CN116329407A - Workpiece carrying device between presses - Google Patents
Workpiece carrying device between presses Download PDFInfo
- Publication number
- CN116329407A CN116329407A CN202310224666.4A CN202310224666A CN116329407A CN 116329407 A CN116329407 A CN 116329407A CN 202310224666 A CN202310224666 A CN 202310224666A CN 116329407 A CN116329407 A CN 116329407A
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- bracket
- arm
- driving
- swing
- guide
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- 210000000245 forearm Anatomy 0.000 claims abstract description 3
- 230000009471 action Effects 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 description 13
- 239000000463 material Substances 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
-
- 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
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a workpiece carrying device between presses, which belongs to the technical field of transfer tools and comprises a mounting frame, wherein a guide bracket is connected to the mounting frame, and a first driving bracket and a second driving bracket which are connected with the mounting frame are respectively arranged on two sides of the guide bracket; the guide bracket, the first driving bracket and the second driving bracket are hinged with a swing big arm, and the swing big arm can slide along the guide bracket, the first driving bracket and the second driving bracket respectively; the swing big arm is connected with a swing small arm through a sliding device; the swing forearm is connected with a carrying cross bar through a cross bar adjusting device. Under the action that the swing large arm is connected with the first driving bracket, the second driving bracket and the guide bracket together, the carrying device realizes a parallel structure of the main body supporting parts, simplifies the supporting structure, and improves the rigidity of the whole machine and the stability and reliability of carrying; under the cooperation of main part supporting part, reduce the degree of difficulty that realizes making different gesture adjustment.
Description
Technical Field
The invention belongs to the technical field of transfer tools, and particularly relates to a workpiece carrying device between presses.
Background
In the production of automotive outer panels, there are a wide variety of molded workpiece handling devices. If a traditional manual stamping production line is adopted, the type of stamping production line is in the elimination stage at present because of the factors of large labor intensity, low efficiency, difficult safety guarantee and the like in the process of carrying molded workpieces among presses manually. If a six-axis robot or a linear seven-axis robot stamping production line of an industrial robot is configured, the type of stamping production line uses a mature industrial robot or adds an auxiliary shaft at the tail end of the robot to realize the transportation of molded parts among presses, and the factors of lack of homemade autonomous controllable industrial robot brands, obvious bottleneck of efficiency and the like exist.
Most of the current stamping production lines are medium-sized and small-sized stamping production lines; in order to improve the production beat of a large-scale stamping production line, manufacturers at home and abroad aim at developing and designing a novel carrying device.
However, to a certain extent, the handling devices of the type are all in serial structures, the rigidity of the whole machine is low, the handling devices are easily affected by factors such as vibration of a press machine in the production process, when the rigidity of the whole machine is increased, the complexity of the machine body structure and the transmission type selection of the driving structure face various challenges, so that the workpiece handling devices face various factors when the large-scale stamping production line runs at high speed, and become potential factors restricting the improvement of the production efficiency of the stamping production line.
Disclosure of Invention
The invention provides a workpiece carrying device between presses, which aims to solve the problems that in the prior art, the carrying device is of a serial structure, so that the rigidity of the whole machine is low, and the operation is unstable easily.
The invention is realized by the following technical scheme:
the workpiece carrying device between the presses comprises a mounting frame, wherein a guide bracket is connected to the mounting frame, and a first driving bracket and a second driving bracket which are connected with the mounting frame are respectively arranged on two sides of the guide bracket; the guide bracket, the first driving bracket and the second driving bracket are hinged with a swing big arm together, and the swing big arm can slide along the guide bracket, the first driving bracket and the second driving bracket respectively;
a sliding device is arranged at one end of the swing large arm, which is far away from the guide bracket; the sliding device is rotatably provided with a swing small arm;
the swing small arm is connected with a carrying cross rod through a cross rod adjusting device, and end pickers are uniformly distributed on the carrying cross rod.
Under the action of the first driving support, the second driving support and the guide support which are connected together by the swing large arm, the carrying device realizes a parallel structure of the main body supporting parts, simplifies the supporting structure, and improves the rigidity of the whole machine and the stability and reliability of carrying; under the cooperation of main part supporting part, reduce the degree of difficulty that realizes making different gesture adjustment.
In a further improvement of the invention, the two sides of the swing big arm are symmetrically provided with a first connecting rod arm and a second connecting rod arm which are inclined and respectively connected with the first driving bracket and the second driving bracket. The first connecting rod arm and the second connecting rod arm are matched, so that the swing big arm is driven to swing by the first driving support and the second driving support.
In a further improvement of the invention, the first driving support and the second driving support are arranged in oblique symmetry on two sides of the guiding support. This reduces the stress state of the first link arm and the second link arm.
