CN107377799A - A kind of automatic stamping transfer system with free-standing manipulator - Google Patents
A kind of automatic stamping transfer system with free-standing manipulator Download PDFInfo
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- CN107377799A CN107377799A CN201710790559.2A CN201710790559A CN107377799A CN 107377799 A CN107377799 A CN 107377799A CN 201710790559 A CN201710790559 A CN 201710790559A CN 107377799 A CN107377799 A CN 107377799A
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- standing manipulator
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of automatic stamping transfer system with free-standing manipulator,Belong to automatic stamping technical field,Double feeding sheet stock machines,Free-standing manipulator and 500T punch press,Double feeding sheet stock machines are located at the front end of automatic stamping transfer system,Free-standing manipulator is located at the both sides of 500T punch presses,Double feeding sheet stock machines are by after material transmission to formulation position,After material being caught by the material gripping device of free-standing manipulator,Make platform movement into centre under the drive of X-axis motor,Material is placed on transition intermediate station afterwards,Then material is moved to the opposite side of main frame arm by the material gripping device of opposite side from transition intermediate station again,Realize the mechanization movement of the material between stamping procedure,Avoid the error that manual operation is brought and the personal safety accident of operating personnel occurs,Improve the production efficiency of punch process.
Description
Technical field
The present invention relates to automatic stamping technical field, more particularly to a kind of automatic stamping with free-standing manipulator
Transfer system.
Background technology
Punch process is by means of the power of conventional or special pressing equipment, makes plate in mould directly by deformation force
And deformed, so as to obtain the production technology of the product parts of definite shape, size and performance.Punching press is depended on pressure machine and mould
Tool applies external force to sheet material, band, tubing and section bar etc., is allowed to produce plastic deformation or separation, so as to shape needed for obtaining and
The workpiece of size（Stamping parts）Forming and machining method.Punching press is Metal Forming（Or pressure processing）Main method it
One, also it is under the jurisdiction of material shaping engineering technology.Wherein, the vehicle body of automobile, chassis, fuel tank, radiator fin, the drum of boiler, appearance
The housing of device, motor, the iron core silicon-steel sheet etc. of electrical equipment are all punch process.Instrument and meter, household electrical appliance, bicycle, office
In the products such as machinery, household utensil, also there are a large amount of stamping parts.
In Punching Process, with sheet stock more punch presses of the part through blanking and the making of bending and molding multiple working procedure
To produce, in prior art between adjacent two procedures material transfer, the alignment of station needs manual operation to realize, especially
Semi-finished product station alignment work after finding blanking is directed at station with manual operations under drift, danger close, people easily occurs
Body security incident, and be difficult to be directed at station again using manual mode, productivity ratio is low.
The content of the invention
The embodiment of the present invention provides a kind of automatic stamping transfer system with free-standing manipulator, it is intended to realizes machine
The transfer of material and station alignment between the adjacent two procedures of automation, avoid error and operation people occurs that manual operation is brought
The personal safety accident of member, improve the production efficiency of punch process.
Concrete technical scheme provided by the invention is as follows：
The embodiment of the present invention provides a kind of automatic stamping transfer system with free-standing manipulator, and the automatic stamping moves
System is sent to include double feeding sheet stock machine, free-standing manipulator and 500T punch presses, wherein, double feeding sheet stock machines enter for circulation pair
Material formula sheet stock machine, the maximum impact pressures of the 500T punch presses are 500 tons, and the ranges of the 500T punch presses is 350mm, institute
The maximum die set height for stating 500T punch presses is 600mm；Double feeding sheet stock machines are located at the automatic stamping transfer system
Front end, the free-standing manipulator are located at the both sides of the 500T punch presses, wherein, the free-standing manipulator drives including Z axis
Motor, decelerator, balance cylinder, main machine body, toggle, X-axis motor, air cleaner, belt pulley, main frame
Arm, lower fuselage, transition intermediate station, mounting seat, fixing device, sliding block, chute, material gripping device, material movement body frame, etc.
High post and Z axis drive cylinder.
