CN112122482A - High-speed multi-station shuttle hand device matched with heavy press - Google Patents
High-speed multi-station shuttle hand device matched with heavy press Download PDFInfo
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- CN112122482A CN112122482A CN202010940843.5A CN202010940843A CN112122482A CN 112122482 A CN112122482 A CN 112122482A CN 202010940843 A CN202010940843 A CN 202010940843A CN 112122482 A CN112122482 A CN 112122482A
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- 238000012546 transfer Methods 0.000 claims abstract description 125
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 239000000463 material Substances 0.000 claims abstract description 24
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 66
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000010405 clearance mechanism Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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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
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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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
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/18—Lubricating, e.g. lubricating tool and workpiece simultaneously
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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
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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Abstract
The invention discloses a high-speed multi-station shuttle device matched with a heavy-duty press, which comprises a feeding side device, a discharging side device and a cross rod used for connecting the feeding side device and the discharging side device, wherein the feeding side device and the discharging side device have the same structure, the feeding side device comprises a main beam, an X-axis transfer mechanism arranged at the bottom of the main beam, Z-axis lifting mechanisms arranged at two sides of the main beam, a Y-axis clamping mechanism arranged on the main beam, a Y-axis external measuring mechanism and a Y-direction gap eliminating mechanism, cross rod quick-change tool discs are arranged at two ends of the cross rod, the X-axis transfer mechanism comprises an X-axis transfer arm, one end of the X-axis transfer arm, which is close to the cross rod, is provided with a cross rod quick-change main disc, and material sheet carrying is realized through the movement among the X-axis transfer mechanism, the. The high-speed multi-station shuttle hand device has the advantages of being safe and reliable in structure, strong in practicability, capable of achieving stable sheet material transportation, reducing potential safety hazards in the working process and effectively improving working efficiency.
Description
Technical Field
The invention relates to the technical field of automatic conveying of stamping parts, in particular to a high-speed multi-station shuttle device matched with a heavy press.
Background
In modern industry, automation and mechanization have become main bodies in the production process and gradually replace the operation of people; especially, in some highly automated enterprises, unmanned workshops, assembly lines and the like are seen everywhere, and become a mark for leading the development of modern enterprises. Meanwhile, in some production, various production environments exist, and most of the production environments are severe environments and are not beneficial to manual operation. The three-dimensional manipulator can realize the conveying of materials, and the high-efficient safe material piece of transferring that replaces the manual work. In the existing patents, there are some problems with three-dimensional robots: if the transfer stroke is too small; the repetition precision of the manipulator is low; the time for replacing the mold is long; the number of the material sheets transferred per minute is low, the motor control method is not suitable, and the like, so that the device has a narrow application range.
Disclosure of Invention
The invention aims to solve the problems and designs a high-speed multi-station shuttle hand device matched with a heavy-duty press.
The technical scheme of the invention is that the high-speed multi-station shuttle device matched with the heavy press comprises a feeding side device, a discharging side device and a cross rod used for connecting the feeding side device and the discharging side device, wherein the feeding side device comprises a main beam, an X-axis transfer mechanism arranged at the bottom of the main beam, Z-axis lifting mechanisms arranged at two sides of the main beam, a Y-axis clamping mechanism arranged on the main beam, a Y-axis external measuring mechanism and a Y-direction gap eliminating mechanism.
Preferably, X axle transfer mechanism transfers the arm including setting up the X axle of being connected in horizontal pole both sides and horizontal pole, the X axle is transferred the arm and is kept away from horizontal pole one end is provided with X axle limiting plate, the X axle is transferred the arm and is close to horizontal pole one end is provided with horizontal pole quick change master disc, X axle is transferred arm upper portion and is provided with many X axles and transfers the guide rail, the X axle is transferred and is located the outside that the X axle transferred the guide rail on the arm and is provided with the X axle and transfers the rack, the X axle is transferred and is provided with the X axle on the guide rail and transfers the slider, be provided with the X axle on the X axle transfers the slider and transfer the base.
