CN103357777A - Three-dimensional manipulator transfer equipment for stamping equipment - Google Patents

Abstract

The invention relates to the technical field of stamping automation, in particular to a three-dimensional manipulator conveying device matched with stamping equipment, which comprises a clamp arm and a transmission main body, wherein the transmission main body comprises a rack, the rack is provided with a support arm, a lifting transmission mechanism capable of driving the support arm to move up and down and an opening and clamping transmission mechanism capable of driving the support arm to move inside and outside, the support arm is connected with the clamp arm in a sliding manner, the clamp arm is provided with a clamp capable of clamping a stamping piece, the support arm is provided with a left-right transverse movement transmission mechanism capable of driving the clamp arm to move left and right, the number of the support arm and the clamp arm are two, and the support arm and the clamp arm; the invention provides a three-dimensional manipulator transmission device for a stamping device, which can enable lifting transmission force to be more balanced, shorten the space occupied by a transverse moving transmission part and be matched with a large stamping device for use.

Description

Three-dimensional manipulator transfer equipment for stamping equipment

technical field

The invention relates to the technical field of stamping automation, in particular to a three-dimensional manipulator transfer equipment used in conjunction with stamping equipment.

Background technique

Stamping die is a process equipment for processing materials (metal or non-metal) into parts (or semi-finished products) in cold stamping processing, called cold stamping die (commonly known as cold stamping die). Stamping is a pressure processing method that uses a mold installed on a press to apply pressure to the material at room temperature to cause separation or plastic deformation to obtain the required stamping parts.

There are many forms of stamping dies. According to the degree of process combination, stamping dies include progressive dies (also called continuous dies) and single-process dies. The progressive dies have two or more stations in the feeding direction of the blank. In one stroke of the press, two or more stamping processes are completed successively at different stations. This kind of mold has high production efficiency and can be continuously produced. The single-process mold is a mold that only completes one stamping process in one stroke of the press, and the production efficiency of this kind of mold is low.

For some stamping parts, due to the limitation of its own structure, multiple single-process molds can only be used for independent production. Some three-axis transfer manipulators that can transfer stamping parts are also disclosed in the prior art, but the following defects generally exist:

(1) Since the main force of the lifting transmission is in the center of the main equipment, and the end (load) of the transmission part is relatively large in size relative to the center of the main body, it will cause an imbalance of the transmission force at both ends of the main body, and when there is a gap in the transmission part , it will cause the end of the transmission part to shake and become unstable;

(2) The existing traversing transmissions are all independent transmissions. When the traversing transmission step is large, the size of the swaying transmission part is large, which requires a large installation space and must bear a large moment of inertia;

(3) The size of the large stamping equipment is large and the workpiece is heavy, resulting in a large installation span of the aluminum profile clamp arm for transmission. The aluminum profile clamp arms currently on the market are generally small and not suitable for the transmission of large stamping parts.

Contents of the invention

In order to solve the above technical problems, the present invention provides an innovative transmission structure for the three-dimensional manipulator transmission equipment of stamping equipment, which can make the force of lifting and lateral transmission more balanced, greatly shorten the space occupied by the lateral transmission part, and can For use with large stamping equipment.

In order to achieve the above purpose, the three-dimensional manipulator transmission equipment used in the stamping equipment of the present invention mainly adopts the following technical solutions:

A three-dimensional manipulator transfer device for stamping equipment, including a clamp arm and a transmission main body, the transmission main body includes a frame, and the frame is provided with a support arm, an elevating transmission mechanism that can drive the support arm to move up and down, and a drive mechanism that can drive the support arm. An externally moving clip opening transmission mechanism, the support arm is slidingly connected with the clamp arm, the clamp arm is equipped with a clamp that can clamp the stamping part, and the support arm is provided with a left and right lateral movement transmission mechanism that can drive the clamp arm to move left and right. The number of the support arms and the clamp arms are two, and the support arms and the clamp arms are symmetrically arranged on the front and rear sides of the frame.

Preferably, the number of the transmission main body is two, and the two transmission main bodies are respectively symmetrically installed on the material inlet and the material outlet of the punching equipment.

Preferably, the lifting transmission mechanism includes a first lifting transmission screw rod, a second lifting transmission screw rod installed on the frame, and a lifting transmission motor that can drive the first lifting transmission screw rod and the second lifting transmission screw rod to rotate synchronously, The first lifting drive screw is threaded with the first lifting nut seat, the second lifting drive screw is threaded with the second lifting nut seat, and the first lifting nut seat and the second lifting nut seat are both horizontally installed with the first linear guide rail , the two support arms are respectively fixedly connected with the slider of the first linear guide rail.

Preferably, the lifting transmission mechanism further includes several lifting load balancing cylinders installed on the frame, and the piston rods of the several lifting load balancing cylinders are fixedly connected to the first lifting nut seat and the second lifting nut seat respectively.

Preferably, the clip-opening transmission mechanism includes a left-handed screw mandrel, a right-handed screw mandrel mounted on the frame, and an unclamping transmission motor that can drive the left-handed screw mandrel and the right-handed screw mandrel to rotate synchronously. Clamp nut seat, the right-handed screw thread is connected with the right-handed open clamp nut seat, the two support arms are vertically installed with the second linear guide rail, the left-handed open clamp nut seat and the right-handed open clamp nut seat are respectively connected with the second linear guide rail The slider is fixedly connected.