Optionally, the fixing device is arranged in the mounting seat, and the lower fuselage is arranged on the mounting seat
On, the air cleaner is arranged on the lower fuselage, and the transition intermediate station is arranged in the mounting seat, the master
Fuselage is arranged on the lower fuselage；The Z axis motor is arranged on the upper end of the main machine body, and the decelerator is arranged on
The upper end of the lower fuselage, the balance cylinder are arranged on the upper end of the main machine body, and the toggle is arranged on institute
The front end of main machine body is stated, the X-axis motor is arranged on the front end of the main machine body, and the main frame arm is arranged on the main frame
The front end of body；The belt pulley is arranged on the middle part of the main frame arm, the output shaft of the Z axis motor and described subtracts
The input axis connection of fast device, the output shaft of the X-axis motor are connected with the belt pulley using belt, and the chute is set
In the front end face of the main machine body, the sliding block is movably mounted in the chute, and the lower end of the sliding block is fixed on described
On main frame arm；The material movement body frame is movably mounted on the main frame arm, and the lower end of the material movement body frame is set
There is the material gripping device；The transition intermediate station is provided with the contour post and the Z axis drive cylinder.
Optionally, the automatic stamping transfer system includes 1 double feeding sheet stock machines, 6 free-standing machines
Tool hand, 5 500T punch presses and 1 finished product transfer cart, wherein, the 1st free-standing manipulator is arranged on described pair and sent
Between tablet material machine and the 1st 500T punch press, the 2nd free-standing manipulator is arranged on the 1st 500T punch press
Between the 2nd 500T punch press, the 3rd free-standing manipulator is arranged on the 2nd 500T punch press and the 3rd institute
Between stating 500T punch presses, the 4th free-standing manipulator is arranged on the 3rd 500T punch press and the 4th 500T punching
Between bed, the 5th free-standing manipulator is arranged between the 4th 500T punch press and the 5th 500T punch press, the
6 free-standing manipulators are arranged between the 5th 500T punch press and the finished product transfer cart.
Optionally, the material movement body frame includes left material movement body frame and right material movement body frame, and the material is grabbed
Device is taken to include left material gripping device and right material gripping device, wherein, the left material movement body frame is movably mounted to
The left-half of the main frame arm, the right material movement body frame are arranged on the right half part of the main frame arm, the left material
Grabbing device is arranged on the lower section of the left material movement body frame, and the right material gripping device is arranged on the right material movement
The lower section of body frame.
Optionally, the material gripping device realizes the crawl of material by the way of negative pressure, wherein, the material crawl
Device includes 6 symmetrically arranged material suckers, and the material sucker realizes the crawl of material by the way of negative pressure.
Optionally, the Z axis drive cylinder is used to realize the movement of the contour post in the Y-axis direction, in the transition
Between station on be provided with contour post described at least two height identical.
Optionally, the balance cylinder includes left balance cylinder and right balance cylinder, wherein, the left balance cylinder installation
In the left-half of the main machine body, the right balance cylinder is arranged on the right half part of the main machine body, the left Balance Air
Cylinder and the right balance cylinder cooperate for the horizontality for adjusting the main frame arm.
Optionally, the sliding block includes left slider and right sliding block, and the chute includes left chute and right rail, wherein, institute
The left-half that left chute is arranged on the main machine body is stated, the right rail is arranged on the right half part of the main machine body, described
Left slider is movably mounted in the left chute, and the right sliding block is movably mounted in the right rail, the left slider
Lower end be fixed on the left-half of the main frame arm, the lower end of the right sliding block is fixed on the right half part of the main frame arm.
Optionally, the free-standing manipulator includes 6 fixing devices, wherein, 3 fixing devices are arranged on
The left side of the mounting seat, another 3 fixing devices are arranged on the right side of the mounting seat.
Optionally, range of the left material movement body frame on the main frame arm is 1500mm, the right material
Range of the mobile body frame on the main frame arm is 1500mm.
