TWM611880U

TWM611880U - In-mold robot transfer device of progressive stamping die

Info

Publication number: TWM611880U
Application number: TW110200701U
Authority: TW
Inventors: 陳金生
Original assignee: 州巧科技股份有限公司
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-05-11

Abstract

一種沖壓連續模模內機械手移載裝置，包括活動座、滑軌、連結機構、滑動部、連桿機械手、傳動桿、檢知及檢知位等。當沖壓連續模開模時，傳動桿推動活動座帶動連桿機械手的機械手臂向第一方向移動抓取物件，並在開模的過程中，由PLC給予馬達訊號帶動機械手臂向第二方向移動，並做移載的動作，未完成所有連續模工序的物件則移載至下一工序，已完成全部連續模工序的物件則移載至連續模外。當沖壓連續模合模時，傳動桿推動活動座帶動機械手臂向第三方向移動，未完成所有連續模工序的物件則放開至下一工序，已完成全部連續模工序的物件則落入流水線中，並在合模的過程中，由PLC給予馬達訊號帶動機械手臂向第四方向移動。利用上述動作，達到開模後將物件移至下一工序、閉模後機械手臂往模外迴避並回到原點復位。由此，可消除使用額外材料作為原先沖壓連續模生產時，傳遞模內物件的材料浪費。A transfer device of a manipulator in a stamping continuous die mold includes a movable seat, a sliding rail, a connecting mechanism, a sliding part, a connecting rod manipulator, a transmission rod, a detection and a detection position, and the like. When the continuous stamping mold is opened, the transmission rod pushes the movable seat to drive the robot arm of the link manipulator to move to the first direction to grab the object, and during the mold opening process, the PLC gives the motor signal to drive the robot arm to the second direction Move and perform the transfer action. The objects that have not completed all the continuous mold processes are transferred to the next process, and the objects that have completed all the continuous mold processes are transferred to the outside of the continuous mold. When the continuous stamping die is closed, the transmission rod pushes the movable seat to drive the robotic arm to move to the third direction. The objects that have not completed all the continuous mold processes are released to the next process, and the objects that have completed all the continuous mold processes fall into the assembly line. During the mold clamping process, the PLC gives the motor signal to drive the robot arm to move in the fourth direction. Using the above actions, the object is moved to the next process after the mold is opened. After the mold is closed, the mechanical arm avoids the mold and returns to the original point to reset. As a result, it is possible to eliminate the material waste of transferring objects in the mold when additional materials are used as the original stamping continuous mold production.

Description

沖壓連續模模內機械手移載裝置In-mold manipulator transfer device for stamping continuous die

本創作涉及一種沖壓連續模模內機械手移載裝置，特別是涉及一種設置於沖壓連續模，能用以移載沖壓連續模內的物件的移載裝置。This creation relates to a manipulator transfer device in a continuous stamping die, in particular to a transfer device which is arranged in the continuous stamping die and can be used to transfer objects in the continuous stamping die.

現有的沖壓連續模在生產時，於各工序移載物件時，必須透過額外的材料做為媒介，難免造成材料的浪費，使成本增高。During the production of the existing continuous stamping die, additional materials must be used as a medium when objects are transferred in each process, which inevitably causes waste of materials and increases costs.

本創作所要解決的技術問題在於，針對現有技術的不足提供一種沖壓連續模模內機械手移載裝置，可解決使用連續模生產之產品須透過額外的材料做為各工序移載的媒介所產生的材料浪費問題。The technical problem to be solved in this creation is to provide an in-mold manipulator transfer device for stamping continuous molds for the shortcomings of the existing technology, which can solve the problem that the products produced by continuous molds must be transferred through additional materials as the media for each process. The problem of material waste.

