CN220406887U - In-mold single-rod three-dimensional multi-station precision transfer manipulator - Google Patents
In-mold single-rod three-dimensional multi-station precision transfer manipulator Download PDFInfo
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- CN220406887U CN220406887U CN202321271734.4U CN202321271734U CN220406887U CN 220406887 U CN220406887 U CN 220406887U CN 202321271734 U CN202321271734 U CN 202321271734U CN 220406887 U CN220406887 U CN 220406887U
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Abstract
The utility model discloses an in-mold single-rod three-dimensional multi-station precise transfer manipulator, which is characterized in that a machine body assembly is fixed on the front surface of an open type punching machine, a Z-direction sliding block is fixed on the machine body assembly, a Z-direction sliding rail is installed on the Z-direction sliding block in a sliding manner along the Z direction, an X-direction cross beam is fixed on the Z-direction sliding rail, an X-direction sliding plate is installed on the X-direction cross beam in a sliding manner along the X direction, a Y-direction sliding block is fixed on the X-direction sliding plate, a Y-direction sliding rail is installed on the Y-direction sliding block in a sliding manner along the Y direction, a clamping jaw positioning plate is fixed on the Y-direction sliding rail, a carrying clamping jaw is arranged on the clamping jaw positioning plate along the X direction, and a Z-direction driving device, an X-direction driving device, a Y-direction driving device and a clamping jaw driving device respectively drive the Z-direction sliding rail, the X-direction sliding plate and the carrying clamping jaw to act.
Description
Technical Field
The utility model relates to a manipulator, in particular to an in-mold single-rod three-dimensional multi-station precise transfer manipulator.
Background
When adopting to carry out multistation punching press processing in open punch press, need carry the work piece station by station, all adopt the mode of manual feeding to process at present, conventional three-dimensional manipulator receives structure and overall dimension to influence, can't be fit for carrying out multistation work piece transfer in this kind of open punch press, leads to open punch press multistation processing production efficiency to be difficult to improve, and consume the manual work, manufacturing cost is high.
Disclosure of Invention
In order to overcome the defects, the utility model provides the in-mold single-rod three-dimensional multi-station precise transfer manipulator which is small in occupied space, and the transfer clamping jaw can completely withdraw from the mold without being limited by the space such as the mold, a side opening of a punch and the like, so that the material taking and discharging are accurate, the transfer of multi-station workpieces in an open punch is realized, the production efficiency is greatly improved, and the production cost is reduced.
The technical scheme adopted by the utility model for solving the technical problems is as follows: an in-mold single-rod three-dimensional multi-station precision transfer manipulator is provided with three directions of an X direction, a Y direction and a Z direction which are mutually perpendicular, wherein the Z direction is a vertical direction and comprises a machine body component, a Z-direction sliding block, a Z-direction sliding rail, a Z-direction driving device, an X-direction cross beam, an X-direction sliding plate, an X-direction driving device, a Y-direction sliding block, a Y-direction sliding rail, a Y-direction driving device, a clamping jaw positioning plate, a carrying clamping jaw, a clamping jaw driving device and a control system, wherein the machine body component is fixedly arranged on the front surface of an X-direction feeding open type punching machine, two Z-direction sliding blocks are fixedly arranged on two ends of the machine body component along the X direction and respectively extend along the Z-axis direction, the two Z-direction sliding rails are respectively arranged on the two Z-direction sliding blocks in a reciprocating manner, the Z-direction driving device drives the two Z-direction sliding rails to synchronously lift through a synchronous transmission mechanism, the two ends of the X-direction cross beam are respectively and fixedly connected with a Z-direction slide rail, the X-direction slide plate can be arranged on the X-direction cross beam in a reciprocating and horizontal sliding way along the X direction, the X-direction driving device drives the X-direction slide plate to slide in a reciprocating way, the Y-direction slide block is fixedly arranged on the X-direction slide plate, the Y-direction slide rail can be arranged on the Y-direction slide block in a reciprocating and horizontal sliding way along the Y direction, the Y-direction driving device drives the Y-direction slide rail to slide in a horizontal reciprocating way along the Y direction, the clamping jaw positioning plates extending along the X direction are fixedly arranged on the Y-direction slide rail, a plurality of carrying clamping jaws are uniformly arranged on the clamping jaw positioning plates at intervals along the X direction, the clamping jaw driving device drives the carrying clamping jaws to open and close to realize the clamping and the loosening of a workpiece to be punched, a control system is in electric connection communication with an open punch controller, and the control system controls the Z-direction driving device and the X-direction driving device, the Y-direction driving device and the clamping jaw driving device start and stop actions.