Beneficial effects of the present invention are as follows：
The embodiment of the present invention provides a kind of automatic stamping transfer system with free-standing manipulator, including double feeding sheet stocks
Machine, free-standing manipulator and 500T punch presses, double feeding sheet stock machines are located at the front end of automatic stamping transfer system, stand alone type machinery
Hand is located at the both sides of 500T punch presses, and free-standing manipulator includes Z axis motor, decelerator, balance cylinder, main machine body, crank
Linkage, X-axis motor, air cleaner, belt pulley, main frame arm, lower fuselage, transition intermediate station, mounting seat, fixation
Device, sliding block, chute, material gripping device, material movement body frame, contour post and Z axis drive cylinder；Double feeding sheet stock machines are by thing
Material is sent to after formulation position, after catching material by the material gripping device of free-standing manipulator, in X-axis motor
Drive under make platform movement into centre, material is placed on transition intermediate station afterwards, then grabbed again by the material of opposite side
Take device that material is moved to the opposite side of main frame arm from transition intermediate station, realize shifting of the material between the both sides of main frame arm
It is dynamic, material can be carried out from the material transmission on 500T punch presses before to next 500T punch press adding for next process
Work, and then realize the transfer of material and station alignment between Machine automated adjacent two procedures, realize between stamping procedure
Material mechanization movement, avoid error that manual operation brings and the personal safety accident that operating personnel occurs, improve
The production efficiency of punch process.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of forward sight structure of automatic stamping transfer system with free-standing manipulator of the embodiment of the present invention
Schematic diagram；
Fig. 2 is a kind of plan structure signal of automatic stamping transfer system with free-standing manipulator of the embodiment of the present invention
Figure；
Fig. 3 is the overlooking the structure diagram of double feeding sheet stock machines of the embodiment of the present invention；
Fig. 4 is the forward sight structural representation of the 500T punch presses of the embodiment of the present invention；
Fig. 5 is the isometric side structure schematic diagram of the free-standing manipulator of the embodiment of the present invention；
Fig. 6 is the positive structure diagram of the free-standing manipulator of the embodiment of the present invention；
Fig. 7 is the side structure schematic view of the free-standing manipulator of the embodiment of the present invention；
Fig. 8 is the structural representation of the lower fuselage of the embodiment of the present invention；
Fig. 9 is the structural representation of the main frame arm of the embodiment of the present invention；
Figure 10 is the structural representation of the fixing device of the embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing, "
Four ", " 5th ", " the 6th ", " the 7th " and " the 8th " etc.（If there is）It is for distinguishing similar object, without for retouching
State specific order or precedence.It should be appreciated that the data so used can exchange in the appropriate case, to retouch here
The embodiments of the invention stated can for example be implemented with the order in addition to those for illustrating or describing herein.
In addition, term " comprising " and " having " and their any deformation, it is intended that cover it is non-exclusive include, example
Such as, process, method, system, product or the equipment for containing series of steps or unit are not necessarily limited to those clearly listed
Step or unit, but may include not list clearly or for intrinsic other of these processes, method, product or equipment
Step or unit.
The transfer of material and station alignment, the mistake for avoiding manual operation from bringing between Machine automated adjacent two procedures
Difference and the personal safety accident that operating personnel occurs, the embodiment of the present invention provide a kind of automation punching with free-standing manipulator
Transfer system, including double feeding sheet stock machine, free-standing manipulator and 500T punch presses are pressed, wherein, double feeding sheet stock machines are double for circulation
Pan feeding formula sheet stock machine, the maximum impact pressure of 500T punch presses is 500 tons, and the range of 500T punch presses is 350mm, 500T
The maximum die set height of punch press is 600mm；Double feeding sheet stock machines are located at the front end of automatic stamping transfer system, stand alone type machinery
Hand is located at the both sides of 500T punch presses, wherein, free-standing manipulator include Z axis motor, decelerator, balance cylinder, main machine body,
Toggle, X-axis motor, air cleaner, belt pulley, main frame arm, lower fuselage, transition intermediate station, mounting seat,
Fixing device, sliding block, chute, material gripping device, material movement body frame, contour post and Z axis drive cylinder.
The automatic stamping transfer system with free-standing manipulator of the embodiment of the present invention, double feeding sheet stock machines are by material
It is sent to after formulating position, after catching material by the material gripping device of free-standing manipulator, in X-axis motor
Make platform movement under drive into centre, material is placed on transition intermediate station afterwards, then captured again by the material of opposite side
Material is moved to the opposite side of main frame arm by device from transition intermediate station, realizes shifting of the material between the both sides of main frame arm
It is dynamic, material can be carried out from the material transmission on 500T punch presses before to next 500T punch press adding for next process
Work, and then realize the transfer of material and station alignment between Machine automated adjacent two procedures, realize between stamping procedure
Material mechanization movement, avoid error that manual operation brings and the personal safety accident that operating personnel occurs, improve
The production efficiency of punch process.
A kind of automatic stamping with free-standing manipulator of the embodiment of the present invention is moved below in conjunction with Fig. 1 ~ Figure 10
System is sent to be described in detail.