為了解決上述的技術問題，本創作提供一種沖壓連續模模內機械手移載裝置，包括：一第一滑軌，該第一滑軌設置於一模具下底板上；一第一活動座，該第一活動座設置於該第一滑軌上，使該第一活動座能沿著一第一方向、一第三方向移動；一第二滑軌，該第二滑軌設置於該第一活動座上；一第二活動座，該第二活動座設置於該第二滑軌上，使該第二活動座能沿著一第二方向、一第四方向移動；一傳動桿，該傳動桿設置於一模具上底板上，該傳動桿能配合該沖壓連續模開合動作，沿著一上下方向移動；一連結機構，該傳動桿透過該連結機構連接於該第一活動座，能用以帶動該第一活動座沿著該第一方向、該第三方向移動；以及一連桿機械手，該連桿機械手具有一連桿，該連桿連接多個機械手臂，且該連桿機械手與該第二活動座連接，該連桿機械手能被一驅動裝置驅動沿著該第二方向、第四方向移動。In order to solve the above-mentioned technical problems, the present invention provides an in-mold manipulator transfer device for a stamping continuous die, which includes: a first slide rail, the first slide rail is arranged on a bottom plate of a mold; a first movable seat, the The first movable seat is arranged on the first slide rail, so that the first movable seat can move along a first direction and a third direction; a second slide rail is arranged on the first slide rail Seat; a second movable seat, the second movable seat is arranged on the second slide rail, so that the second movable seat can move along a second direction, a fourth direction; a transmission rod, the transmission rod Set on the upper bottom plate of a mold, the transmission rod can cooperate with the opening and closing actions of the continuous stamping mold to move along a vertical direction; a connecting mechanism, the transmission rod is connected to the first movable seat through the connecting mechanism, and can be used Drive the first movable seat to move along the first direction and the third direction; and a link manipulator, the link manipulator has a link, the link is connected to a plurality of robot arms, and the link mechanism The hand is connected with the second movable seat, and the link manipulator can be driven by a driving device to move along the second direction and the fourth direction.

本創作的有益效果在於，本創作所提供的沖壓連續模模內機械手移載裝置，包括第一滑軌、第一活動座、第二滑軌、第二活動座、傳動桿、連結機構及連桿機械手。當沖壓連續模開模時，傳動桿推動活動座帶動機械手臂向第一方向移動抓取物件，並在開模的過程中，給予驅動裝置訊號帶動機械手臂向第二方向移動，並做移載物件的動作，未完成所有連續模工序的物件則移載至下一工序，已完成全部連續模工序的物件則移載至連續模外。當沖壓連續模合模時，傳動桿推動活動座帶動機械手臂向第三方向移動放開，未完成所有連續模工序的物件則放開至下一工序，已完成全部連續模工序的物件則落入流水線中，並在合模的過程中，由驅動裝置帶動機械手臂向第四方向移動。利用上述動作，達到開模後將物件移至下一工序、閉模後機械手臂往模外迴避並回到原點復位。由此，可消除使用額外材料作為原先沖壓連續模生產時，傳遞模內物件的材料浪費，另本創作亦可有效的縮減模具尺寸，降低模具費用。The beneficial effect of this creation is that the in-mold manipulator transfer device for stamping continuous die provided by this creation includes a first slide rail, a first movable seat, a second slide rail, a second movable seat, a transmission rod, a connecting mechanism and Connecting rod manipulator. When the continuous stamping die is opened, the transmission rod pushes the movable seat to drive the robotic arm to move and grab the object in the first direction, and in the process of opening the mold, a signal is given to the driving device to drive the robotic arm to move in the second direction and perform transfer. As for the movement of the object, the objects that have not completed all the continuous mold processes are transferred to the next process, and the objects that have completed all the continuous mold processes are transferred to the outside of the continuous mold. When the continuous stamping die is closed, the driving rod pushes the movable seat to drive the robotic arm to move to the third direction and release. The objects that have not completed all the continuous mold processes are released to the next process, and the objects that have completed all the continuous mold processes are dropped. Into the assembly line, and in the process of clamping the mold, the driving device drives the robotic arm to move in the fourth direction. Using the above actions, the object is moved to the next process after the mold is opened. After the mold is closed, the mechanical arm avoids the mold and returns to the original point to reset. As a result, it is possible to eliminate the material waste of the objects in the transfer mold when additional materials are used as the original continuous stamping mold production. In addition, this creation can also effectively reduce the size of the mold and reduce the cost of the mold.

為使能更進一步瞭解本創作的特徵及技術內容，請參閱以下有關本創作的詳細說明與圖式，然而所提供的圖式僅用於提供參考與說明，並非用來對本創作加以限制。In order to further understand the features and technical content of this creation, please refer to the following detailed descriptions and drawings about this creation. However, the drawings provided are only for reference and explanation, and are not used to limit this creation.