As a further improvement of the utility model, the Z-direction driving device comprises a first servo motor, a first speed reducer, worm gears, worms, first gears and first racks, wherein at least two worm gears can be respectively rotated to be arranged at two ends of the machine body assembly along the X direction, at least two first gears are respectively and fixedly connected with the worm gears in a one-to-one correspondence manner, the first racks are fixedly arranged on the Z-direction sliding rail, the first racks are in meshed transmission with the first gears, at least two worms are respectively and one-to-one meshed transmission with the worm gears, the worm gears are coaxially connected and synchronously rotated, the first servo motor and the first speed reducer are fixedly arranged at one end of the machine body assembly, the first servo motor drives one worm to rotate through the first speed reducer and the synchronous wheel and the synchronous belt mechanism, and the control system controls the start and stop, the rotating speed and the steering of the servo motor.
As a further improvement of the utility model, the Z-direction driving device also comprises a transmission rod and a coupler, and two adjacent worms are coaxially connected with the transmission rod through the coupler or the coupler for transmission.
As a further improvement of the utility model, a fixed supporting seat is also fixedly arranged on the machine body assembly, a movable supporting seat is arranged on the fixed supporting seat and can be adjusted in height along the Z direction, the movable supporting seat and the fixed supporting seat can be fixedly positioned through a connecting piece, and a bearing is arranged on the movable supporting seat and is used for inserting a transmission rod which is coaxially connected with two adjacent worms into the bearing in a rotatable manner.
As a further improvement of the utility model, the two ends of the machine body component along the X direction are respectively provided with a balance cylinder, the cylinder body of the balance cylinder is fixedly arranged on the machine body component, the piston rods of the balance cylinder slide along the Z direction in a telescopic manner, and the piston rods of the balance cylinder are fixedly connected with the Z-direction sliding rails in a one-to-one correspondence manner.
As a further improvement of the utility model, a plurality of X-direction sliding rails are arranged on the X-direction cross beam at intervals and can slide, the X-direction sliding plates are fixedly arranged on each X-direction sliding rail, the X-direction driving device comprises a second servo motor, a second speed reducer, a second gear and a second rack, the second rack is fixedly arranged on the X-direction sliding plates, the second rack extends along the X direction, the second gear is rotatably arranged on the X-direction cross beam, the second gear and the second rack are in meshed transmission, the second servo motor and the second speed reducer are respectively fixedly arranged on the X-direction cross beam, the second servo motor drives the second gear to rotate through the second speed reducer, and the control system controls the start and stop, the rotating speed and the steering of the second servo motor.
As a further improvement of the utility model, the two ends of the X-direction sliding plate along the X-direction are respectively provided with an end pickup assembly, the end pickup comprises a fixed pickup seat, a Z-direction adjusting pickup seat, a Y-direction adjusting pickup seat, a pickup clamping jaw and a pickup driving device, the fixed pickup seat is fixedly arranged on the X-direction sliding plate, the Z-direction adjusting pickup seat can be arranged on the fixed pickup seat in a Z-direction manner, the Y-direction adjusting pickup seat can be arranged on the Z-direction pickup seat in a Y-direction manner to adjust the horizontal position, the pickup clamping jaw is arranged on the Y-direction adjusting pickup seat, the pickup driving device drives the pickup clamping jaw to open and close so as to realize the grasping and loosening of a workpiece to be punched and a workpiece to be punched, the Z-direction adjusting pickup seat can be fixedly positioned through a connecting piece on the fixed pickup seat, and the Y-direction pickup seat can be fixedly positioned through the connecting piece on the Z-direction pickup seat.