Preferably, an X-axis transfer speed reducer bottom plate is arranged on the X-axis transfer base, an X-axis transfer speed reducer is arranged on the X-axis transfer speed reducer bottom plate, an X-axis transfer servo motor is arranged on the upper portion of the X-axis transfer speed reducer, and the output end of the X-axis transfer servo motor is connected with the X-axis transfer speed reducer.
Preferably, the bottom of the X-axis transfer base is provided with an X-axis transfer gear connected with the output end of the X-axis transfer speed reducer, the X-axis transfer gear is meshed with the X-axis transfer rack, and X-axis transfer felt wheels are arranged on two sides of the X-axis transfer gear.
Preferably, the Y-axis clamping mechanism comprises a Y-axis clamping guide rail arranged at the bottom of the main beam, a Y-axis clamping slide block is arranged on the Y-axis clamping guide rail, the bottom of the Y-axis clamping slide block is fixedly provided with a Y-axis clamping bottom plate, the upper part of the Y-axis clamping bottom plate is provided with a Y-axis clamping speed reducer base, a Y-axis clamping speed reducer bottom plate is arranged on the Y-axis clamping speed reducer base, a Y-axis clamping speed reducer is arranged at the upper part of the Y-axis clamping speed reducer bottom plate, the upper part of the Y-axis clamping speed reducer is provided with a Y-axis clamping servo motor, the output end of the Y-axis clamping servo motor is connected with the Y-axis clamping speed reducer, the output end of the Y-axis clamping speed reducer is provided with a Y-axis clamping gear, the bottom of the main beam is located on the outer side of the Y-axis clamping guide rail and is provided with a Y-axis clamping rack, and the Y-axis clamping gear is meshed with the Y-axis clamping rack.
Preferably, the Z-axis lifting mechanism comprises Z-axis lifting bases arranged on two sides of the main beam, Z-axis lifting guide rails are arranged on the Z-axis lifting bases, and Z-axis lifting racks are arranged between the Z-axis lifting guide rails.
Preferably, a Z-axis lifting slider is arranged on one side of the Z-axis lifting base on the main beam, a Z-axis lifting servo motor is arranged on the upper portion of the main beam, the output end of the Z-axis lifting servo motor is connected with a Z-axis lifting speed reducer, and the output end of the Z-axis lifting speed reducer is meshed with a Z-axis lifting rack through a Z-axis lifting gear.
Preferably, a balance cylinder is arranged on one side, located on the Z-axis lifting servo motor, of the main beam.
Preferably, a cross rod quick-change tool disc is arranged at the connecting end of the cross rod and the X-axis transfer arm.
Preferably, the structure of the feeding side device is the same as that of the discharging side device.
The high-speed multi-station shuttle hand device matched with the heavy-duty press, provided by the invention, comprises a feeding side device, a discharging side device and a cross rod used for connecting the feeding side device and the discharging side device, wherein the feeding side device and the discharging side device have the same structure, the feeding side device comprises a main beam, an X-axis transfer mechanism, a Y-axis clamping mechanism, a Z-axis lifting mechanism, a Y-axis external measuring mechanism and a Y-direction gap eliminating mechanism, which are arranged on the main beam, the carrying process of a material sheet is realized through the matching motion among the X-axis transfer mechanism, the Y-axis clamping mechanism and the Z-axis lifting mechanism, and the accurate measurement of the motion track of the high-speed multi-station shuttle hand can be realized through the Y-axis external measuring mechanism; the clearance of 1mm between the end part of the main beam and the Z-axis lifting bottom plate can be ensured through the Y-direction clearance eliminating mechanism, so that the transverse shaking of the high-speed multi-station shuttling hand following the upright post of the punch press is avoided, and the stable and efficient conveying of tablets is realized; the high-speed multi-station shuttle hand device is safe and reliable in structure and high in practicability, can stably transport sheet materials, reduces potential safety hazards in the working process, and effectively improves the working efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the loading side device of the present invention;
FIG. 3 is a schematic view of the Z-axis lift mechanism of the present invention;
FIG. 4 is a schematic view of the Y-axis clamping mechanism of the present invention;
FIG. 5 is a schematic structural diagram of a portion of the Y-axis external measurement mechanism of the present invention;
FIG. 6 is a schematic structural view of another portion of the Y-axis external measurement mechanism of the present invention;
FIG. 7 is a schematic view of the Y-axis anti-backlash mechanism of the present invention.