以下是通過特定的具體實施例來說明本創作所公開有關的實施方式，本領域技術人員可由本說明書所公開的內容瞭解本創作的優點與效果。本創作可通過其他不同的具體實施例加以施行或應用，本說明書中的各項細節也可基於不同觀點與應用，在不背離本創作的構思下進行各種修改與變更。另外，本創作的附圖僅為簡單示意說明，並非依實際尺寸的描繪，事先聲明。以下的實施方式將進一步詳細說明本創作的相關技術內容，但所公開的內容並非用以限制本創作的保護範圍。另外，本文中所使用的術語“或”，應視實際情況可能包括相關聯的列出項目中的任一個或者多個的組合。The following are specific specific examples to illustrate the related implementations disclosed in this creation, and those skilled in the art can understand the advantages and effects of this creation from the content disclosed in this specification. This creation can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this creation. In addition, the drawings of this creation are merely schematic illustrations, and are not depicted in actual size, and are stated in advance. The following implementations will further describe the related technical content of this creation in detail, but the disclosed content is not intended to limit the protection scope of this creation. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

[第一實施例][First Embodiment]

請參閱圖1至圖4，本創作提供一種沖壓連續模模內機械手移載裝置，包括一第一滑軌1、一第一活動座2、一第二滑軌3、一第二活動座4、一傳動桿5、一連結機構6及一連桿機械手7。Please refer to Figures 1 to 4, this creation provides a stamping continuous mold in-mold manipulator transfer device, including a first slide rail 1, a first movable seat 2, a second slide rail 3, a second movable seat 4. A transmission rod 5, a connecting mechanism 6 and a connecting rod manipulator 7.

該第一滑軌1設置於一模具下底板100上，能用以導引第一活動座2沿著一第一方向A、一第三方向C移動，該第一方向A為朝向沖壓連續模的方向，該第三方向C為背向沖壓連續模的方向，第一方向A及第三方向C為相反的方向。該第一活動座2設置於第一滑軌1上，該第一活動座2能在第一滑軌1上移動，使該第一活動座2能沿著第一方向A、第三方向C移動。The first slide rail 1 is disposed on a lower bottom plate 100 of a mold, and can be used to guide the first movable seat 2 to move along a first direction A and a third direction C. The first direction A is toward the continuous stamping die. The third direction C is the direction facing away from the continuous stamping die, and the first direction A and the third direction C are opposite directions. The first movable seat 2 is arranged on the first slide rail 1, and the first movable seat 2 can move on the first slide rail 1, so that the first movable seat 2 can move along the first direction A and the third direction C mobile.

該第二滑軌3設置於第一活動座2上，使得第二滑軌3及第二活動座4可被第一活動座2帶動，該第二滑軌3能用以導引第二活動座4沿著第二方向B、第四方向D移動。該第二活動座4設置於第二滑軌3上，該第二活動座4能在第二滑軌3上移動，使該第二活動座4能沿著第二方向B、第四方向D移動。第二方向B及第四方向D為相反的方向，且第二方向B及第四方向D可與第一方向A及第三方向C相互垂直。The second slide rail 3 is arranged on the first movable seat 2 so that the second slide rail 3 and the second movable seat 4 can be driven by the first movable seat 2, and the second slide rail 3 can be used to guide the second movable seat The seat 4 moves along the second direction B and the fourth direction D. The second movable seat 4 is disposed on the second slide rail 3, and the second movable seat 4 can move on the second slide rail 3, so that the second movable seat 4 can move along the second direction B and the fourth direction D mobile. The second direction B and the fourth direction D are opposite directions, and the second direction B and the fourth direction D may be perpendicular to the first direction A and the third direction C.

該傳動桿5設置於一模具上底板200上，該傳動桿5能配合沖壓連續模開合動作，沿著上下方向(Z軸)移動，該傳動桿5可具有一第一滑槽51。該傳動桿5透過連結機構6連接於第一活動座2，能用以帶動第一活動座2沿著第一方向A、第三方向C移動。該連結機構6設置於第一活動座2上，該連結機構6可具有一第一滑動部61，該第一滑動部61與第一滑槽51相互配合，使連結機構6連接於傳動桿5。當該傳動桿5沿著上下方向移動，即可通過第一滑槽51推動第一滑動部61，使連結機構6帶動第一活動座2沿著第一方向A、第三方向C移動。The transmission rod 5 is disposed on an upper bottom plate 200 of a mold. The transmission rod 5 can move along the up and down direction (Z axis) in cooperation with the opening and closing actions of the continuous stamping die. The transmission rod 5 may have a first sliding groove 51. The transmission rod 5 is connected to the first movable seat 2 through the connecting mechanism 6 and can be used to drive the first movable seat 2 to move along the first direction A and the third direction C. The connecting mechanism 6 is arranged on the first movable seat 2. The connecting mechanism 6 may have a first sliding portion 61 that cooperates with the first sliding groove 51 to connect the connecting mechanism 6 to the transmission rod 5. . When the transmission rod 5 moves in the up and down direction, the first sliding portion 61 can be pushed through the first sliding groove 51, so that the connecting mechanism 6 drives the first movable seat 2 to move along the first direction A and the third direction C.