As a further improvement of the utility model, the Y-direction driving device comprises a third servo motor and an electric cylinder, two Y-direction sliding blocks which linearly extend along the Y direction are respectively and fixedly arranged at two ends of the X-direction sliding plate in the length direction, the electric cylinder and the third servo motor are fixedly arranged in the middle of the X-direction sliding plate, the movable end of the third servo motor drives the movable end of the electric cylinder to move in a telescopic manner along the Y direction, the movable end of the electric cylinder is fixedly connected with the clamping jaw positioning plate, the Y-direction sliding rails on the two Y-direction sliding blocks are respectively and fixedly connected with two ends of the clamping jaw positioning plate, and the control system controls the start and stop, the rotating speed and the steering of the third servo motor.
As a further improvement of the utility model, the machine body assembly comprises a left base, a right base, a left height adjusting plate, a right height adjusting plate, a left adjusting column and a right adjusting column, wherein a plurality of elongated mounting holes extending along the Y direction are respectively arranged on the vertical surfaces of the left base and the right base, the left base and the right base are fixedly arranged on two side walls of the open type punching machine along the feeding direction through connecting screws inserted into the elongated mounting holes, at least four left adjusting columns are fixedly arranged on the lower side of the left height adjusting plate, at least four right adjusting columns are fixedly arranged on the lower side of the right height adjusting plate, at least four connecting perforations are correspondingly arranged on the horizontal surfaces of the left base and the right base, the left adjusting column and the right adjusting column are respectively correspondingly penetrated in the connecting perforations of the left base and the right base, external thread structures are arranged on the outer sides of the left adjusting column and the right adjusting column, an upper nut and a lower nut are respectively movably connected on the left adjusting column and the right adjusting column, and the horizontal surfaces of the left base and the right base are tightly clamped between the upper nut and the lower nut.
As a further improvement of the utility model, a first sensing device and a second sensing device are arranged on the X-direction cross beam at intervals along the X direction, a trigger rod is fixedly arranged on the X-direction sliding plate and is positioned between the first sensing device and the second sensing device, the trigger rod can alternately trigger the first sensing device and the second sensing device by sliding back and forth along the X direction, and the first sensing device and the second sensing device are respectively in telecommunication connection with a control system to determine the reciprocating motion state of the clamping jaw between two adjacent stations.
The beneficial bobbin stock stop of the utility model has the following effects: according to the utility model, the machine body component is fixedly arranged on the side wall of the open type punching machine, the X-direction sliding plate slides left and right to realize the reciprocating motion of each carrying clamping jaw between two adjacent stations, the Z-direction sliding rail is matched for sliding back and forth, the rapid carrying of workpieces at the adjacent stations is realized, after carrying is completed, the carrying clamping jaws synchronously exit the die under the drive of the Y-direction sliding rail, the die closing punching is not influenced, the structure is simple, the occupied space is small, the carrying clamping jaws can completely exit the die and are not limited by the space such as side openings of the punching machine, the Z-direction sliding rail synchronously lifts and moves on two sides of the punching machine to support the two ends of the X-direction cross beam, the X-direction cross beam is ensured to be always kept horizontal, each carrying clamping jaw is arranged on the clamping jaw positioning plate and guided by the two Y-direction guide rails, the Y-direction multi-station material taking and placing accuracy is ensured.
Drawings
FIG. 1 is a first perspective view of the present utility model;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a second perspective view of the present utility model;
FIG. 4 is a front view of the present utility model;
FIG. 5 is a top view of the present utility model;
FIG. 6 is a left side view of the present utility model;
FIG. 7 is a rear view of the present utility model;
FIG. 8 is a perspective view of the Z-direction lifting principle of the utility model;
FIG. 9 is an enlarged view of portion B of FIG. 8;
FIG. 10 is a perspective view of the principle of X-direction motion of the present utility model;
fig. 11 is a perspective view of the principle of Y-direction motion of the present utility model.