In the figure, 1, a feeding side device; 2. a discharge side device; 3. a cross bar; 4. the cross bar quickly changes the main disc; 5. a tool plate is quickly replaced by the cross rod; 6. a main beam; 7. an X-axis transfer mechanism; 8. a Z-axis lifting mechanism; 9. a Y-axis clamping mechanism; 10. a Y-direction gap eliminating mechanism; 11. an X-axis transfer arm; 12. an X-axis limiting plate; 13. an X-axis transfer guide rail; 14. an X-axis transfer rack; 15. an X-axis transfer slide block; 16. an X-axis transfer base; 17. the X-axis transfers the bottom plate of the speed reducer; 18. an X-axis transfer reducer; 19. an X-axis transfer servo motor; 20. an X-axis transfer gear; 21. an X-axis transfer felt wheel; 22. a Z-axis lifting base; 23. a balance cylinder; 24. a Z-axis lifting guide rail; 25. a Z-axis lifting rack; 26. a Z-axis lifting slide block; 27. a Z-axis lifting servo motor; 28. a Z-axis lifting speed reducer; 29. the Y axis is externally provided with a measuring mechanism; 30. clamping the guide rail by the Y axis; 31. the Y-axis clamping slide block; 32. clamping the bottom plate by the Y-axis; 33. the Y-axis clamps the speed reducer base; 34. the Y-axis clamps the bottom plate of the speed reducer; 35. the Y-axis clamps the speed reducer; 36. clamping the servo motor by the Y axis; 37. the Y-axis clamps the gear; 38. the Y-axis clamps the rack; 39. checking the encoder base by the Y-axis; 40. a synchronous belt; 41. a first synchronizing wheel; 42. a Y-axis checking encoder; 43. a synchronizing wheel base; 44. a synchronizing wheel shaft; 45. a second synchronizing wheel; 46. positioning pins; 47. a bushing for a positioning pin; 48. equal height bolts.
Detailed Description
The traditional multi-station shuttling hand has the problems that the movement repeatability precision is low, the transfer stroke is small, the transfer speed is low, the size of a conveyed product is not convenient to adjust, the position of a sheet material in the conveying process is changed and the like when the sheet material is conveyed, so that troubles are brought to subsequent processing and production, and the production efficiency is low.
The invention is described in detail below with reference to the accompanying drawings, and as shown in fig. 1 to 4, the device for high-speed multi-station shuttling of a heavy-duty press comprises a feeding side device 1, a discharging side device 2, and two cross rods 3 for connecting the discharging side device 2 of the feeding side device 1, the number of the cross rods 3 is two, and two ends of each cross rod 3 are provided with cross rod quick-change tool trays 5, wherein the structures of the feeding side device 1 and the discharging side device 2 are the same, and the structure of the feeding side device 1 will be described in detail below.
The feeding side device 1 comprises a main beam 6, an X-axis transfer mechanism 7 arranged at the bottom of the main beam 6, Z-axis lifting mechanisms 8 arranged at two sides of the main beam 6, a Y-axis clamping mechanism 9 arranged on the main beam 6, a Y-axis external measuring mechanism 29 and a Y-direction gap eliminating mechanism 10.
The X-axis transfer mechanism 7 is used for realizing the moving and conveying of a material sheet on an X axis, the X-axis transfer mechanism 7 comprises X-axis transfer arms 11, the X-axis transfer arms 11 are arranged on two sides of a cross rod 3 and fixedly connected with the cross rod 3, in order to realize the moving of the material sheet in the X axis direction, a plurality of X-axis transfer guide rails 13 are arranged on the upper portion of the X-axis transfer arms 11 and are generally matched with sliders for use, X-axis transfer sliders 15 are arranged on the X-axis transfer guide rails 13, X-axis transfer bases 16 fixedly connected with the X-axis transfer sliders 15 are arranged on the upper portion of the X-axis transfer sliders 15, main beams 6 are arranged on the upper portion of the X-axis transfer bases 16, and two sides of the bottoms of the main.