該連桿機械手7具有一連桿71，該連桿71連接多個機械手臂72，該連桿機械手7與第二活動座4連接，該連桿71還可連接一第二滑動部73。該連桿機械手7可被第二活動座4帶動沿著第二方向B、第四方向D移動，該連桿機械手7可連接於一馬達10(驅動裝置)，能由PLC給予馬達10訊號以帶動連桿機械手7做第二方向B、第四方向D移動。該模具下底板100上可設置一滑槽座20，該滑槽座20具有一第二滑槽201，當第一活動座2往第一方向A移動時，第二滑動部73可與第二滑槽201互相接觸。The link manipulator 7 has a link 71 that connects a plurality of robot arms 72, the link manipulator 7 is connected to the second movable seat 4, and the link 71 can also be connected to a second sliding part 73 . The link manipulator 7 can be driven by the second movable seat 4 to move along the second direction B and the fourth direction D. The link manipulator 7 can be connected to a motor 10 (driving device), which can be given to the motor 10 by PLC The signal drives the link manipulator 7 to move in the second direction B and the fourth direction D. The lower bottom plate 100 of the mold can be provided with a slide groove seat 20, the slide groove seat 20 has a second slide groove 201, when the first movable seat 2 moves in the first direction A, the second sliding portion 73 can be The sliding grooves 201 are in contact with each other.

本創作的移載裝置還可以進一步包括一第一檢知50、一第一檢知位55、一第二檢知60、一第二檢知位65、一第三檢知70、一第三檢知位75、一第四檢知80及一第四檢知位85(請參閱圖5至圖8)。第一檢知50及第二檢知60可設置於連結機構6上，第一檢知位55及第二檢知位65可設置於傳動桿5上，第三檢知位75及第四檢知位85可位於第二滑軌3上，第三檢知70及第四檢知80靠近第二滑軌3。所述各檢知及各檢知位設置的位置並不限制。The transfer device of this creation may further include a first check 50, a first check position 55, a second check 60, a second check position 65, a third check 70, and a third check position. Detection position 75, a fourth detection position 80 and a fourth detection position 85 (please refer to Figs. 5 to 8). The first inspection 50 and the second inspection 60 can be arranged on the connecting mechanism 6, the first inspection position 55 and the second inspection position 65 can be arranged on the transmission rod 5, the third inspection position 75 and the fourth inspection position The position 85 may be located on the second slide rail 3, and the third detection 70 and the fourth detection 80 are close to the second slide rail 3. The position of each detection and the setting of each detection position is not limited.

該第一檢知50及第一檢知位55互相搭配，能用以觸發訊號(PLC訊號)，使該第二活動座4開始做第二方向B移動。該第二檢知60及第二檢知位65互相搭配，能用以觸發訊號(PLC訊號)，讓第二活動座4開始做第四方向D移動。該第三檢知70及第三檢知位75互相搭配，能用以觸發訊號(PLC訊號)，讓第二活動座4停止做第二方向B移動。該第四檢知80及第四檢知位85互相搭配，能用以觸發訊號(PLC訊號)，讓第二活動座4停止做第四方向D移動。The first detection 50 and the first detection position 55 are matched with each other and can be used to trigger a signal (PLC signal) to make the second movable seat 4 start to move in the second direction B. The second detection 60 and the second detection position 65 are matched with each other and can be used to trigger a signal (PLC signal) to make the second movable seat 4 start to move in the fourth direction D. The third detection 70 and the third detection position 75 are matched with each other and can be used to trigger a signal (PLC signal) to stop the second movable seat 4 from moving in the second direction B. The fourth detection 80 and the fourth detection position 85 are matched with each other and can be used to trigger a signal (PLC signal) to stop the second movable seat 4 from moving in the fourth direction D.