Detailed Description
Examples: an in-mold single-rod three-dimensional multi-station precision transfer manipulator is provided with three directions of an X direction, a Y direction and a Z direction which are mutually perpendicular, wherein the Z direction is a vertical direction, the manipulator comprises a machine body component 1, a Z-direction sliding block 2, a Z-direction sliding rail 3, a Z-direction driving device 4, an X-direction cross beam 5, an X-direction sliding plate 6, an X-direction driving device 7, a Y-direction sliding block 8, a Y-direction sliding rail 9, a Y-direction driving device 10, a clamping jaw positioning plate 11, a carrying clamping jaw 12, a clamping jaw driving device 13 and a control system, the machine body component 1 is fixedly arranged on the front surface of an X-direction feeding open punch press, two Z-direction sliding blocks 2 are fixedly arranged on two ends of the machine body component 1 along the X direction, the two Z-direction sliding rails 3 are respectively arranged on the two Z-direction sliding blocks 2 in a reciprocating manner, the Z-direction driving device 4 drives the two Z-direction sliding rails 3 to synchronously move up and down through a synchronous transmission mechanism, the two ends of the X-direction cross beam 5 are respectively and fixedly connected with a Z-direction slide rail 3, an X-direction slide plate 6 can be arranged on the X-direction cross beam 5 in a reciprocating and horizontal sliding way along the X direction, an X-direction driving device 7 drives the X-direction slide plate 6 to slide in a reciprocating way, a Y-direction slide block 8 is fixedly arranged on the X-direction slide plate 6, a Y-direction slide rail 9 can be arranged on the Y-direction slide block 8 in a reciprocating and horizontal sliding way along the Y direction, a Y-direction driving device 10 drives the Y-direction slide rail 9 to slide in a horizontal reciprocating way along the Y direction, a clamping jaw positioning plate 11 extending along the X direction is fixedly arranged on the Y-direction slide rail 9, a plurality of carrying clamping jaws 12 are uniformly arranged on the clamping jaw positioning plate 11 at intervals along the X direction, a clamping jaw driving device 13 drives the carrying clamping jaw 12 to open and close to clamp and loosen a workpiece to be punched, a control system is in electric connection with an open punch controller, the control system controls the start and stop actions of the Z-direction driving device 4, the X-direction driving device 7, the Y-direction driving device 10 and the clamping jaw driving device 13.
During the use, with fuselage subassembly 1 fixed mounting on the open punch press lateral wall, X is to crossbeam 5 along open punch press feeding direction extension, carry clamping jaw 12 under Z to elevating movement, Y to feed motion and X to reciprocating transport motion drive, will wait to punch the product from open punch press outside to open punch press inside, and carry the inside preceding station of open punch press to the station one by one station, until the work piece carries out open punch press after each station processing in open punch press is accomplished, this manipulator has realized that the work piece carries out the multistation in the open punch press one by one and has transferred, avoided artifical pay-off, also avoided adopting a plurality of manipulators to accomplish, and this manipulator simple structure, occupation space is little, carry clamping jaw 12 and withdraw from the mould under Y to slide rail 9 drive after the transport is accomplished, do not influence the compound die stamping, also not receive space restriction such as punch press side opening, open punch press multistation punching process efficiency has been improved greatly.
The Z-direction driving device 4 comprises a first servo motor 41, a first speed reducer 42, worm gears 43, worms 44, first gears 45 and first racks 46, at least two worm gears 43 are respectively arranged at two ends of the machine body assembly 1 along the X direction, at least two first gears 45 are respectively and fixedly connected with the worm gears 43 in a one-to-one correspondence coaxial mode, the first racks 46 are fixedly arranged on the Z-direction sliding rail 3, the first racks 46 are in meshed transmission with the first gears 45, at least two worms 44 are respectively in meshed transmission with the worm gears 43 in a one-to-one correspondence mode, the worm gears 44 are coaxially connected and synchronously rotate, the first servo motor 41 and the first speed reducer 42 are fixedly arranged at one end of the machine body assembly 1, the first servo motor 41 drives one worm 44 to rotate through the first speed reducer 42 and a synchronous wheel and synchronous belt mechanism, and the control system controls starting and stopping of the servo motor, rotating speed and steering.
The first servo motor 41 transmits rotation power to the first gear 45 through the worm gear 43 worm 44 mechanism, and then drives the first rack 46 to move up and down, the transmission mode can achieve large torque transmission, the lifting transmission is achieved through the gear rack meshing mode, the lifting is highly accurate, worm gear 43 worm 44 and gear rack transmission structures are arranged on two sides of the open punch press, the first servo motor 41 drives the two ends of the X-direction cross beam 5 to synchronously support and lift, in order to improve transmission efficiency and increase supporting strength, multiple groups of worm gear 43 worm 44 and gear rack transmission mechanisms are respectively arranged on two sides of the open punch press, multiple lifting supports are achieved, and particularly the Z-direction lifting driving device is located at the tail end of the X-direction cross beam 5 and is prevented from being completely deformed, in addition, the Z-direction lifting driving device can also drive a screw nut mechanism to achieve or achieve through synchronous lifting of a cylinder, and the like is an equivalent replacement structure which can be achieved by a person skilled in the art according to the application without creative labor.
