can be generated.
The present invention provides a kind of pick-and-place mechanisms, comprising:
Horizontal slide including first motor, is connected with the output shaft of the first motor and sets in the horizontal direction
The first actuated element and horizontally disposed sliding part set, along vertical between the sliding part and first actuated element
Direction is slideably connected, so that the sliding part can move along the vertical direction relative to first actuated element, described
The rotational power of the output shaft of first motor is converted into the straight line of the sliding part in the horizontal direction through first actuated element
Mobile power；
Vertical sliding component including the second motor, is connected with the output shaft of second motor and sets along the vertical direction
The second actuated element set, second actuated element are in contact with the lower end of the sliding part, the output of second motor
The rotational power of axis is converted into the straight line lifting drive of the sliding part through second actuated element；
Conveying device, for workpiece to be punched to be delivered to first position；
Two manipulators are respectively used to the punching press on the workpiece pick-and-place to external punching machine to be punched on the first position
Position and for by the pick-and-place of stamped workpieces on external punching machine to collected outside device, two manipulators to be respectively provided with
On the sliding part, so that each manipulator is moved horizontally with the sliding part.
Preferably, first actuated element is horizontally disposed slide unit, and the slide unit includes and the first motor
Main shaft that output shaft is connected, horizontally disposed first guide rail are arranged on first guide rail and connect with the spindle drive
The belt connect and the first sliding block being fixed on the belt, along perpendicular between first sliding block and the sliding part
Histogram is to being slideably connected, and when the output shaft of the first motor drives the main axis, the main shaft drives institute
Belt is stated to work along the guide direction of first guide rail and first sliding block and the sliding part is driven to slide in the horizontal direction
It is dynamic.
Preferably, first sliding block is equipped with the second guide rail for being arranged along the vertical direction, and the sliding part is equipped with the
Two sliding blocks, second sliding block are inserted into second guide rail, so that second sliding block can be along second guide rail
It is mobile to be vertically directed direction.
Preferably, the ball-screw that second actuated element is vertically arranged, the ball-screw include the first screw rod
And the first nut on first screw rod is set, first screw rod is connected with the output shaft of second motor,
First nut is connected with the sliding part, and second motor drives first screw rod to do rotary motion, so that institute
It states the first nut and drives the sliding part lifting.
Preferably, sliding part structure in a strip shape, and the length direction of the sliding part and horizontal glide direction with
The conveying direction of the conveying device is identical, and two manipulators are arranged along the length direction of the sliding part.
It preferably, further include controller, the controller and the first motor, second motor, the conveying fill
It sets, be communicably connected between each manipulator.
Preferably, each manipulator includes the vacuum for providing the gas source of high pressure, being connected with the gas source
Generator and the control valve being arranged between the gas source and the vacuum generator, the vacuum generator utilize the gas
Source generates negative pressure, to adsorb the workpiece to be punched or the stamped workpieces.
Preferably, the conveying device includes horizontally disposed conveyer belt, for providing the tooth of power to the conveyer belt
Take turns the governor of decelerating motor and the revolving speed for adjusting the toothed gearing electric motor, the governor and the The gear deceleration
It is electrically connected between motor.
Preferably, the lower end of the conveying device is equipped with screw rod, and the screw rod includes the second screw rod and is arranged described
The second nut on second screw rod, the relatively described external punching machine fixed setting of second nut, the upper end of second screw rod
It is connected with the conveying device, and the lower end of second screw rod is equipped with handwheel, when external force rotates the handwheel, described the
Two screw rods rotate, to drive the conveying device to go up and down.
The present invention also provides a kind of stamping lines, including above-mentioned pick-and-place mechanism.