In order to realize power transmission in the X-axis direction, an X-axis transfer reducer 18 and an X-axis transfer servomotor 19 are required, in order to facilitate installation of the X-axis transfer reducer 18, an X-axis transfer reducer base plate 17 is required, the X-axis transfer reducer base plate 17 is arranged on an X-axis transfer base 16, the X-axis transfer reducer 18 is installed on the X-axis transfer reducer base plate 17, the X-axis transfer servomotor 19 for providing power is arranged at the upper part of the X-axis transfer reducer 18, and the output end of the X-axis transfer servomotor 19 is connected with the X-axis transfer reducer 18.
In order to realize the power transmission of the X-axis transfer servo motor 19, an X-axis transfer gear 20 is needed, the X-axis transfer gear 20 is installed at the output end of the X-axis transfer reducer 18, the power transmission can be realized only by the mutual matching of the gear and the rack, therefore, an X-axis transfer rack 14 is needed, the X-axis transfer rack 14 is arranged on the X-axis transfer arm 11 and is positioned at the outer side of the X-axis transfer guide rail 13, the X-axis transfer rack 14 is meshed with the X-axis transfer gear 20, in use, in order to provide lubrication for the gear rack, X-axis transfer felt wheels 21 are further provided on both sides of the X-axis transfer gear 20, and in order to restrict movement in the X-axis direction, an X-axis limiting plate 12 is arranged at one end of the X-axis transferring arm 11 far away from the cross rod 3, and a cross bar quick-change main disc 4 is arranged at one end of the X-axis transfer arm 11, which is close to the cross bar 3.
The Y-axis clamping mechanism 9 is used for clamping the material sheet in the Y-axis direction, the Y-axis clamping mechanism 9 comprises a Y-axis clamping guide rail 30, the Y-axis clamping guide rail 30 is arranged at the bottom of the main beam 6, and a Y-axis clamping rack 38 is further arranged at the position, located on the outer side of the Y-axis clamping guide rail 30, of the bottom of the main beam 6.
A Y-axis clamping slide block 31 is arranged on the Y-axis clamping guide rail 30, a Y-axis clamping bottom plate 32 is fixedly arranged at the bottom of the Y-axis clamping slide block 31, power in the Y-axis direction needs to be assisted by a Y-axis clamping speed reducer 35 and a Y-axis clamping servo motor 36, and in order to facilitate the installation of the Y-axis clamping speed reducer 35 and the Y-axis clamping servo motor 36, a Y-axis clamping speed reducer base 33 is arranged at the upper part of the Y-axis clamping bottom plate 32, a Y-axis clamping speed reducer base 34 is arranged on the Y-axis clamping speed reducer base 33, a Y-axis clamping speed reducer 35 is arranged at the upper part of the Y-axis clamping speed reducer base 34, a Y-axis clamping servo motor 36 is arranged at the upper part of the Y-axis clamping speed reducer 35, the output end of the Y-axis clamping servo motor 36 is connected with the Y-axis clamping speed reducer 35, and the output end of the Y-axis clamping speed reducer 35 is provided with a Y-axis clamping gear 37 meshed with the Y-axis clamping rack 38.
The Y-axis external measuring mechanism 29 comprises a Y-axis checking encoder base 39 arranged at the bottom of the main beam 6, a first synchronizing wheel 41 is arranged on the Y-axis checking encoder base 39, a Y-axis checking encoder 42 is arranged at the bottom of the first synchronizing wheel 41, a synchronizing wheel base 43 is further arranged at the bottom of the main beam 6, a synchronizing wheel shaft 44 is arranged on the synchronizing wheel base 43, a second synchronizing wheel 45 is arranged on the synchronizing wheel base 44, a synchronizing belt 40 is arranged on the second synchronizing wheel 45 and the first synchronizing wheel 41, the movement is realized through the synchronizing belt 40, the rotation of the Y-axis checking encoder 42 is driven, the measurement of the movement track of the high-speed multi-station shuttle hand is realized, and the accurate measurement of the movement track of the high-speed multi-station shuttle hand can be realized through the Y-.