In a further improvement of the present invention, the guide bracket, the first driving bracket and the second driving bracket are not disposed in the same plane. The three parts are matched with each other, so that the rigidity of the whole workpiece conveying device is improved.
In a further improvement of the invention, the swing big arm is symmetrically provided with big arm driving devices respectively connected with the first connecting rod arm and the second connecting rod arm at two sides. The swing big arm swings around the axial direction of the big arm driving device under the driving action of the big arm driving device.
The invention further improves that the guide bracket is provided with a left guide device and a right guide device; the left side guiding device is provided with a balance cylinder device in a sliding mode, and the right side guiding device is provided with a first hinging device connected with the swing big arm in a sliding mode. The balance cylinder device is adjusted in the left guide device, and can balance the weight of the swing large arm, so that the loads of the first driving bracket and the second driving bracket are reduced; the first hinge device realizes that the swing big arm rotates around the first hinge device and simultaneously slides up and down along the right guide device, so that the up-and-down lifting operation of the swing big arm is completed.
In addition, the first driving support and the second driving support are provided with support guiding devices; the two support guide devices are respectively provided with a second hinging device connected with the first connecting rod arm and the second connecting rod arm in a sliding way. The rotation of the two connecting rod arms is realized through the adjustment of the second hinging device in the bracket guiding device, and then the rotation angle of the swing big arm is adjusted.
The invention further improves that the swing big arm is provided with a big arm guiding device and a big arm synchronous belt. The large arm synchronous belt linkage sliding device slides on the swing large arm along the large arm guiding device to adjust the position.
The invention further improves that a Y-direction adjusting device capable of driving the height adjustment of the two ends of the carrying cross rod is connected between the swing small arm and the cross rod adjusting device. The Y-direction adjusting device can drive the angle adjustment of the cross rod in the Y direction, so that the Y-direction adjusting device has high adaptability to the condition that the left and right sides of the die are not equal in height; and the Y-direction adjusting device is arranged in the swing small arm, so that the structure is attractive.
From the technical scheme, the beneficial effects of the invention are as follows: under the action of the first driving support, the second driving support and the guide support which are connected together by the swing large arm, the carrying device realizes a parallel structure of the main body supporting parts, simplifies the supporting structure, and improves the rigidity of the whole machine and the stability and reliability of carrying; under the cooperation of main part supporting part, reduce the degree of difficulty that realizes making different gesture adjustment.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of a swing arm according to an embodiment of the present invention.
Fig. 3 is a schematic view of a swing arm according to an embodiment of the present invention.
Fig. 4 is a schematic view of a handling device according to an embodiment of the present invention.
Fig. 5 is a schematic view of a guide bracket according to an embodiment of the present invention.
Fig. 6 is a schematic view of a first driving bracket according to an embodiment of the present invention.
Fig. 7 is a whole line layout of a handling device according to an embodiment of the present invention.
In the accompanying drawings: 100. guide brackets, 110, left guide, 111, balancing cylinder, 120, right guide, 121, first hinge, 200, first drive bracket, 210, first link arm, 220, bracket guide, 230, second hinge, 300, second drive bracket, 310, second link arm, 400, swing boom, 410, boom drive, 420, boom guide, 430, boom timing belt, 440, slide, 500, swing boom, 600, Y-direction adjustment, 700, cross bar adjustment, 800, handling cross bar, 810, end effector, 900, sheet material conveyor, 910, transfer device.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the drawings in this specific embodiment, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, based on the embodiments in this patent, which would be within the purview of one of ordinary skill in the art without the particular effort to make the invention are intended to be within the scope of the patent protection.
As shown in fig. 1 to 7, a workpiece handling device between presses comprises a mounting frame, wherein a guide bracket 100 is connected to the mounting frame, and a first driving bracket 200 and a second driving bracket 300 connected with the mounting frame are respectively arranged on two sides of the guide bracket 100; the guide bracket 100, the first driving bracket 200 and the second driving bracket 300 are hinged with a swing big arm 400, and the swing big arm 400 can slide along the guide bracket 100, the first driving bracket 200 and the second driving bracket 300 respectively. The carrying device realizes the parallel structure of main body supporting parts under the action of the first driving bracket 200, the second driving bracket 300 and the guide bracket 100 which are commonly connected with the swing big arm 400, simplifies the supporting structure and improves the rigidity of the whole machine.
The first driving support 200 and the second driving support 300 are arranged in an inclined and symmetrical manner on two sides of the guiding support 100, and the first driving support 200 and the second driving support 300 are the same structural components, so that convenience in alternative use and subsequent accessory replacement is improved.
The guide bracket 100, the first driving bracket 200, and the second driving bracket 300 are not disposed in the same plane. The three parts are matched with each other, so that the rigidity of the whole workpiece conveying device is improved.