In technical solution provided by the invention, pick-and-place mechanism includes horizontal slide, vertical sliding component, conveying device
With two manipulators, wherein horizontal slide includes first motor, the first actuated element for being connected with first motor, with
And horizontally disposed sliding part, the first actuated element convert the rotational power of the output shaft of first motor through the first actuated element
For the horizontal rectilinear motion of sliding part, sliding part can move in the horizontal direction under the action of first motor.It is vertical sliding
Dynamic component includes the second motor and the second actuated element for being connected with the second motor, equally by the output shaft of the second motor
Rotational power is converted into the linear motion of vertical direction through the second actuated element, and the lower end phase of the second actuated element and sliding part
Contact, so the second actuated element will drive sliding part lifting, and between sliding part and the first actuated element along the vertical direction
Slidable connection provides subsidiary conditions for the lifting of sliding part.Conveying device is responsible for workpiece to be punched being delivered to first
It sets, is set on sliding part there are two manipulator, being respectively used to will be on the workpiece pick-and-place to external punching machine to be punched on first position
Stamping position and for by the pick-and-place of stamped workpieces on external punching machine to collected outside device.So set, using defeated
It send device to convey workpiece to be punched, is able to make the manipulator on sliding part using horizontal slide and vertical sliding component
Realize the displacement of horizontal direction and the displacement of vertical direction, so as to accurate pick-and-place workpiece to be punched and stamped workpieces,
Realize whole process automation realize, without manually to workpiece place and shift, operating process simplify, save labour and
Time, the degree of automation improve.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of horizontal slide and vertical sliding component in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of conveying device in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of manipulator of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of slide unit in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of stamping line in the embodiment of the present invention；
Fig. 6 is the side view of stamping line in the embodiment of the present invention.
In Fig. 1-6:
1- first motor, 2- sliding part, the second motor of 3-, 4- slide unit, 401- main shaft, 402- belt, the first guide rail of 403-,
The first sliding block of 404-, the second guide rail of 5-, the second sliding block of 6-, the first screw rod of 7-, the first nut of 8-, 9- manipulator, 901- gas source,
902- control valve, 903- vacuum generator, 10- conveying device, 1001- conveyer belt, 1002- toothed gearing electric motor, 1003- speed regulation
Device, the second screw rod of 11-, the second nut of 12-, 13- handwheel, punching machine outside 14-, 1401- workbench, mold under 1402-, 1403-
Upper mold, 1404- formed punch sliding block, 1405- clutch, 1406- cylinder, 15- conveyer belt fixing piece, 16- loop bar, 17- third are sliding
Block, 18- through-hole.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Present embodiment is designed to provide a kind of pick-and-place mechanism and stamping line, solves work in the prior art
The placement of part and the problem that transfer process is complicated, labor intensive and time, the degree of automation are low.
Hereinafter, being illustrated referring to attached drawing to embodiment.In addition, embodiments illustrated below is not to recorded in claim
Summary of the invention rise any restriction effect.In addition, the full content of composition represented by following example is not limited to as right
Necessary to the solution invented documented by it is required that.
Fig. 1-Fig. 6 is please referred to, in the present embodiment, pick-and-place mechanism includes horizontal slide, vertical sliding component, conveying
10, two manipulators 9 of device, wherein horizontal slide includes first motor 1, the first actuated element and horizontally disposed sliding
Part 2, as shown in Figure 1, the first actuated element is connected and horizontally disposed with the output shaft of first motor 1.Sliding part 2 with
Slideably it is connected along the vertical direction between first actuated element, to enable sliding part 2 with respect to the first actuated element edge
Vertical direction is mobile, specifically, can be vertically arranged guide rail on sliding part 2 and the first actuated element one of them, in another one
Sliding block is set, and sliding block can extend into guide rail and move along the direction that is vertically directed of guide rail；Or it is driven in sliding part 2 and first
Sleeve is set in element one of them, loop bar is vertically arranged in another one, loop bar is nested in inside sleeve and being capable of relative sleeve
It is moved along length direction, other embodiment can also be used.Preferably, the first actuated element can be ball-screw,
It may be electronic slide unit 4, or other components that can convert the rotary motion of motor output shaft to linear motion,
The rotational power of the output shaft of first motor 1 can be made to be converted into the horizontal direction straight of sliding part 2 through the first actuated element
Line moves power.Vertical sliding component includes the second motor 3, the second actuated element, as shown in Figure 1, the second actuated element and the
The output shaft of two motors 3 is connected and is arranged along the vertical direction, then the second motor 3 is also vertically arranged, the second actuated element and cunning
The lower end of moving part 2 is in contact, and can convert sliding part through the second actuated element for the rotational power of the output shaft of the second motor 3
2 straight line lifting drive.Conveying device 10 is used to for workpiece to be punched being delivered to first position, and two manipulators 9 are equal
It is arranged on sliding part 2, two manipulators 9 are fixed with respect to sliding part 2, and two manipulators 9 can follow 2 horizontal displacement of sliding part
And lifting, so that realizing two manipulators 9 respectively will be on the workpiece pick-and-place to be punched to external punching machine 14 on first position
Stamping position and will be on the pick-and-place of stamped workpieces to collected outside device on external punching machine 14.First motor 1 and first passes
The cooperation of dynamic element and the cooperation of the second motor 3 and the second actuated element are to convert rotary motion to linear motion, energy
Enough make 2 horizontal displacement of sliding part and vertical displacement, in other embodiments, motor and actuated element can be replaced with into sky
Press and cylinder, air compressor machine provide compression power for cylinder, and the cylinder rod of cylinder can directly drive sliding part 2 to move in a straight line.