The Z-direction driving device 4 further comprises a transmission rod 47 and a coupling 48, and two adjacent worms 44 are coaxially connected with the transmission rod 47 through the coupling 48 or through the coupling 48 for transmission. The worm 44 positioned at the two sides of the open punch press synchronously rotates through the transmission rod 47 and the coupler 48, so that the Z-direction sliding rails 3 at the two sides of the open punch press synchronously slide.
The machine body assembly 1 is also fixedly provided with a fixed supporting seat 471, the fixed supporting seat 471 is provided with a movable supporting seat 472 which can be adjusted in height along the Z direction, the movable supporting seat 472 and the fixed supporting seat 471 can be fixedly positioned through a connecting piece, and the movable supporting seat 472 is provided with a bearing 473 for inserting the transmission rod 47 which is coaxially connected with the two adjacent worms 44 into the bearing 473 in a rotatable manner. The middle of the transmission rod 47 is supported and positioned through the fixed supporting seat 471 and the movable supporting seat 472, so that the transmission rod 47 is prevented from bending deformation, and the transmission accuracy is ensured.
The machine body assembly 1 is further provided with balance air cylinders 49 along the two ends of the X direction respectively, the cylinder bodies of the balance air cylinders 49 are fixedly arranged on the machine body assembly 1, the piston rods of the balance air cylinders 49 slide in a telescopic manner along the Z direction, and the piston rods of the balance air cylinders 49 are fixedly connected with the Z-direction sliding rails 3 in a one-to-one correspondence manner. The balancing cylinder 49 is used to balance the weight of the machine, reducing the power and power consumption required by the first servomotor 41.
The X-direction sliding rails are arranged on the X-direction cross beam 5 at intervals in a sliding manner, the X-direction sliding plates 6 are fixedly arranged on the X-direction sliding rails, the X-direction driving device 7 comprises a second servo motor 71, a second speed reducer 72, a second gear 73 and a second rack 74, the second rack 74 is fixedly arranged on the X-direction sliding plates 6, the second rack 74 extends along the X-direction, the second gear 73 is rotatably arranged on the X-direction cross beam 5, the second gear 73 is in meshed transmission with the second rack 74, the second servo motor 71 and the second speed reducer 72 are fixedly arranged on the X-direction cross beam 5 respectively, the second servo motor 71 drives the second gear 73 to rotate through the second speed reducer 72, and the control system controls the start and stop, the rotating speed and the steering of the second servo motor 71. The second servo motor 71 drives the second gear 73 to rotate, and meanwhile, the second rack 74 drives the X-direction slide rail to horizontally slide, so that the sliding distance is accurate, and the workpiece is accurately transferred at two adjacent stations.
The two ends of the X-direction sliding plate 6 along the X-direction are respectively provided with an end pickup assembly 75, the end pickup comprises a fixed pickup seat 751, a Z-direction adjusting pickup seat 752, a Y-direction adjusting pickup seat 753, a pickup clamping jaw 754 and a pickup driving device 755, the fixed pickup seat 751 is fixedly arranged on the X-direction sliding plate 6, the Z-direction adjusting pickup seat 752 can be arranged on the fixed pickup seat 751 in a Z-direction, the Y-direction adjusting pickup seat 753 can be arranged on the Z-direction pickup seat in a Y-direction adjusting manner, the pickup clamping jaw 754 is arranged on the Y-direction adjusting pickup seat 753, the pickup driving device 755 drives the pickup clamping jaw 754 to open and close so as to grasp and loosen a workpiece to be punched and a punched workpiece, and the Z-direction adjusting pickup seat 752 can be fixedly positioned on the fixed pickup seat 751 through a connecting piece. The end pick-up assembly 75 can convey the workpiece sent by the feeder to the position correction module positioned outside the feeding end of the open punch press to correct the position of the workpiece, then the workpiece is conveyed to the inside of the open punch press to be transferred by the conveying clamping jaw 12, and after the processed workpiece is conveyed to the outside of the open punch press by the conveying clamping jaw 12, the workpiece is conveyed to the workpiece receiving and conveying mechanism by the end pick-up assembly 75 to be automatically received, so that the full-automatic feeding and discharging of the workpiece are realized.