The swing arm 400 is symmetrically provided with a first link arm 210 and a second link arm 310 which are inclined and respectively connected with the first driving bracket 200 and the second driving bracket 300. The first link arm 210 and the second link arm 310 cooperate to realize that the swing big arm 400 is driven to swing by the first driving bracket 200 and the second driving bracket 300; meanwhile, under the cooperation of the first driving bracket 200 and the second driving bracket 300, the stress state of the first link arm 210 and the second link arm 310 can be reduced.
The swing arm 400 is symmetrically provided with arm driving devices 410 respectively connected with the first link arm 210 and the second link arm 310 on both sides. The swing big arm 400 swings around the axial direction of the big arm driving device 410 under the driving action of the big arm driving device 410.
The end of the swing big arm 400 far away from the guide bracket 100 is provided with a sliding device 440; the swing boom 400 is provided with a boom guide 420 and a boom timing belt 430. The boom timing belt 430 is coupled to the slider 440 to slide the swing boom 400 along the boom guide 420 to adjust the position.
The sliding device 440 is rotatably provided with a swing small arm 500; the swing forearm 500 is connected with a carrying cross bar 800 through a cross bar adjusting device 700, and end pickers 810 are uniformly distributed on the carrying cross bar 800.
A Y-direction adjusting device 600 capable of driving the height adjustment of the two ends of the carrying cross bar 800 is connected between the swing arm 500 and the cross bar adjusting device 700. The Y-direction adjusting device 600 can drive the angle adjustment of the cross bar in the Y direction, so that the adaptability to the unequal heights of the left and right of the die is very high; and the Y-direction adjusting means 600 is installed inside the swing arm 500, which is advantageous in terms of structural beauty.
The guide bracket 100 is provided with a left guide device 110 and a right guide device 120; the left guide device 110 is slidably provided with a balance cylinder device 111, and the right guide device 120 is slidably provided with a first hinge device 121 connected with the swing arm 400. The balance cylinder device 111 is adjusted in the left guide device 110, and can balance the weight of the swing arm 400, thereby reducing the load of the first driving bracket 200 and the second driving bracket 300; the first hinge device 121 performs the up-and-down operation of the swing arm 400 by sliding the first hinge device 121 up and down along the right guide 120 while the swing arm 400 rotates around it.
The first driving rack 200 and the second driving rack 300 are provided with rack guide devices 220; the two bracket guides 220 are slidably provided with second hinge means 230 connected to the first link arm 210 and the second link arm 310, respectively. The rotation of the two link arms is achieved by the adjustment of the second hinge means 230 in the bracket guide 220, thereby adjusting the angle of rotation of the swing arm 400. The difficulty of adjusting different postures is reduced.
The left guide 110, the right guide 120, the bracket guide 220, and the arm guide 420 are all linear guides. To achieve guidance of sliding therealong.
The driving structure in the scheme preferably adopts a synchronous belt transmission mode.
The track line of the rotation center of the handling crossbar 800 is shown, where RB1 is located at the material taking point, where the material taking point is located on the sheet material conveying device 900, RB2 is located in the action of taking material into the upper mold die, at this time, it can be considered that the crossbar adjusting device 700 may take a specific action for avoiding the interference risk of the lower mold die, RB3 is the movement of the workpiece handling device to the material discharging point, RBn is the movement of the workpiece handling device to the zero position, where this position is the reference position for the installation of the workpiece handling device, rbn+1 is the last workpiece handling device, and is an indication of placing the molded workpiece on the transfer device 910.
According to the workpiece carrying device between presses, the parallel structure of the main body supporting parts is realized under the action of the first driving support, the second driving support and the guide support which are connected together by the swing large arm, so that the supporting structure is simplified, and meanwhile, the rigidity of the whole machine and the stable reliability of carrying are improved; under the cooperation of main part supporting part, reduce the degree of difficulty that realizes making different gesture adjustment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments are only required to be referred to each other.
The terms "upper", "lower", "outside", "inside", and the like in the description and in the claims of the present invention and in the above drawings, if any, are used for distinguishing between relative relationships in position and not necessarily for giving qualitative sense. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The workpiece carrying device between the presses comprises a mounting frame and is characterized in that a guide bracket (100) is connected to the mounting frame, and a first driving bracket (200) and a second driving bracket (300) which are connected with the mounting frame are respectively arranged on two sides of the guide bracket (100); the guide bracket (100), the first driving bracket (200) and the second driving bracket (300) are hinged with a swing big arm (400) together, and the swing big arm (400) can slide along the guide bracket (100), the first driving bracket (200) and the second driving bracket (300) respectively; one end of the swing large arm (400) far away from the guide bracket (100) is provided with a sliding device (440); the sliding device (440) is rotatably provided with a swinging small arm (500); the swing forearm (500) is connected with a carrying cross rod (800) through a cross rod adjusting device (700), and end pickers (810) are uniformly distributed on the carrying cross rod (800).