So set, conveying workpiece to be punched using conveying device 10, horizontal slide and vertical sliding component are utilized
It is able to make the manipulator 9 on sliding part 2 to realize the displacement of horizontal direction and the displacement of vertical direction, so as to accurate
Pick-and-place workpiece to be punched and stamped workpieces realize that the automation of whole process is realized, without placing and shifting to workpiece manually,
Operating process is simplified, and labour and time are saved, and the degree of automation improves.
Optionally embodiment, the first actuated element is horizontally disposed slide unit 4, as shown in figure 4, slide unit 4 includes
Main shaft 401, horizontally disposed first guide rail 403, belt 402 and the first sliding block 404 being fixed on belt 402, it is main
Axis 401 is connected with the output shaft of first motor 1, and when the rotation of the output shaft of first motor 1, main shaft 401 is rotated；Belt 402
It is arranged on the first guide rail 403 and is sequentially connected with main shaft 401, in this way when main shaft 401 rotates, will drive the beginning of belt 402
It is driven work, the first guide rail 403 limits the transmission direction of belt herein, in this way when main shaft 401 rotates, belt 402 and the
One sliding block 404 can be driven along the horizontally-guided direction of the first guide rail 403, along vertical between the first sliding block 404 and sliding part 2
Direction is slideably connected, and slide unit 4 is equivalent to synchronous belt straight line mould group.Optionally, the first guide rail 403 is equivalent to a level
Sliding-rail groove, belt 402 is end to end flexible element, and belt 402 is looped around on sliding-rail groove, when first motor 1 works, is led to
Crossing main shaft 401 drives belt 402 to be driven around the first guide rail 403, and the connection type of the first guide rail 403 and belt 402 is similar to
The meshing relation of chain and sprocket wheel.It similarly, can be by including leading for sliding block and guide rail between the first sliding block 404 and sliding part 2
Slidable connection is realized to mechanism, can also be realized by loop bar and sleeve.When 401 turns of output shaft driving spindle of first motor 1
When dynamic, main shaft 401 drives belt 402 to work along the guide direction of the first guide rail 403 and drive the first sliding block 404 and sliding part 2
It slides in the horizontal direction.
So set, power is moved horizontally for what the rotational power of first motor 1 was converted into sliding part 2 by slide unit 4, from
And realize the movement of sliding part 2 in the horizontal direction.
Specifically, the first sliding block 404 is equipped with the second guide rail 5 being arranged along the vertical direction, as shown in Figure 1, on sliding part 2
Equipped with the second sliding block 6, the second sliding block 6 is inserted into the second guide rail 5, to enable the second sliding block 6 along the vertical of the second guide rail 5
Guide direction is mobile, the final slidable connection realized between the first sliding block 404 and sliding part 2.