The Y-direction driving device 10 comprises a third servo motor 101 and an electric cylinder 102, two Y-direction sliding blocks 8 which linearly extend along the Y direction can be respectively and fixedly arranged at two ends of the length direction of the X-direction sliding plate 6 along the X-direction adjusting position, the electric cylinder 102 and the third servo motor 101 are fixedly arranged in the middle of the X-direction sliding plate 6, the third servo motor 101 drives the movable end of the electric cylinder 102 to move in a telescopic manner along the Y direction, the movable end of the electric cylinder 102 is fixedly connected with a clamping jaw positioning plate 11, Y-direction sliding rails 9 on the two Y-direction sliding blocks 8 are respectively and fixedly connected with two ends of the clamping jaw positioning plate 11, and the control system controls the starting and stopping of the third servo motor 101, the rotating speed and the steering.
Through the structure, the clamping jaw positioning plate 11 can horizontally translate back and forth, so that all the carrying clamping jaws 12 on the clamping jaw positioning plate 11 synchronously enter and exit the open punch press, and the carrying clamping jaws 12 are prevented from being impacted and damaged when the die is closed and not completely exits the open punch press.
The machine body assembly 1 comprises a left base, a right base, a left height adjusting plate, a right height adjusting plate, a left adjusting column and a right adjusting column, wherein a plurality of elongated mounting holes 14 extending along the Y direction are respectively arranged on vertical surfaces of the left base and the right base, the left base and the right base are fixedly arranged on two side walls of the open type punching machine along the feeding direction through connecting screws inserted in the elongated mounting holes 14, at least four left adjusting columns are fixedly arranged on the lower side of the left height adjusting plate, at least four right adjusting columns are fixedly arranged on the lower side of the right height adjusting plate, at least four connecting holes are correspondingly arranged on horizontal surfaces of the left base and the right base, the left adjusting column and the right adjusting column are respectively correspondingly penetrated in the connecting holes of the left base and the right base, external thread structures are arranged on the outer sides of the left adjusting column and the right adjusting column, an upper nut 15 and a lower nut are respectively movably screwed on the left adjusting column and the right adjusting column, and the horizontal surfaces of the left base are tightly clamped between the upper nut 15 and the lower nut. This fuselage subassembly 1 can install on the lateral wall of open punch press pay-off direction both sides, supports X to crossbeam 5 both ends, prevents that X to crossbeam 5 from receiving the gravity effect mode deformation, influences the transfer precision, and fuselage subassembly 1 can carry out position adjustment in open punch press both sides, has guaranteed X to crossbeam 5 position precision, and then has guaranteed the transport position precision of carrying clamping jaw 12, ensures that the work piece is accurate to transfer in open punch press.
The X-direction beam 5 is provided with a first sensing device 51 and a second sensing device 52 at intervals along the X direction, a trigger rod 61 is fixedly arranged on the X-direction sliding plate, the trigger rod 61 is positioned between the first sensing device 51 and the second sensing device 52, the trigger rod 61 can alternately trigger the first sensing device 51 and the second sensing device 52 by sliding back and forth along the X direction, and the first sensing device 51 and the second sensing device 52 are respectively in telecommunication connection with a control system to communicate so as to determine the reciprocating motion state of the clamping jaw between two adjacent stations. The mechanism can limit the reciprocating movement position of the carrying clamping jaw 12, prevent errors of the reciprocating movement position and ensure accurate carrying of workpieces between two stations.