本創作亦可進一步設置一連接桿90，用以連接兩組移載裝置，所述的各檢知及檢知位只需設置於一邊。另，亦可以馬達10通過螺桿95連動連接桿90及連桿機械手7，做第二方向B、第四方向D移動。In this creation, a connecting rod 90 may be further provided to connect two sets of transfer devices, and each detection and detection position described above only needs to be set on one side. In addition, the motor 10 can also link the connecting rod 90 and the connecting rod manipulator 7 through the screw 95 to move in the second direction B and the fourth direction D.

請參閱圖5，當沖壓連續模開模時，該傳動桿5可隨著模具上底板200的帶動上升至最高，受到傳動桿5的第一滑槽51與第一滑動部61相對位置距離差的影響，可帶動第一活動座2往第一方向A移動，使連桿機械手7的機械手臂72能碰到模具內的物件，此時第二滑動部73與第二滑槽201互相接觸。使第二方向B的移動沿著第二滑槽201的軌跡，並可由一汽缸30做緩衝。Please refer to FIG. 5, when the continuous stamping die is opened, the transmission rod 5 can rise to the highest level with the driving of the upper bottom plate 200 of the mold, and the relative positional distance between the first sliding groove 51 of the transmission rod 5 and the first sliding part 61 is different. The first movable seat 2 can be driven to move in the first direction A, so that the robot arm 72 of the link manipulator 7 can touch the object in the mold. At this time, the second sliding part 73 and the second sliding groove 201 are in contact with each other . The movement in the second direction B is made to follow the track of the second sliding groove 201 and can be buffered by a cylinder 30.

請參閱圖6，當模具上底板200帶動傳動桿5上升的過程中第一檢知50感測到第一檢知位55時，由PLC給訊號讓馬達10帶動連桿機械手7抬取半成品(物件)及完成最後一道工序的成品(物件)，往第二方向B移動至第三檢知70感測到第三檢知位75時停止。沿著模具下底板100的第二滑槽201的軌跡(由汽缸30做高低緩衝)將半成品抬離模板移載模內的下一工序，若是完成最後一道工序的成品則移載至模外。Please refer to FIG. 6, when the first detection 50 senses the first detection position 55 when the upper plate 200 of the mold drives the transmission rod 5 to rise, the PLC will give a signal to the motor 10 to drive the connecting rod manipulator 7 to lift the semi-finished product. (Object) and the finished product (object) that has completed the last process, move to the second direction B to the third detection 70 and stop when the third detection position 75 is sensed. Along the trajectory of the second sliding groove 201 of the lower bottom plate 100 of the mold (the cylinder 30 is used for high and low buffering), the semi-finished product is lifted away from the template for the next process in the transfer mold. If the finished product is completed in the last process, it is transferred to the outside of the mold.

請參閱圖7，當沖壓連續模閉模時，傳動桿5可隨著模具上底板200的帶動下降至最低，受到傳動桿5的第一滑槽51與第一滑動部61相對位置距離差的影響，可帶動第一活動座2往第三方向C移動，並放開機械手臂72讓半成品(物件)到達下一工序，已完成最後一工序的成品(物件)即落入到流水線上。Referring to FIG. 7, when the continuous stamping die is closed, the transmission rod 5 can be lowered to the lowest level with the driving of the upper bottom plate 200 of the mold, which is affected by the relative positional distance between the first sliding groove 51 of the transmission rod 5 and the first sliding part 61. Influence, the first movable seat 2 can be driven to move to the third direction C, and the robotic arm 72 is released to allow the semi-finished product (object) to reach the next process, and the finished product (object) that has completed the last process falls on the assembly line.

請參閱圖8，當傳動桿5下降的過程中，第二檢知60感測到第二檢知位65時，由PLC給訊號讓馬達10帶動機械手臂72往第四方向D移動至第四檢知80感測到第四檢知位85時停止。而後再重複上述的移載動作。Please refer to FIG. 8, when the second detection 60 senses the second detection position 65 when the transmission rod 5 is lowered, the PLC will give a signal to the motor 10 to drive the robotic arm 72 to move in the fourth direction D to the fourth direction. The detection 80 stops when the fourth detection bit 85 is sensed. Then repeat the transfer action described above.