2. The inter-press workpiece handling apparatus according to claim 1, wherein the swing arm (400) is symmetrically provided at both sides thereof with a first link arm (210) and a second link arm (310) which are inclined and connected to the first driving bracket (200) and the second driving bracket (300), respectively.
3. The inter-press workpiece handling device according to claim 2, wherein the first driving bracket (200) and the second driving bracket (300) are disposed in oblique symmetry on both sides of the guide bracket (100).
4. A device for handling workpieces between presses according to claim 2 or 3, characterized in that the guide bracket (100), the first drive bracket (200) and the second drive bracket (300) are not arranged in the same plane.
5. The inter-press workpiece handling apparatus according to claim 2, wherein the swing boom (400) is provided with boom driving means (410) symmetrically disposed on both sides thereof and connected to the first link arm (210) and the second link arm (310), respectively.
6. The inter-press workpiece handling device according to claim 5, wherein the guide bracket (100) is provided with a left guide (110) and a right guide (120); the left side guiding device (110) is provided with a balance cylinder device (111) in a sliding way, and the right side guiding device (120) is provided with a first hinging device (121) connected with the swing big arm (400) in a sliding way.
7. The inter-press workpiece handling apparatus according to claim 5, wherein the first driving rack (200) and the second driving rack (300) are each provided with a rack guide (220); the two bracket guiding devices (220) are respectively provided with a second hinging device (230) connected with the first connecting rod arm (210) and the second connecting rod arm (310) in a sliding way.
8. The inter-press workpiece handling apparatus as recited in claim 5, wherein the swing arm (400) is provided with an arm guide (420) and an arm timing belt (430).
9. The inter-press workpiece handling apparatus according to claim 5, wherein a Y-direction adjusting device (600) capable of driving the height adjustment of both ends of the handling cross bar (800) is connected between the swing arm (500) and the cross bar adjusting device (700).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310224666.4A CN116329407B (en) | 2023-03-10 | 2023-03-10 | Workpiece carrying device between presses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310224666.4A CN116329407B (en) | 2023-03-10 | 2023-03-10 | Workpiece carrying device between presses |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116329407A true CN116329407A (en) | 2023-06-27 |
| CN116329407B CN116329407B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310224666.4A Active CN116329407B (en) | 2023-03-10 | 2023-03-10 | Workpiece carrying device between presses |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0422143U (en) * | 1990-06-08 | 1992-02-24 | ||
| JP2004344899A (en) * | 2003-05-20 | 2004-12-09 | Ishikawajima Harima Heavy Ind Co Ltd | Panel carrier |
| JP2007111822A (en) * | 2005-10-20 | 2007-05-10 | Ishikawajima Harima Heavy Ind Co Ltd | Parallel linkage mechanism and workpiece transfer device |
| KR101812026B1 (en) * | 2017-06-05 | 2017-12-27 | 정연성 | 6-axis articulated robot |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN110430950A (en) * | 2017-04-26 | 2019-11-08 | 株式会社Ihi物流产业*** | Conveying device |
| CN110480626A (en) * | 2019-07-18 | 2019-11-22 | 济南大学 | A kind of double drive double leval jib shifting pendulum manipulator |
| CN110980262A (en) * | 2019-11-29 | 2020-04-10 | 济南大学 | Dual-drive liftable swing moving manipulator |
-
2023
- 2023-03-10 CN CN202310224666.4A patent/CN116329407B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0422143U (en) * | 1990-06-08 | 1992-02-24 | ||
| JP2004344899A (en) * | 2003-05-20 | 2004-12-09 | Ishikawajima Harima Heavy Ind Co Ltd | Panel carrier |
| JP2007111822A (en) * | 2005-10-20 | 2007-05-10 | Ishikawajima Harima Heavy Ind Co Ltd | Parallel linkage mechanism and workpiece transfer device |
| CN110430950A (en) * | 2017-04-26 | 2019-11-08 | 株式会社Ihi物流产业*** | Conveying device |
| KR101812026B1 (en) * | 2017-06-05 | 2017-12-27 | 정연성 | 6-axis articulated robot |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN110480626A (en) * | 2019-07-18 | 2019-11-22 | 济南大学 | A kind of double drive double leval jib shifting pendulum manipulator |
| CN110980262A (en) * | 2019-11-29 | 2020-04-10 | 济南大学 | Dual-drive liftable swing moving manipulator |
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|---|---|
| CN116329407B (en) | 2023-12-15 |
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