Claims (10)
1. An in-mold single-rod three-dimensional multi-station precise transfer manipulator is provided with three directions of an X direction, a Y direction and a Z direction which are mutually perpendicular, wherein the Z direction is a vertical direction and comprises a machine body component (1), a Z-direction sliding block (2), a Z-direction sliding rail (3), a Z-direction driving device (4), an X-direction cross beam (5), an X-direction sliding plate (6), an X-direction driving device (7), a Y-direction sliding block (8), a Y-direction sliding rail (9), a Y-direction driving device (10), a clamping jaw positioning plate (11), a carrying clamping jaw (12), a clamping jaw driving device (13) and a control system, the machine body component is fixedly arranged on the front surface of an X-direction feeding open punch press, two Z-direction sliding blocks are fixedly arranged on two ends of the machine body component along the X direction respectively, the two Z-direction sliding rails can be respectively arranged on the two Z-direction sliding blocks in a reciprocating sliding manner along the Z direction, the Z-direction driving device drives the two Z-direction sliding rails to synchronously lift and move through the synchronous transmission mechanism, the two ends of the X-direction cross beam are respectively fixedly connected with one Z-direction sliding rail, the X-direction sliding plate can be arranged on the X-direction cross beam in a reciprocating and horizontal sliding manner along the X direction, the X-direction driving device drives the X-direction sliding plate to reciprocate and slide, the Y-direction sliding rail can be arranged on the Y-direction sliding block in a reciprocating and horizontal sliding manner along the Y direction, the Y-direction driving device drives the Y-direction sliding rail to horizontally reciprocate along the Y direction, the clamping jaw positioning plates extending along the X direction are fixedly arranged on the Y-direction sliding rail, a plurality of carrying clamping jaws are uniformly arranged on the clamping jaw positioning plates at intervals along the X direction, the clamping jaw driving device drives the carrying clamping jaw to open and close so as to tighten and loosen a workpiece to be punched, the control system is in electric connection communication with the open punch controller, and the control system controls the Z-direction driving device, the X-direction driving device, the Y-direction driving device and the clamping jaw driving device to start and stop.
2. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: the Z-direction driving device comprises a first servo motor (41), a first speed reducer (42), worm gears (43), worms (44), first gears (45) and first racks (46), wherein at least two worm gears can rotate respectively and are installed on two ends of a machine body assembly along the X direction, at least two first gears are fixedly connected with the worm gears in a one-to-one correspondence mode respectively, the first racks are fixedly installed on the Z-direction sliding rail, the first racks are in meshed transmission with the first gears, at least two worms are in meshed transmission with the worm gears in a one-to-one correspondence mode respectively, the worm gears are connected coaxially and synchronously rotate, the first servo motor and the first speed reducer are fixedly installed on one end of the machine body assembly, the first servo motor drives one worm to rotate through the first speed reducer and the synchronous pulley and the synchronous belt mechanism, and the control system controls starting and stopping of the servo motor, rotating speed and steering.
3. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 2, wherein: the Z-direction driving device further comprises a transmission rod (47) and a coupler (48), and two adjacent worms are coaxially connected with the transmission rod through the coupler or the coupler for transmission.
4. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 3, wherein: the machine body assembly is further fixedly provided with a fixed supporting seat (471), the fixed supporting seat can be provided with a movable supporting seat (472) capable of being adjusted in height along the Z direction, the movable supporting seat and the fixed supporting seat can be fixedly positioned through a connecting piece, and the movable supporting seat is provided with a bearing (473) for inserting a transmission rod which is coaxially connected with two adjacent worms into the bearing.
5. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: balance cylinder (49) are still installed respectively along X direction both ends to the fuselage subassembly, the cylinder body fixed mounting of balance cylinder is on the fuselage subassembly, and the piston rod of balance cylinder is along Z to flexible slip, and the piston rod of balance cylinder and Z fixed connection who corresponds one by one to the slide rail.
6. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: the X-direction transverse beam is characterized in that a plurality of X-direction sliding rails are arranged on the X-direction transverse beam at intervals in a sliding manner, the X-direction sliding plates are fixedly mounted on the X-direction sliding rails, the X-direction driving device comprises a second servo motor (71), a second speed reducer (72), a second gear (73) and a second rack (74), the second rack is fixedly mounted on the X-direction sliding plates, the second rack extends along the X direction, the second gear is rotatably mounted on the X-direction transverse beam, the second gear and the second rack are in meshed transmission, the second servo motor and the second speed reducer are fixedly mounted on the X-direction transverse beam respectively, the second servo motor drives the second gear to rotate through the second speed reducer, and a control system controls the start and stop, the rotating speed and the steering of the second servo motor.
7. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1 or 6, wherein: the X-direction sliding plate is further provided with end pickup assemblies (75) respectively at two ends along the X direction, each end pickup comprises a fixed pickup seat (751), a Z-direction adjusting pickup seat (752), a Y-direction adjusting pickup seat (753), a pickup clamping jaw (754) and a pickup driving device (755), each fixed pickup seat is fixedly arranged on the X-direction sliding plate, each Z-direction adjusting pickup seat can be arranged on the corresponding fixed pickup seat in a Z-direction mode, each Y-direction adjusting pickup seat can be arranged on the corresponding Z-direction pickup seat in a Y-direction mode, each pickup clamping jaw is arranged on the corresponding Y-direction adjusting pickup seat, the pickup driving device drives the pickup clamping jaw to open and close so as to realize the gripping and loosening of a workpiece to be punched and the workpiece to be punched, each Z-direction adjusting pickup seat can be fixedly positioned on the corresponding fixed pickup seat through a connecting piece, and each Y-direction pickup seat can be fixedly positioned on the corresponding Z-direction pickup seat through a connecting piece.
8. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: the Y-direction driving device comprises a third servo motor (101) and an electric cylinder (102), wherein two Y-direction sliding blocks linearly extend along the Y direction and can be respectively and fixedly arranged at two ends of the length direction of the X-direction sliding plate along the X-direction adjusting position, the electric cylinder and the third servo motor are fixedly arranged in the middle of the X-direction sliding plate, the movable end of the third servo motor drives the movable end of the electric cylinder to move in a telescopic manner along the Y direction, the movable end of the electric cylinder is fixedly connected with the clamping jaw positioning plate, the Y-direction sliding rails on the two Y-direction sliding blocks are respectively and fixedly connected with the two ends of the clamping jaw positioning plate, and the control system controls the start and stop, the rotating speed and the steering of the third servo motor.
9. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: the machine body assembly comprises a left base, a right base, a left height adjusting plate, a right height adjusting plate, a left adjusting column and a right adjusting column, wherein a plurality of elongated mounting holes (14) extending along the Y direction are respectively formed in vertical surfaces of the left base and the right base, the left base and the right base are fixedly mounted on two side walls of the open type punching machine along the feeding direction through connecting screws inserted in the elongated mounting holes, at least four left adjusting columns are fixedly mounted on the lower side of the left height adjusting plate, at least four right adjusting columns are fixedly mounted on the lower side of the right height adjusting plate, at least four connecting holes are correspondingly formed in horizontal surfaces of the left base and the right base, the left adjusting column and the right adjusting column are respectively correspondingly arranged in the connecting holes of the left base and the right base in a penetrating mode, an external thread structure is arranged on the outer sides of the left adjusting column and the right adjusting column, an upper nut (15) and a lower nut are respectively movably connected on the left adjusting column and the right adjusting column in a threaded mode, and the horizontal surfaces of the left base and the right base are tightly clamped between the upper nut and the lower nut.
10. The in-mold single-rod three-dimensional multi-station precision transfer manipulator according to claim 1, wherein: the X-direction transverse beam is provided with a first sensing device (51) and a second sensing device (52) at intervals along the X direction, a trigger rod (61) is fixedly arranged on the X-direction sliding plate and positioned between the first sensing device and the second sensing device, the trigger rod can alternately trigger the first sensing device and the second sensing device by sliding back and forth along the X direction, and the first sensing device and the second sensing device are respectively communicated with a control system in a telecommunication way to determine the reciprocating motion state of the clamping jaw between two adjacent stations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321271734.4U CN220406887U (en) | 2023-05-24 | 2023-05-24 | In-mold single-rod three-dimensional multi-station precision transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321271734.4U CN220406887U (en) | 2023-05-24 | 2023-05-24 | In-mold single-rod three-dimensional multi-station precision transfer manipulator |
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| Publication Number | Publication Date |
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| CN220406887U true CN220406887U (en) | 2024-01-30 |
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|---|---|---|---|
| CN202321271734.4U Active CN220406887U (en) | 2023-05-24 | 2023-05-24 | In-mold single-rod three-dimensional multi-station precision transfer manipulator |
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| Country | Link |
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| CN (1) | CN220406887U (en) |
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- 2023-05-24 CN CN202321271734.4U patent/CN220406887U/en active Active
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