[實施例的有益效果][Beneficial effects of the embodiment]

本創作的有益效果在於，本創作所提供的沖壓連續模模內機械手移載裝置，包括第一滑軌、第一活動座、第二滑軌、第二活動座、傳動桿、連結機構及連桿機械手。當沖壓連續模開模時，傳動桿推動活動座帶動機械手臂向第一方向移動抓取物件，並在開模的過程中，給予驅動裝置訊號帶動機械手臂向第二方向移動，並做移載物件的動作，未完成所有連續模工序的物件則移載至下一工序，已完成全部連續模工序的物件則移載至連續模外。當沖壓連續模合模時，傳動桿推動活動座帶動機械手臂向第三方向移動，未完成所有連續模工序的物件則放開至下一工序，已完成全部連續模工序的物件則落入流水線中，並在合模的過程中，由驅動裝置帶動機械手臂向第四方向移動。利用上述動作，達到開模後將物件移至下一工序、閉模後機械手臂往模外迴避並回到原點復位。由此，可消除使用額外材料作為原先沖壓連續模生產時，傳遞模內物件的材料浪費，本創作亦可有效的縮減模具尺寸，降低模具費用。The beneficial effect of this creation is that the in-mold manipulator transfer device for stamping continuous die provided by this creation includes a first slide rail, a first movable seat, a second slide rail, a second movable seat, a transmission rod, a connecting mechanism and Connecting rod manipulator. When the continuous stamping die is opened, the transmission rod pushes the movable seat to drive the robotic arm to move and grab the object in the first direction, and in the process of opening the mold, a signal is given to the driving device to drive the robotic arm to move in the second direction and perform transfer. As for the movement of the object, the objects that have not completed all the continuous mold processes are transferred to the next process, and the objects that have completed all the continuous mold processes are transferred to the outside of the continuous mold. When the continuous stamping die is closed, the transmission rod pushes the movable seat to drive the robotic arm to move to the third direction. The objects that have not completed all the continuous mold processes are released to the next process, and the objects that have completed all the continuous mold processes fall into the assembly line. During the mold clamping process, the driving device drives the robotic arm to move in the fourth direction. Using the above actions, the object is moved to the next process after the mold is opened. After the mold is closed, the mechanical arm avoids the mold and returns to the original point to reset. As a result, it is possible to eliminate the material waste of the objects in the transfer mold when additional materials are used as the original continuous stamping mold production. The invention can also effectively reduce the size of the mold and reduce the cost of the mold.

以上所公開的內容僅為本創作的優選可行實施例，並非因此侷限本創作的申請專利範圍，所以凡是運用本創作說明書及圖式內容所做的等效技術變化，均包含於本創作的申請專利範圍內。The content disclosed above is only a preferred and feasible embodiment of this creation, and does not limit the scope of patent application for this creation. Therefore, all equivalent technical changes made using this creation specification and schematic content are included in the application for this creation. Within the scope of the patent.

1:第一滑軌 2:第一活動座 3:第二滑軌 4:第二活動座 5:傳動桿 51:第一滑槽 6:連結機構 61:第一滑動部 7:連桿機械手 71:連桿 72:機械手臂 73:第二滑動部 10:馬達 20:滑槽座 201:第二滑槽 30:汽缸 50:第一檢知 55:第一檢知位 60:第二檢知 65:第二檢知位 70:第三檢知 75:第三檢知位 80:第四檢知 85:第四檢知位 90:連接桿 95:螺桿 A:第一方向 B:第二方向 C:第三方向 D:第四方向 100:模具下底板 200:模具上底板 1: the first slide 2: The first movable seat 3: The second slide 4: The second movable seat 5: Transmission rod 51: The first chute 6: Linking institutions 61: The first sliding part 7: Connecting rod manipulator 71: connecting rod 72: Robotic arm 73: second sliding part 10: Motor 20: Chute seat 201: Second Chute 30: cylinder 50: first check 55: first check position 60: second inspection 65: second detection position 70: Third Inspection 75: third check position 80: Fourth Inspection 85: fourth check position 90: connecting rod 95: screw A: The first direction B: second direction C: Third party D: Fourth direction 100: mold bottom plate 200: Mold upper bottom plate

圖1為本創作沖壓連續模模內機械手移載裝置的立體圖(一)。Figure 1 is a three-dimensional view (1) of the in-mold robot transfer device for creating a continuous stamping die.