Y is to eliminating clearance mechanism 10 including setting up locating pin 46 on the girder to and set up bush 47 and equal altitude bolt 48 for the locating pin of one end, can guarantee through Y to eliminating clearance mechanism 10 that there is 1 mm's clearance between 6 tip of girder and the Z axle lifting bottom plate, thereby avoid high-speed multistation shuttle to follow the punch press stand and transversely rock, realize carrying the tablet steadily, high-efficiently.
The Z-axis lifting mechanism 8 is used for realizing lifting and moving of material sheets in the Z-axis direction, the Z-axis lifting mechanism 8 comprises a Z-axis lifting servo motor 27, a Z-axis lifting speed reducer 28, a Z-axis lifting gear, a Z-axis lifting rack 25, a Z-axis lifting slider 26, a Z-axis lifting guide rail 24, a Z-axis lifting speed reducer bottom plate and a Z-axis lifting base 22, the Z-axis lifting base 22 is arranged on the side portion of the main beam 6, the Z-axis lifting guide rail 24 is installed on the Z-axis lifting base 22, the Z-axis lifting slider 26 matched with the Z-axis lifting guide rail 24 is arranged on one side, located on the main beam 6, of the Z-axis lifting base 22, and the Z-axis lifting rack 25 is arranged between the two Z-axis lifting guide rails 24 on.
The girder 6 upper portion sets up Z axle lift servo motor 27, Z axle lift servo motor 27's output is connected with Z axle lift speed reducer 28, Z axle lift speed reducer 28's output is connected with Z axle lifting gear, Z axle lifting gear combines together with Z axle lifting rack 25, in order to guarantee the steady in the course of the work in addition, lie in Z axle lift servo motor 27 one side on the girder 6 and be provided with balance cylinder 23 for adjust the elevating movement load.
The material sheet conveying process is realized through the matching motion among the X-axis transfer mechanism 7, the Y-axis clamping mechanism 9 and the Z-axis lifting mechanism 8.
The working principle is as follows: during normal stamping, when the material piece is conveyed to a designated position by the magnetic conveying line, the material piece is sequentially placed on a punch die by the clamp on the high-speed multi-station shuttle cross rod 3, the material piece is sequentially and continuously placed on different stations in accordance with the stamping beat of the punch die, the punch die performs stamping, the high-speed multi-station shuttle clamps (sucks) a product to be transferred (the mechanical arm acts as clamping, lifting, advancing, falling, loosening, retreating and then punching by the punch die), so that automatic production is realized, and the last set of clamp is responsible for grabbing and placing the stamped material piece on a tail belt line, so that stamping and transferring are completed. The high-speed multi-station shuttle movement (clamping-lifting-advancing-falling-loosening-retreating) is realized by the matching movement among the X-axis transfer mechanism 7, the Y-axis clamping mechanism 9 and the Z-axis lifting mechanism 8; each action is described in detail below, the X-axis transfer servomotor 19 drives the X-axis transfer reducer 18 equipped with the X-axis transfer gear 20 to rotate, and the X-axis transfer reducer is engaged with the X-axis transfer rack 14 to drive the X-axis transfer arm 11 to move back and forth, so as to complete the transfer action and realize the transfer of the material sheet; a Y-axis clamping servo motor 36 drives a Y-axis clamping speed reducer 35 provided with a Y-axis clamping gear 37 to rotate and is meshed with a Y-axis clamping rack 38 to drive the Y-axis clamping bottom plate 32 to move transversely, so that clamping-opening actions are completed, and clamping of material sheets is realized; the Z-axis lifting servo motor 27 drives a Z-axis lifting speed reducer 28 provided with a Z-axis lifting gear to rotate and is meshed with the Z-axis lifting rack 25 to drive the main beam 6 to move up and down, so that the lifting action is completed, and the lifting of the material sheet is realized. The positions between the dies in the punch are fixed (the distances between different dies are different), so that the moving positions of the shuttle hand are also fixed, the shuttle hand carries the sheet to the correct position, the proper X-axis transfer stroke, Y-axis clamping-opening stroke and Z-axis lifting stroke are set for the X-axis transfer mechanism 7, the Y-axis clamping mechanism 9 and the Z-axis lifting mechanism 8 respectively according to the shape and the size of the sheet and the die parameters, finally the motion beat is set according to the production requirement, the servo positions of the device are adjusted, the parameters can be memorized, and the parameters are called when the product is punched again.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a high-speed multistation hand device that shuttles back and forth of heavy press of cooperation, includes material loading side device (1), unloading side device (2), is used for connecting horizontal pole (3) of material loading side device (1) and unloading side device (2), its characterized in that, material loading side device (1) includes girder (6), sets up X axle transfer mechanism (7) in girder (6) bottom, sets up Z axle elevating system (8) in girder (6) both sides, sets up Y axle clamp mechanism (9), the external measuring mechanism (29) of Y axle on girder (6), Y is to anti-backlash mechanism (10).