If sliding part 2 is fixed with respect to the first sliding block 404, vertical sliding component is that sliding part 2 is slided when providing lifting drive
Moving part 2 just can not be gone up and down, so set, slide sliding part 2 can with respect to the first sliding block 404, avoid the lifting for hindering sliding part 2
Process.
Optionally embodiment, the ball-screw that the second actuated element is vertically arranged, ball-screw include first
Screw rod 7 and the first nut 8 being arranged on the first screw rod 7, as shown in Fig. 1 and Fig. 5, Fig. 6, the first screw rod 7 and the second electricity
The output shaft of machine 3 is connected, and the first nut 8 is connected with sliding part 2, and the second motor 3 drives the first screw rod 7 to do rotary motion,
Make the first nut 8 that sliding part 2 be driven to go up and down simultaneously.
So set, the rotational power of the second motor 3 is converted to by ball-screw the lifting drive of sliding part 2, and
Ball-screw moves good steady, transmission efficiency height, synchronism, durability and high reliablity.
Optionally embodiment, the structure in a strip shape of sliding part 2, and the water of the length direction of sliding part 2, sliding part 2
The conveying direction three direction of flat glide direction and conveying device 10 is identical, and two manipulators 9 are along the length side of sliding part 2
To fixed setting, as shown in Figure 1, two manipulators 9 can be driven along level side simultaneously when sliding part 2 slides in the horizontal direction
To synchronizing moving.
So set, three direction is consistent, so that more compact structure between horizontal slide and conveying device 10, more
Space is saved, and the horizontal sliding of sliding part 2 can farthest drive manipulator 9 to slide, slide assemblies of improving the standard
Working efficiency.
Optionally embodiment, as shown in Figure 1, vertical sliding component further includes loop bar 16 and third sliding block 17,
Middle loop bar 16 is vertically arranged, and third sliding block 17 is fixedly installed with respect to sliding part 2, and third sliding block 17 is equipped with through-hole 18, through-hole edge
Vertical direction extends, and loop bar 16 is inserted into through-hole 18, and third sliding block 17 can be mobile relative to loop bar 16, realizes third sliding block 17
With the slidable connection between loop bar 15.Specifically, wherein third sliding block includes a horizontally disposed horizontal slider and one
A upright slide block being connect with the edge of horizontal slider, even if the two is L-shaped, so that horizontal slider be made preferably to hold and prop up
Support sliding part 2.In a preferred embodiment, loop bar 16 and third sliding block 17 are arranged two groups, are separately positioned on the two of ball-screw
Side, as shown in Figure 1.
When the second motor 3 provides lifting drive, although also can be realized by the second guide rail 5 of setting and the second sliding block 6
Opposite sliding between sliding part 2 and slide unit 4, but since sliding part 2 is in horizontally disposed strip structure, it may in lifting process
Unstable, so set, third sliding block 17 is equivalent to the fulcrum of sliding part 2, two groups of setting can preferably support sliding part 2,
So that more steady in its lifting process.
Optionally embodiment, pick-and-place mechanism further include controller, controller and first motor 1, the second motor 3,
Communicably be connected between conveying device 10, each manipulator 9, the work of such controller control first motor 1 with stop
Only, the work with stopping of the second motor 3 and conveying device 10 treat whether stamped workpieces convey, manipulator 9 grabbing and putting,
To control the course of work of entire pick-and-place mechanism.Specifically, the work of controller control first motor 1 is directly controlled with stopping
Whether the work of slide unit 4, to indirectly control the whether horizontal sliding of sliding part 2；Controller control the second motor 3 work with stop
Whether the work of ball-screw can only be controlled, thus indirectly control sliding part 2 whether vertical lifting.
So set, the course of work of any sub-agencies of pick-and-place mechanism is controlled by controller, to realize pick-and-place mechanism
Integrated automation.