圖2為本創作沖壓連續模模內機械手移載裝置的立體圖(二)。Figure 2 is a three-dimensional view (2) of the in-mold robot transfer device for creating a continuous stamping die.

圖3為本創作沖壓連續模模內機械手移載裝置的立體圖(三)。Figure 3 is a three-dimensional view (3) of the in-mold robot transfer device for creating a continuous stamping die.

圖4為本創作沖壓連續模模內機械手移載裝置的立體圖(四)。Figure 4 is a three-dimensional view (4) of the in-mold robot transfer device for creating a continuous stamping die.

圖5為本創作沖壓連續模模內機械手移載裝置的動作圖(一)。Figure 5 is the action diagram (1) of the in-mold manipulator transfer device created for the continuous stamping die.

圖6為本創作沖壓連續模模內機械手移載裝置的動作圖(二)。Figure 6 is the action diagram (2) of the in-mold manipulator transfer device created for the continuous stamping die.

圖7為本創作沖壓連續模模內機械手移載裝置的動作圖(三)。Figure 7 is the action diagram (3) of the in-mold manipulator transfer device created for the continuous stamping die.

圖8為本創作沖壓連續模模內機械手移載裝置的動作圖(四)。Figure 8 is the action diagram (4) of the in-mold manipulator transfer device created for the continuous stamping die.

1:第一滑軌 1: the first slide

2:第一活動座 2: The first movable seat

3:第二滑軌 3: The second slide

4:第二活動座 4: The second movable seat

5:傳動桿 5: Transmission rod

51:第一滑槽 51: The first chute

6:連結機構 6: Linking institutions

61:第一滑動部 61: The first sliding part

7:連桿機械手 7: Connecting rod manipulator

71:連桿 71: connecting rod

72:機械手臂 72: Robotic arm

A:第一方向 A: The first direction

B:第二方向 B: second direction

C:第三方向 C: Third party

D:第四方向 D: Fourth direction

100:模具下底板 100: mold bottom plate

200:模具上底板 200: Mold upper bottom plate

Claims

一種沖壓連續模模內機械手移載裝置，包括：一第一滑軌，該第一滑軌設置於一模具下底板上；一第一活動座，該第一活動座設置於該第一滑軌上，使該第一活動座能沿著一第一方向、一第三方向移動；一第二滑軌，該第二滑軌設置於該第一活動座上；一第二活動座，該第二活動座設置於該第二滑軌上，使該第二活動座能沿著一第二方向、一第四方向移動；一傳動桿，該傳動桿設置於一模具上底板上，該傳動桿能配合該沖壓連續模開合動作，沿著一上下方向移動；一連結機構，該傳動桿透過該連結機構連接於該第一活動座，能用以帶動該第一活動座沿著該第一方向、該第三方向移動；以及一連桿機械手，該連桿機械手具有一連桿，該連桿連接多個機械手臂，且該連桿機械手與該第二活動座連接，該連桿機械手能被一驅動裝置驅動沿著該第二方向、第四方向移動。 An in-mold manipulator transfer device of a stamping continuous die, comprising: A first slide rail, the first slide rail is arranged on a bottom plate of a mold; A first movable seat, the first movable seat is arranged on the first slide rail, so that the first movable seat can move along a first direction and a third direction; A second slide rail, the second slide rail is arranged on the first movable seat; A second movable seat, the second movable seat is arranged on the second slide rail, so that the second movable seat can move along a second direction and a fourth direction; A transmission rod, the transmission rod is arranged on the upper bottom plate of a mold, and the transmission rod can cooperate with the opening and closing action of the continuous stamping mold to move in an up-and-down direction; A connecting mechanism, the transmission rod is connected to the first movable seat through the connecting mechanism, and can be used to drive the first movable seat to move along the first direction and the third direction; and A link manipulator, the link manipulator has a link, the link is connected to a plurality of manipulators, and the link manipulator is connected to the second movable seat, the link manipulator can be driven by a driving device Move along the second and fourth directions.