2. The high-speed multi-station shuttle hand device matched with the heavy-duty press machine is characterized in that the X-axis transfer mechanism (7) comprises X-axis transfer arms (11) arranged at two ends of a cross rod (3) and connected with the cross rod (3), an X-axis limiting plate (12) is arranged at one end, away from the cross rod (3), of the X-axis transfer arms (11), a cross rod quick-change main disc (4) is arranged at one end, close to the cross rod (3), of the X-axis transfer arms (11), a plurality of X-axis transfer guide rails (13) are arranged at the upper part of the X-axis transfer arms (11), X-axis transfer racks (14) are arranged on the outer sides, located on the X-axis transfer guide rails (13), of the X-axis transfer guide rails (13), X-axis transfer sliders (15) are arranged on the X-axis transfer sliders (15), and an X-axis transfer base (16) is arranged, the X-axis transfer base (16) is provided with a main beam (6).
3. The high-speed multi-station shuttle hand device matched with the heavy-duty press machine is characterized in that an X-axis transfer speed reducer base plate (17) is arranged on the X-axis transfer base (16), an X-axis transfer speed reducer (18) is arranged on the X-axis transfer speed reducer base plate (17), an X-axis transfer servo motor (19) is arranged on the upper portion of the X-axis transfer speed reducer (18), and the output end of the X-axis transfer servo motor (19) is connected with the X-axis transfer speed reducer (18).
4. The high-speed multi-station shuttle device matched with the heavy-duty press machine is characterized in that an X-axis transfer gear (20) connected with the output end of an X-axis transfer reducer (18) is arranged at the bottom of the X-axis transfer base (16), the X-axis transfer gear (20) is meshed with an X-axis transfer rack (14), and X-axis transfer felt wheels (21) are arranged on two sides of the X-axis transfer gear (20).
5. The high-speed multi-station shuttle device matched with the heavy-duty press as claimed in claim 1, wherein the Y-axis clamping mechanism (9) comprises a Y-axis clamping guide rail (30) arranged at the bottom of the main beam (6), a Y-axis clamping slide block (31) is arranged on the Y-axis clamping guide rail (30), a Y-axis clamping bottom plate (32) is fixedly arranged at the bottom of the Y-axis clamping slide block (31), a Y-axis clamping reducer base (33) is arranged at the upper part of the Y-axis clamping bottom plate (32), a Y-axis clamping reducer base (34) is arranged on the Y-axis clamping reducer base (33), a Y-axis clamping reducer base (34) is arranged at the upper part of the Y-axis clamping reducer base (34), a Y-axis clamping reducer (35) is arranged at the upper part of the Y-axis clamping reducer (35), a Y-axis clamping servo motor (36) is arranged at the output end of the Y-axis clamping servo motor (36) is connected with the Y-axis clamping reducer (35), the output of Y axle clamping speed reducer (35) is provided with Y axle clamping gear (37), girder (6) bottom is located Y axle clamping guide rail (30) outside and is provided with Y axle clamping rack (38), Y axle clamping gear (37) with Y axle clamping rack (38) mesh mutually.