Optionally embodiment, as shown in figure 3, each manipulator 9 include gas source 901, vacuum generator 903,
Control valve 902, gas source 901 is for providing high pressure gas, and gas source 901 can be air compressor machine, or high pressure tank；Vacuum
Generator 903 is connected with gas source 901, and vacuum generator 903 is that one kind can be negative using the generation of positive pressure gas source in the prior art
Such a vacuum component of pressure, working principle are to form jet stream in nozzle exit using jet pipe high speed injection compressed air,
It generates volume and inhales flowing, under Involving velocity, so that the air around nozzle exit is constantly sucked away, so that negative pressure is generated,
Specifically no longer it is described in detail.Wherein control valve 902 can be solenoid valve, and control valve 902 is arranged in gas source 901 and vacuum generator
Between 903, so that control valve 902 be made to control whether gas source 901 provides high pressure gas, vacuum generator to vacuum generator 903
903 can generate negative pressure using the gas source 901 of high pressure, to adsorb workpiece to be punched or stamped workpieces, realize to be punched
The process of workpiece or stamped workpieces grabbed.Therefore when controller control control valve 902 close or vacuum generator 903 close or
When person's gas source 901 stops providing high pressure gas, vacuum generator 903 to workpiece without suction-operated, realization treat stamped workpieces or
The process of stamped workpieces put.
So set, only being realized using gas negative pressure suction-operated to the pick-and-place of workpiece, the outer surface of workpiece will not be made
At damage, avoid grabbing workpiece using grip and damaging.
Optionally embodiment, as shown in Fig. 2, conveying device 10 includes horizontally disposed conveyer belt 1001, gear
Decelerating motor 1002 and governor 1003, toothed gearing electric motor 1002 are used to provide power, governor to conveyer belt 1001
It is electrically connected between 1003 and toothed gearing electric motor 1002, to be capable of adjustment gear decelerating motor 1002 by governor 1003
Revolving speed further adjusts the transmission speed of conveyer belt 1001.Specifically, controller can pass through control toothed gearing electric motor 1002
Whether work, so that whether controllable conveyer belt 1001 works；Controller can be by controlling to adjust governor 1003, to realize
Adjusting to the revolving speed of toothed gearing electric motor 1002.Preferably, it is additionally provided in conveying device 10 defeated for adjusting conveyer belt 1001
The regulating part of angle is sent, conveyer belt 1001 includes the first transport unit and the second transport unit, in the first transport unit and the second transport unit
Between regulating part is set, as shown in Fig. 2, the arcuate structure of regulating part semicircular in shape, the left side of regulating part connects the first transport unit,
Arcuate socket is set on the right side of regulating part, and arcuate socket is passed through by fastener and is fixed in the second transport unit, fastener passes through arcuate socket
Different location to make between the first transport unit and the second transport unit in different angles.
So set, passing through governor 1003 whether controlling the conveying of conveyer belt 1001 by toothed gearing electric motor 1002
The conveying speed of conveyer belt 1001 is indirectly controlled, to accurately control the transmission process to workpiece, when asking in transmission process
Topic can also adjust in time.
Optionally embodiment, the lower end of conveying device 10 are equipped with screw rod, and as shown in Figure 5 and Figure 6, screw rod includes the
Two screw rods 11 and the second nut 12 being arranged on the second screw rod 11, screw rod, that is, ball-screw, principle is identical, by rotary motion
It is converted into linear motion, wherein 12 opposite outer punching machine 14 of the second nut is fixedly installed, the upper end of the second screw rod 11 and conveying are filled
It sets 10 to be connected, specifically, 1401 side of workbench of external punching machine 14 is vertically arranged a fixed plate, then vertical fixed plate
A horizontal fixed plate is connected, 12 relative level fixed plate of the second nut is fixed, and the lower end of conveying device 10 is equipped with conveyer belt
Fixing piece 15, upper end and 15 phase of conveyer belt fixing piece of the second screw rod 11 are fixed, conveyer belt fixing piece 15 can with the second screw rod 11,
Conveying device 10 is bolted, as shown in Figure 5.Moreover, the lower end of the second screw rod 11 is equipped with handwheel 13, when external force rotates
When handwheel 13, the second nut 12 is motionless, and the rotation of the second screw rod 11 drives conveying device 10 to go up and down.It should be noted that due to machine
Tool hand 9 is mobile in the horizontal direction and mobile be equivalent to only is moved in a perpendicular in the vertical direction, therefore pick-and-place machine
Structure meets with respect to the position of punching machine makes conveying device 10 convey both the terminal position of workpiece to be punched and the stamping position of punching machine
Between in the same perpendicular, could recycle the realization of manipulator 9 to treat the transfer of stamped workpieces.