如請求項1所述的沖壓連續模模內機械手移載裝置，其中該傳動桿具有一第一滑槽，該連結機構設置於該第一活動座上，該連結機構具有一第一滑動部，該第一滑動部與該第一滑槽相互配合，該傳動桿沿著該上下方向移動時，能通過該第一滑槽推動該第一滑動部，使該連結機構帶動該第一活動座沿著該第一方向、該第三方向移動。The in-mold robot transfer device for stamping continuous molds according to claim 1, wherein the transmission rod has a first sliding groove, the connecting mechanism is disposed on the first movable seat, and the connecting mechanism has a first sliding part , The first sliding part and the first sliding groove cooperate with each other, and when the transmission rod moves along the up and down direction, the first sliding part can be pushed through the first sliding groove, so that the connecting mechanism drives the first movable seat Move along the first direction and the third direction.

如請求項1所述的沖壓連續模模內機械手移載裝置，其中該連桿連接一第二滑動部，該模具下底板上設置一滑槽座，該滑槽座具有一第二滑槽，該第一活動座往該第一方向移動時，該第二滑動部與該第二滑槽互相接觸，該第二方向的移動沿著該第二滑槽的軌跡，並由一汽缸做緩衝。The in-mold robot transfer device for a stamping continuous die according to claim 1, wherein the connecting rod is connected to a second sliding part, a slide groove seat is provided on the lower bottom plate of the mold, and the slide groove seat has a second slide groove When the first movable seat moves in the first direction, the second sliding portion and the second sliding groove are in contact with each other, and the movement in the second direction is along the track of the second sliding groove and is buffered by a cylinder .

如請求項1所述的沖壓連續模模內機械手移載裝置，其中還包括一第一檢知及一第一檢知位，該第一檢知及該第一檢知位互相搭配，能用以觸發訊號，使該第二活動座開始做該第二方向移動。The in-mold robot transfer device for stamping continuous molds according to claim 1, which further includes a first detection and a first detection position. The first detection and the first detection position are matched with each other to be able to Used to trigger a signal to make the second movable seat start to move in the second direction.

如請求項4所述的沖壓連續模模內機械手移載裝置，其中還包括一第二檢知及一第二檢知位，該第二檢知及該第二檢知位互相搭配，能用以觸發訊號，使該第二活動座開始做該第四方向移動。The in-mold robot transfer device for a stamping continuous die as described in claim 4, which further includes a second detection position and a second detection position. The second detection position and the second detection position are matched with each other to be able to Used to trigger a signal to make the second movable seat start to move in the fourth direction.

如請求項5所述的沖壓連續模模內機械手移載裝置，其中還包括一第三檢知及一第三檢知位，該第三檢知及該第三檢知位互相搭配，能用以觸發訊號，使該第二活動座停止做該第二方向移動。The in-mold robot transfer device for stamping continuous die as described in claim 5, which further includes a third detection position and a third detection position. The third detection position and the third detection position are matched with each other, Used to trigger a signal to stop the second movable seat from moving in the second direction.

如請求項6所述的沖壓連續模模內機械手移載裝置，其中還包括一第四檢知及一第四檢知位，該第四檢知及該第四檢知位互相搭配，能用以觸發訊號，使該第二活動座停止做該第四方向移動。The in-mold robot transfer device for stamping continuous die as described in claim 6, which further includes a fourth detection position and a fourth detection position. The fourth detection position and the fourth detection position are matched with each other to be able to Used to trigger a signal to stop the second movable seat from moving in the fourth direction.

如請求項1所述的沖壓連續模模內機械手移載裝置，其中該第一方向為朝向該沖壓連續模的方向，該第二方向為背向該沖壓連續模的方向，該第一方向及該第三方向為相反的方向。The in-mold robot transfer device for a continuous stamping die according to claim 1, wherein the first direction is a direction toward the continuous stamping die, the second direction is a direction away from the continuous stamping die, and the first direction And the third direction is the opposite direction.

如請求項8所述的沖壓連續模模內機械手移載裝置，其中該第二方向及該第四方向為相反的方向，且該第二方向及該第四方向與該第一方向及該第三方向相互垂直。The in-mold robot transfer device for stamping continuous die according to claim 8, wherein the second direction and the fourth direction are opposite directions, and the second direction and the fourth direction are the same as the first direction and the The third directions are perpendicular to each other.

如請求項1所述的沖壓連續模模內機械手移載裝置，其中該連桿機械手連接於一驅動裝置，以帶動該連桿機械手做該第二方向、該第四方向移動。The in-mold robot transfer device for stamping continuous molds according to claim 1, wherein the link manipulator is connected to a driving device to drive the link manipulator to move in the second direction and the fourth direction.