With reference to shown in figure 1 and Fig. 2, a kind of automatic stamping with free-standing manipulator provided in an embodiment of the present invention moves
System is sent to include double feeding sheet stock machine 200, free-standing manipulator 100 and 500T punch presses 300, wherein, double feeding sheet stock machines 200 are
The double pan feeding formula sheet stock machines of circulation, the maximum impact pressure of 500T punch presses 300 is 500 tons, and the range of 500T punch presses 300 is
The maximum die set height of 350mm, 500T punch press 300 is 600mm；Double feeding sheet stock machines 200 are located at automatic stamping transfer system
Front end, free-standing manipulator 100 is located at the both sides of 500T punch presses 300.
Specifically, with reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 4, automatic stamping transfer system provided in an embodiment of the present invention
1 double feeding sheet stock machine 200,6 independence for Taiwan vertical mechanical hand, 100,5 500T punch presses 300 and 1 finished product transfer cart can be included
400, wherein, the 1st independence for Taiwan vertical mechanical hand 100 is arranged between double feeding sheet stock machines 200 and the 1st 500T punch press 300, and the 2nd
Independence for Taiwan vertical mechanical hand 100 is arranged between the 1st 500T punch press 300 and the 2nd 500T punch press 300, the 3rd independence for Taiwan vertical mechanical
Hand 100 is arranged between the 2nd 500T punch press 300 and the 3rd 500T punch press 300, and the 4th independence for Taiwan vertical mechanical hand 100 is arranged on
Between 3rd 500T punch press 300 and the 4th 500T punch press 300, the 5th independence for Taiwan vertical mechanical hand 100 is arranged on the 4th 500T punching
Between 300 and the 5th 500T punch presses 300 of bed, the 6th independence for Taiwan vertical mechanical hand 100 is arranged on the 5th 500T punch presses 300 and finished product
Between transfer cart 400.
With reference to shown in figure 5, Fig. 6 and Fig. 7, stand alone type of embodiment of the present invention manipulator includes Z axis motor 101, slowed down
Device 102, balance cylinder 103, main machine body 104, toggle 105, X-axis motor 106, air cleaner 107, belt
Wheel 108, main frame arm 109, lower fuselage 110, transition intermediate station 111, mounting seat 112, fixing device 113, sliding block 114, chute
115th, material gripping device 116, material movement body frame 117, contour post 118 and Z axis drive cylinder 119.
Wherein, with reference to shown in figure 5 and Fig. 7, fixing device 113 is arranged in mounting seat 112, specifically, fixing device
113 are used to the free-standing manipulator of the embodiment of the present invention being fixed on ground.With reference to shown in figure 10, fixing device 113 includes
Fixing device bottom plate 1131 and fixed vertical plate 1132, wherein, fixed vertical plate 1132 is fixed on the side of mounting seat 112, Gu
Determine device bottom plate 1131 to be fixed on ground.Further, with reference to shown in figure 10, it is provided with fixed vertical plate 1132 for installing
First vertical through hole of fixing bolt, the second vertical opening for mounting foot bolt is provided with fixing device bottom plate 1131
Through hole；Because the length of the first vertical through hole is more than the diameter of fixing bolt, the length of the second vertical opening through hole is more than lower margin
The diameter of bolt, therefore fixing device 113 can be according to the installation site and setting height(from bottom) of mounting seat 112 and the water of ground
Levelling can realize consolidating between the free-standing manipulator and ground of the embodiment of the present invention from the adjustment carried out according to various situations
It is fixed.
Example, with reference to shown in figure 5 and Fig. 7, the free-standing manipulator of the embodiment of the present invention includes 6 fixing devices 113,
Wherein, 3 fixing devices 113 are arranged on the left side of mounting seat 112, and another 3 fixing devices 113 are arranged on mounting seat
112 right side.Specifically, with reference to shown in figure 5 and Fig. 7, wherein 3 fixing devices 113 and other 3 fixing devices 113 are divided
It is not symmetrically installed on the left side and right side of mounting seat 112, and fixing device 113 is respectively in mounting seat 112
Left side and right side on be equidistantly symmetrical arranged.