So set, entire pick-and-place mechanism can be directly disposed at the side of punching machine in the prior art, make with punching machine cooperation
With, and pick-and-place mechanism no setting is required individually cabinet carry out occupied space, therefore pick-and-place mechanism also can change with respect to the position of punching machine；
In addition, having the lower mold 1402 for placing workpiece to be punched and the upper mold 1403 for stamped workpieces on punching machine, work as punching
When the lower mold 1402 of bed replacement different height, the whole height of conveying device 10 can be adjusted by lead screw, so that conveying be made to fill
Set 10 height for being adapted to punching machine lower mold tool 1402.
This pick-and-place mechanism is specifically described in conjunction with above-mentioned each embodiment, in the present embodiment, pick-and-place mechanism includes
Horizontal slide, vertical sliding component, conveying device 10, two manipulators 9, controller, wherein horizontal slide include
First motor 1 is connected and along horizontally disposed slide unit 4 and horizontally disposed sliding part 2 with the output shaft of first motor 1,
It is vertically arranged with the second guide rail 5 on slide unit 4, sliding part 2 is equipped with the second sliding block 6, the second sliding block 6 is inserted into the second guide rail 5,
So that sliding part 2 can move along the vertical direction relative to slide unit 4, when first motor 1 works, slide unit 4 drives sliding part 2 along level
Direction displacement；The ball that vertical sliding component includes the second motor 3, is connected and is vertically arranged with the output shaft of the second motor 3
Lead screw, ball-screw are in contact with the lower end of sliding part 2, and when the second motor 3 works, the nut of ball-screw drives sliding part 2
Lifting；Conveying device 10 is used to for workpiece to be punched being delivered to first position, and conveying device 10 includes horizontally disposed conveyer belt
1001, for providing conveyer belt 1001 toothed gearing electric motor 1002 of power and for adjustment gear decelerating motor 1002
The governor 1003 of revolving speed, is electrically connected between governor 1003 and toothed gearing electric motor 1002；Two manipulators 9 be respectively used to by
Stamping position on workpiece pick-and-place to be punched to external punching machine 14 on first position and for by external punching machine 14
On stamped workpieces pick-and-place to collected outside device, each manipulator 9 includes for providing the gas source 901 of high pressure and gas source 901
The vacuum generator 903 being connected and the control valve 902 being arranged between gas source 901 and vacuum generator 903, vacuum occur
Device 903 generates negative pressure using gas source 901, to adsorb workpiece to be punched or stamped workpieces；Controller and first motor 1, second
Motor 3, each control valve 902 are communicably connected between conveyer belt 1002.The structure in a strip shape of sliding part 2, and sliding part
2 length direction and horizontal glide direction are identical as the conveying direction of conveying device 10, and two manipulators 9 are along sliding part 2
Length direction setting.The lower end of conveying device 10 is equipped with screw rod, and screw rod includes the second screw rod 11 and is arranged in the second screw rod
The second nut 12 on 11, the fixed setting of 12 opposite outer punching machine 14 of the second nut, the upper end of the second screw rod 11 and conveying device
10 are connected, and the lower end of the second screw rod 11 is equipped with handwheel 13, and when external force rotates handwheel 13, the second screw rod 11 is rotated, with band
Dynamic conveying device 10 is gone up and down.
So set, conveying workpiece to be punched using conveying device 10, horizontal slide and vertical sliding component are utilized
It is able to make the manipulator 9 on sliding part 2 to realize the displacement of horizontal direction and the displacement of vertical direction, so as to accurate
Pick-and-place workpiece to be punched and stamped workpieces realize that the automation of whole process is realized, without placing and shifting to workpiece manually,
Operating process is simplified, and labour and time are saved, and the degree of automation improves.