6. The high-speed multi-station shuttle hand device for the cooperation of a heavy-duty press according to claim 1, wherein the Z-axis lifting mechanism (8) comprises Z-axis lifting bases (22) arranged on two sides of the main beam (6), Z-axis lifting guide rails (24) are arranged on the Z-axis lifting bases (22), and Z-axis lifting racks (25) are arranged on the Z-axis lifting bases (22) and between the two Z-axis lifting guide rails (24).
7. The high-speed multi-station shuttle hand device matched with the heavy-duty press machine is characterized in that a Z-axis lifting slide block (26) is arranged on one side of the Z-axis lifting base (22) of the main beam (6), a Z-axis lifting servo motor (27) is arranged on the upper portion of the main beam (6), a Z-axis lifting speed reducer (28) is connected to the output end of the Z-axis lifting servo motor (27), and the output end of the Z-axis lifting speed reducer (28) is meshed with a Z-axis lifting rack (25) through a Z-axis lifting gear.
8. The high-speed multi-station shuttle hand device matched with the heavy-duty press machine is characterized in that a balance cylinder (23) is arranged on one side of a Z-axis lifting servo motor (27) on the main beam (6).
9. A high-speed multi-station shuttle device for matching with a heavy-duty press according to claim 1, wherein a cross bar quick-change tool tray (5) is arranged on the end of the cross bar (3) connected with the X-axis transfer arm (11).
10. A high-speed multi-station shuttle device for matching with a heavy-duty press according to claim 1, wherein the structure of the feeding side device (1) is the same as that of the discharging side device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010940843.5A CN112122482A (en) | 2020-09-09 | 2020-09-09 | High-speed multi-station shuttle hand device matched with heavy press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010940843.5A CN112122482A (en) | 2020-09-09 | 2020-09-09 | High-speed multi-station shuttle hand device matched with heavy press |
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| Publication Number | Publication Date |
|---|---|
| CN112122482A true CN112122482A (en) | 2020-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010940843.5A Pending CN112122482A (en) | 2020-09-09 | 2020-09-09 | High-speed multi-station shuttle hand device matched with heavy press |
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| Country | Link |
|---|---|
| CN (1) | CN112122482A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115945813A (en) * | 2022-10-14 | 2023-04-11 | 沈阳宝钢东北贸易有限公司 | Short material positioning and feeding tool mechanism for laser welding equipment |
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| US5174709A (en) * | 1991-03-06 | 1992-12-29 | Leland D. Blatt | Workpiece transfer device |
| CN102423785A (en) * | 2011-11-22 | 2012-04-25 | 奇瑞汽车股份有限公司 | Stamping automatic plate alignment table |
| CN106346467A (en) * | 2016-11-18 | 2017-01-25 | 山东爱而生智能科技有限公司 | W-axis rotating mechanism and manipulator capable of rotating around z-axis |
| CN206253543U (en) * | 2016-08-15 | 2017-06-16 | 苏州青林自动化设备有限公司 | A kind of three-D manipulator transporting apparatus |
| CN210498042U (en) * | 2019-09-05 | 2020-05-12 | 国泰达鸣精密机件（深圳）有限公司 | Automatic manipulator for automatically transferring products |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5174709A (en) * | 1991-03-06 | 1992-12-29 | Leland D. Blatt | Workpiece transfer device |
| CN102423785A (en) * | 2011-11-22 | 2012-04-25 | 奇瑞汽车股份有限公司 | Stamping automatic plate alignment table |
| CN206253543U (en) * | 2016-08-15 | 2017-06-16 | 苏州青林自动化设备有限公司 | A kind of three-D manipulator transporting apparatus |
| CN106346467A (en) * | 2016-11-18 | 2017-01-25 | 山东爱而生智能科技有限公司 | W-axis rotating mechanism and manipulator capable of rotating around z-axis |
| CN210498042U (en) * | 2019-09-05 | 2020-05-12 | 国泰达鸣精密机件（深圳）有限公司 | Automatic manipulator for automatically transferring products |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115945813A (en) * | 2022-10-14 | 2023-04-11 | 沈阳宝钢东北贸易有限公司 | Short material positioning and feeding tool mechanism for laser welding equipment |
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