With reference to shown in figure 5, Fig. 6, Fig. 7 and Fig. 8, lower fuselage 110 is arranged in mounting seat 112, and air cleaner 107 is pacified
On lower fuselage 110, transition intermediate station 111 is arranged in mounting seat 112, and main machine body 104 is arranged on lower fuselage 110.
Specifically, with reference to shown in figure 5, lower fuselage 110 is used and is bolted in mounting seat 112, with reference to shown in figure 5 and Fig. 6, air
Cleaner 107 is fixed on the side of lower fuselage 107, wherein, air cleaner 107, which is used to filter, enters air pump and separate machine
The moisture and dust granules in air inside hand.With reference to shown in figure 5, transition intermediate station 111, which uses, is bolted to installation bottom
On seat 112.
With reference to shown in figure 5, Fig. 6, Fig. 7 and Fig. 9, Z axis motor 101 is arranged on the upper end of main machine body 104, decelerator
102 are arranged on the upper end of lower fuselage 110, and balance cylinder 103 is arranged on the upper end of main machine body 104, and toggle 105 is installed
In the front end of main machine body 104, X-axis motor 106 is arranged on the front end of main machine body 104, and main frame arm 109 is arranged on main machine body
104 front end.Wherein, Z axis motor 101 is used to adjust the height on the vertical direction of main frame arm 109, X-axis motor 106
Body frame is moved along the displacement in main frame arm X-direction for adjusting material；Decelerator 102 is a reduction gear box, for realizing X
Rotational speed regulation between axle motor 106 and belt pulley.
With reference to shown in figure 5, Fig. 6, Fig. 7 and Fig. 9, balance cylinder 103 includes left balance cylinder and right balance cylinder, wherein,
Left balance cylinder is arranged on the left-half of main machine body 104, and right balance cylinder is arranged on the right half part of main machine body 104, Zuo Ping
Weighing apparatus cylinder and right balance cylinder cooperate for the horizontality for adjusting main frame arm 109, i.e., left balance cylinder is used to adjust main frame
The height of the left-half of arm 109, right balance cylinder are used for the height for adjusting the right half part of main frame arm 109, pass through left balance
Cylinder and the mutual cooperation of right balance cylinder can ensure the horizontality of the upper surface of main frame arm 109.
With reference to shown in figure 5, Fig. 6, Fig. 7 and Fig. 9, material movement body frame 117 is movably mounted on main frame arm 109, material
The lower end of mobile body frame 117 is provided with material gripping device 116；Contour post 118 and Z axis is provided with transition intermediate station 111 to drive
Take offence cylinder 119.Wherein, material movement body frame 117 can be moved along the left and right directions of main frame arm 109, and material gripping device 116 is adopted
The crawl of material is realized with the mode of negative pressure；Z axis drive cylinder 119 is used to realize the movement of contour post 118 in the Y-axis direction,
The high post 118 such as at least two height identical is provided with transition intermediate station 111, i.e., contour post 118 can be in Z axis drive cylinder
Moved in the Y-axis direction with transition intermediate station 111 under 119 drive.
With reference to shown in figure 5, Fig. 6, Fig. 7 and Fig. 9, material movement body frame 117 includes left material movement body frame and right material moves
Dynamic body frame, material gripping device 116 include left material gripping device and right material gripping device, wherein, left material moves body frame
The left-half of main frame arm 109 is movably mounted to, right material movement body frame is arranged on the right half part of main frame arm 109, left thing
Expect that grabbing device is arranged on the lower section of left material movement body frame, right material gripping device is arranged under right material movement body frame
Side.
Specifically, range of the left material movement body frame on main frame arm 109 is 1500mm, right material movement body frame exists
Range on main frame arm 109 is 1500mm.
Specifically, with reference to shown in figure 5, Fig. 6 and Fig. 7,6 materials are symmetrically arranged with each material gripping device 116
Sucker, wherein, each material sucker realizes the crawl of material by the way of negative pressure, and 6 material suckers can be simultaneously
Work.
With reference to shown in figure 5, Fig. 6 and Fig. 7, belt pulley 108 is arranged on the middle part of main frame arm 109, Z axis motor
101 output shaft is connected with the input shaft of decelerator 102, is adopted between the output shaft and belt pulley 108 of X-axis motor 106
Connected with belt, chute 115 is arranged on the front end face of main machine body 104, and sliding block 114 is movably mounted in chute 115, sliding block
114 lower end is fixed on main frame arm 109, wherein, sliding block 114 and chute 115 cooperate.