The present invention also provides can a kind of stamping line, including in above-described embodiment pick-and-place mechanism and external punching machine 14,
External punching machine 14 includes workbench 1401, the lower mold 1402 being arranged on workbench 1401, is arranged above upper mold 1403
Upper mold 1403, connect with upper mold 1403 formed punch sliding block 1404, act on the clutch 1405 of formed punch sliding block 1404 with
And cylinder 1406, as shown in Figure 5 and Figure 6, workpiece to be punched is placed on lower mold 1402, and the cylinder barrel of cylinder 1406 is fixed, gas
The cylinder rod of cylinder 1406 is connected with clutch 1405, and when cylinder 1406 works, clutch 1405 is controlled under formed punch sliding block 1404
Drop, so that treating stamped workpieces by lower mold 1402 carries out punching press, the working principle of punching machine 14 is existing skill outside this process
Art, therefore be no longer described in detail herein.So set, the pick-and-place mechanism of the stamping line without placing workpiece and turning manually
It moves, operating process is simple, saves labour and time, and high degree of automation.The derivation process and pick-and-place of the beneficial effect
The derivation process of beneficial effect brought by mechanism is substantially similar, and therefore, this article will not repeat them here.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.Multiple schemes provided by the invention include
The basic scheme of itself does not condition each other independently of each other, but it can also be combined with each other in the absence of conflict, reach
It is realized jointly to multiple effects.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of pick-and-place mechanism characterized by comprising
Horizontal slide, is connected and in the horizontal direction including first motor (1), with the output shaft of the first motor (1)
The first actuated element and horizontally disposed sliding part (2) being arranged, the sliding part (2) and first actuated element it
Between be slideably connected along the vertical direction, so that the sliding part (2) can first actuated element relatively along vertical side
To movement, the rotational power of the output shaft of the first motor (1) is converted into the sliding part (2) through first actuated element
Linear movement power in the horizontal direction；
Vertical sliding component, is connected and along the vertical direction including the second motor (3), with the output shaft of second motor (3)
The second actuated element being arranged, second actuated element are in contact with the lower end of the sliding part (2), second motor
(3) rotational power of output shaft is converted into the straight line lifting drive of the sliding part (2) through second actuated element；
Conveying device (10), for workpiece to be punched to be delivered to first position；
Two manipulators (9), being respectively used to will be on the workpiece pick-and-place to be punched to external punching machine (14) on the first position
Stamping position and for by the pick-and-place of stamped workpieces on external punching machine (14) to collected outside device, two machinery
Hand (9) is arranged on the sliding part (2).
2. pick-and-place mechanism as described in claim 1, which is characterized in that first actuated element is horizontally disposed slide unit
(4), the slide unit (4) includes the main shaft (401) being connected with the output shaft of the first motor (1), horizontally disposed first
Guide rail (403), be arranged on first guide rail (403) and with the main shaft (401) transmission connection belt (402) and
The first sliding block (404) being fixed on the belt (402), between first sliding block (404) and the sliding part (2)
Slideably it is connected along the vertical direction, when the output shaft of the first motor (1) drives the main shaft (401) rotation, institute
Stating main shaft (401) drives the belt (402) to work along the guide direction of first guide rail (403) and drive described first
Sliding block (404) and the sliding part (2) slide in the horizontal direction.
3. pick-and-place mechanism as claimed in claim 2, which is characterized in that first sliding block (404) is equipped with along the vertical direction
The second guide rail (5) being arranged, the sliding part (2) are equipped with the second sliding block (6), and second sliding block (6) is inserted into described the
In two guide rails (5), so that second sliding block (6) can be vertically directed direction movement along second guide rail (5).
4. pick-and-place mechanism as described in claim 1, which is characterized in that the ball wire that second actuated element is vertically arranged
Thick stick, the ball-screw include the first screw rod (7) and are arranged the first nut (8) on first screw rod (7), and described the
One screw rod (7) is connected with the output shaft of second motor (3), and first nut (8) is connected with the sliding part (2)
It connects, second motor (3) drives first screw rod (7) to do rotary motion, so that first nut (8) drives the cunning
Moving part (2) lifting.
5. pick-and-place mechanism as described in claim 1, which is characterized in that the sliding part (2) structure in a strip shape, and the sliding
The length direction of part (2) and horizontal glide direction are identical as the conveying direction of the conveying device (10), two machinery
Hand (9) is along the length direction setting of the sliding part (2), so that each manipulator (9) is horizontal with the sliding part (2)
It is mobile.
6. pick-and-place mechanism as described in claim 1, which is characterized in that it further include controller, the controller and described first
Motor (1), the conveying device (10), is communicably connected between each manipulator (9) at second motor (3)
It connects.
7. pick-and-place mechanism as described in claim 1, which is characterized in that each manipulator (9) includes for providing height
The gas source (901) of pressure, the vacuum generator (903) being connected with the gas source (901) and setting in the gas source (901) and
Control valve (902) between the vacuum generator (903), the vacuum generator (903) are generated using the gas source (901)
Negative pressure, to adsorb the workpiece to be punched or the stamped workpieces.
8. pick-and-place mechanism as described in claim 1, which is characterized in that the conveying device (10) includes horizontally disposed transmission
Band (1001) is used to provide the conveyer belt (1001) toothed gearing electric motor (1002) of power and for adjusting the tooth
Take turns the governor (1003) of the revolving speed of decelerating motor (1002), the governor (1003) and the toothed gearing electric motor (1002)
Between be electrically connected.
9. stamping line as described in claim 1, which is characterized in that the lower end of the conveying device (10) is equipped with screw rod,
The screw rod includes the second nut (12) of the second screw rod (11) and setting on second screw rod (11), second spiral shell
Female (12) relatively described external punching machine (14) is fixedly installed, upper end and the conveying device (10) phase of second screw rod (11)
Connection, and the lower end of second screw rod (11) is equipped with handwheel (13), when external force rotates handwheel (13), second spiral shell
Bar (11) rotates, to drive the conveying device (10) to go up and down.
10. a kind of stamping line, including pick-and-place mechanism and external punching machine (14), which is characterized in that the pick-and-place mechanism is
Such as the described in any item pick-and-place mechanisms of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910849931.1A CN110449502A (en) | 2019-09-10 | 2019-09-10 | A kind of pick-and-place mechanism and stamping line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910849931.1A CN110449502A (en) | 2019-09-10 | 2019-09-10 | A kind of pick-and-place mechanism and stamping line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110449502A true CN110449502A (en) | 2019-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910849931.1A Pending CN110449502A (en) | 2019-09-10 | 2019-09-10 | A kind of pick-and-place mechanism and stamping line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203955950U (en) * | 2014-06-25 | 2014-11-26 | 东莞市信腾机器人科技有限公司 | The four axle stamping machine manipulators that arm load capacity is strong |
| CN105195638A (en) * | 2015-10-29 | 2015-12-30 | 重庆市铜梁区精亿电脑配件有限公司 | Drive connecting rod |
| CN106734712A (en) * | 2016-12-21 | 2017-05-31 | 东莞市佳信制罐有限公司 | A kind of can system processed |
| CN210547297U (en) * | 2019-09-10 | 2020-05-19 | 擎元智能科技(东莞)有限公司 | Grabbing and releasing mechanism and stamping production line |
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2019
- 2019-09-10 CN CN201910849931.1A patent/CN110449502A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203955950U (en) * | 2014-06-25 | 2014-11-26 | 东莞市信腾机器人科技有限公司 | The four axle stamping machine manipulators that arm load capacity is strong |
| CN105195638A (en) * | 2015-10-29 | 2015-12-30 | 重庆市铜梁区精亿电脑配件有限公司 | Drive connecting rod |
| CN106734712A (en) * | 2016-12-21 | 2017-05-31 | 东莞市佳信制罐有限公司 | A kind of can system processed |
| CN210547297U (en) * | 2019-09-10 | 2020-05-19 | 擎元智能科技(东莞)有限公司 | Grabbing and releasing mechanism and stamping production line |
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