With reference to shown in figure 5, Fig. 6 and Fig. 7, sliding block 114 includes left slider and right sliding block, and chute 115 includes left chute and the right side
Chute, wherein, left chute is arranged on the left-half of main machine body 104, and right rail is arranged on the right half part of main machine body 104, left
Sliding block is movably mounted in left chute, and right sliding block is movably mounted in right rail, and the lower end of left slider is fixed on main frame arm
109 left-half, the lower end of right sliding block are fixed on the right half part of main frame arm 109.
The embodiment of the present invention provides a kind of automatic stamping transfer system with free-standing manipulator, including double feeding pieces
Material machine, free-standing manipulator and 500T punch presses, double feeding sheet stock machines are located at the front end of automatic stamping transfer system, free-standing machine
Tool hand is located at the both sides of 500T punch presses, and free-standing manipulator includes Z axis motor, decelerator, balance cylinder, main machine body, song
It is handle linkage, X-axis motor, air cleaner, belt pulley, main frame arm, lower fuselage, transition intermediate station, mounting seat, solid
Determine device, sliding block, chute, material gripping device, material movement body frame, contour post and Z axis drive cylinder；Double feeding sheet stock machines will
Material transmission is to after formulating position, and after catching material by the material gripping device of free-standing manipulator, electricity is driven in X-axis
Make platform movement under the drive of machine into centre, material is placed on transition intermediate station afterwards, then pass through the material of opposite side again
Material is moved to the opposite side of main frame arm by grabbing device from transition intermediate station, realizes material between the both sides of main frame arm
It is mobile, material can be subjected to next process from the material transmission on 500T punch presses before to next 500T punch press
Processing, and then the transfer and station alignment of material between Machine automated adjacent two procedures are realized, realize stamping procedure
Between material mechanization movement, avoid error that manual operation brings and the personal safety accident that operating personnel occurs, improve
The production efficiency of punch process.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (10)
- A kind of 1. automatic stamping transfer system with free-standing manipulator, it is characterised in that the automatic stamping transfer System includes double feeding sheet stock machine, free-standing manipulator and 500T punch presses, wherein, double feeding sheet stock machines are the double pan feedings of circulation Formula sheet stock machine, the maximum impact pressure of the 500T punch presses is 500 tons, and the range of the 500T punch presses is 350mm, described The maximum die set height of 500T punch presses is 600mm；Before double feeding sheet stock machines are located at the automatic stamping transfer system End, the free-standing manipulator are located at the both sides of the 500T punch presses, wherein, the free-standing manipulator includes Z axis driving electricity Machine, decelerator, balance cylinder, main machine body, toggle, X-axis motor, air cleaner, belt pulley, main frame arm, Lower fuselage, transition intermediate station, mounting seat, fixing device, sliding block, chute, material gripping device, material movement body frame, contour Post and Z axis drive cylinder.
- 2. automatic stamping transfer system according to claim 1, it is characterised in that the fixing device is arranged on described In mounting seat, the lower fuselage is arranged in the mounting seat, and the air cleaner is arranged on the lower fuselage, institute Transition intermediate station is stated in the mounting seat, the main machine body is arranged on the lower fuselage；The Z axis motor Installed in the upper end of the main machine body, the decelerator is arranged on the upper end of the lower fuselage, and the balance cylinder is arranged on institute The upper end of main machine body is stated, the toggle is arranged on the front end of the main machine body, and the X-axis motor is arranged on institute The front end of main machine body is stated, the main frame arm is arranged on the front end of the main machine body；The belt pulley is arranged on the main frame arm Middle part, the output shaft of the Z axis motor and the input axis connection of the decelerator, the X-axis motor it is defeated Shaft is connected with the belt pulley using belt, and the chute is arranged on the front end face of the main machine body, and the sliding block may move In the chute, the lower end of the sliding block is fixed on the main frame arm；The material moves body frame removable installation On the main frame arm, the lower end of the material movement body frame is provided with the material gripping device；The transition intermediate station is set It is equipped with the contour post and the Z axis drive cylinder.
- 3. automatic stamping transfer system according to claim 1, it is characterised in that the automatic stamping transfer system Including 1 double feeding sheet stock machine, 6 free-standing manipulators, 5 500T punch presses and 1 finished product transfer cart, its In, the 1st free-standing manipulator is arranged between double feeding sheet stock machines and the 1st 500T punch press, the 2nd institute State free-standing manipulator to be arranged between the 1st 500T punch press and the 2nd 500T punch press, the 3rd stand alone type Manipulator is arranged between the 2nd 500T punch press and the 3rd 500T punch press, and the 4th free-standing manipulator is set Put between the 3rd 500T punch press and the 4th 500T punch press, the 5th free-standing manipulator is arranged on the 4th Between the 500T punch presses and the 5th 500T punch press, the 6th free-standing manipulator is arranged on the 5th 500T Between punch press and the finished product transfer cart.
- 4. the free-standing manipulator according to any one of claim 1 ~ 3, it is characterised in that the material movement body frame includes Left material movement body frame and right material movement body frame, the material gripping device includes left material gripping device and right material captures Device, wherein, the left material movement body frame is movably mounted to the left-half of the main frame arm, the right material movement master Frame is arranged on the right half part of the main frame arm, and the left material gripping device is arranged under the left material movement body frame Side, the right material gripping device are arranged on the lower section of the right material movement body frame.
- 5. the free-standing manipulator according to any one of claim 1 ~ 3, it is characterised in that the material gripping device uses The mode of negative pressure realizes the crawl of material, wherein, the material gripping device includes 6 symmetrically arranged material suckers, described Material sucker realizes the crawl of material by the way of negative pressure.
- 6. the free-standing manipulator according to any one of claim 1 ~ 3, it is characterised in that the Z axis drive cylinder is used for The movement of the contour post in the Y-axis direction is realized, be provided with the transition intermediate station described at least two height identical etc. Gao Zhu.
- 7. free-standing manipulator according to claim 6, it is characterised in that the balance cylinder include left balance cylinder and Right balance cylinder, wherein, the left balance cylinder is arranged on the left-half of the main machine body, and the right balance cylinder is arranged on The right half part of the main machine body, the left balance cylinder and the right balance cylinder cooperate for adjusting the main frame arm Horizontality.
- 8. free-standing manipulator according to claim 7, it is characterised in that the sliding block includes left slider and right sliding block, The chute includes left chute and right rail, wherein, the left chute is arranged on the left-half of the main machine body, the right cunning Groove is arranged on the right half part of the main machine body, and the left slider is movably mounted in the left chute, and the right sliding block can Mobile to be arranged in the right rail, the lower end of the left slider is fixed on the left-half of the main frame arm, the right sliding block Lower end be fixed on the right half part of the main frame arm.
- 9. free-standing manipulator according to claim 2, it is characterised in that the free-standing manipulator is included described in 6 Fixing device, wherein, 3 fixing devices are arranged on the left side of the mounting seat, another 3 fixing device installations In the right side of the mounting seat.
- 10. free-standing manipulator according to claim 4, it is characterised in that the left material moves body frame in the master Range on horn is 1500mm, and range of the right material movement body frame on the main frame arm is 1500mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790559.2A CN107377799A (en) | 2017-09-05 | 2017-09-05 | A kind of automatic stamping transfer system with free-standing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790559.2A CN107377799A (en) | 2017-09-05 | 2017-09-05 | A kind of automatic stamping transfer system with free-standing manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN107377799A true CN107377799A (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710790559.2A Pending CN107377799A (en) | 2017-09-05 | 2017-09-05 | A kind of automatic stamping transfer system with free-standing manipulator |
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| Country | Link |
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| CN (1) | CN107377799A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109732364A (en) * | 2019-03-13 | 2019-05-10 | 佛山市佛沃机器人科技有限公司 | A kind of electric pressure cooking saucepan end automatic punching line |
| CN112008667A (en) * | 2020-07-22 | 2020-12-01 | 广东省建设工程质量安全检测总站有限公司 | A assembled support frame for prefabricated staircase performance detects |
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| CN203526380U (en) * | 2013-09-18 | 2014-04-09 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices |
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| CN109732364A (en) * | 2019-03-13 | 2019-05-10 | 佛山市佛沃机器人科技有限公司 | A kind of electric pressure cooking saucepan end automatic punching line |
| CN112008667A (en) * | 2020-07-22 | 2020-12-01 | 广东省建设工程质量安全检测总站有限公司 | A assembled support frame for prefabricated staircase performance detects |
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Application publication date: 20171124 |