Preferably, the left and right traversing transmission mechanism includes a synchronous pulley mounted on the support arm and a traversing transmission motor that can drive the synchronous pulley to rotate. The outer surface of the synchronous pulley is wound with a synchronous belt. Mesh with each other, and the two ends of the synchronous belt are respectively fixedly connected with the left and right ends of the clamp arm.

Preferably, the two clamp arms are horizontally installed with a third linear slide rail, and the two support arms are respectively fixedly connected to the sliders of the third linear slide rail.

Preferably, the three-dimensional manipulator transmission equipment used for stamping equipment also includes a fixed plate that can be installed on the stamping equipment, the fixed plate is vertically installed with a fourth linear guide rail, the slider of the fourth linear guide rail is fixedly connected with the frame, and fixed The board is also provided with a complete machine lifting transmission mechanism that can drive the frame to slide up and down along the fourth linear guide rail.

Preferably, the whole machine lifting transmission mechanism includes a worm gear and worm lift installed on the fixed plate and a whole machine lifting transmission motor, the worm gear and worm lift includes a horizontal direction input shaft and a vertical direction output screw rod, the motor shaft of the whole machine lifting transmission motor and The horizontal input shaft of the worm lift is driven and connected, and the vertical output screw of the worm lift is fixedly connected with the frame.

Preferably, the clamp arm is provided with a first clamp arm and a second clamp arm which can be connected to each other, and the connecting ends of the first clamp arm and the second clamp arm are respectively provided with a base and a connecting seat, and the base is equipped with an oil cylinder or The cylinder, oil cylinder or the piston rod of the cylinder is connected with a positioning block, and the center of the base is provided with a through hole for inserting the positioning block. The positioning block is provided with a first rotating surface whose outer diameter gradually decreases from left to right. The base is slidably connected with a number of limit blocks, the limit block is provided with a second revolving surface whose shape is compatible with the first revolving surface, the second revolving surface of the limit block is slidably connected with the first revolving surface of the positioning block, and the connection The seat is provided with a limit slot, and when the first clamp arm is connected to the second clamp arm, several limit blocks abut against the limit slot.

The following is a brief description of the working principle of the three-dimensional manipulator transfer equipment used in stamping equipment according to the present invention:

A three-dimensional manipulator transfer device for stamping equipment, including a clamp arm and a transmission main body, the transmission main body includes a frame, and the frame is provided with a support arm, an elevating transmission mechanism that can drive the support arm to move up and down, and a drive mechanism that can drive the support arm. An externally moving clip opening transmission mechanism, the support arm is slidingly connected with the clamp arm, the clamp arm is equipped with a clamp that can clamp the stamping part, and the support arm is provided with a left and right lateral movement transmission mechanism that can drive the clamp arm to move left and right. The number of the support arms and the clamp arms are two, and the support arms and the clamp arms are symmetrically arranged on the front and rear sides of the frame. Wherein, the two support arms arranged symmetrically can respectively drive the two clamp arms to move up and down and in and out synchronously, and the two clamp arms can respectively move left and right along the two support arms synchronously under the drive of the left and right traversing transmission mechanism. Specifically, the three-dimensional manipulator transmission equipment used in the stamping equipment of the present invention is installed at the feed port of the stamping equipment, and the working table inside the stamping equipment is equipped with a single-process (or multi-process) mold, and the slider of the stamping equipment drives the single-process The (or multi-process) mold performs stamping and forming on the material. In the single-process (or multi-process) mold's one-time stamping and forming process, the action process of the three-dimensional manipulator transfer equipment used in the stamping equipment of the present invention is as follows: 1. One-time stamping and forming After completion, the slider of the stamping equipment drives the single-process mold to open; 2. The clip-opening transmission mechanism drives the two support arms to move inward synchronously, and the two support arms drive the two clamp arms to also move inward synchronously. The upper symmetrical fixture clamps the stamping parts; 3. The lifting transmission mechanism drives the two support arms to drive the two fixture arms to move upwards synchronously until the stamping part breaks away from the single-process mold; 4. The left and right lateral movement transmission mechanism set on the support arm drives The two clamp arms move to the right synchronously, and the two clamp arms drive the clamp to move from the position of the first stamping process to the position of the second stamping process. At this time, the stamping part is located above the second stamping process; 5. The lifting transmission mechanism drives the two The support arm drives the two fixture arms to move downward synchronously until the stamping part is at the stamping position of the single-process mold; 6. The clamping transmission mechanism drives the two support arms to move outward synchronously, and the two support arms drive the two fixture arms to also synchronize Moving outward, the symmetrically arranged fixtures on the two fixture arms loosen the stamping parts; 7. The left and right traversing transmission mechanism drives the two fixture arms to move synchronously to the left, and the two fixture arms drive the fixture back from the position of the second stamping process to The location of the first stamping process. 8. The slider of the stamping equipment drives the single-process mold to close and stamps the stamping parts, and a working cycle of the stamping parts ends.

The beneficial effects of the present invention for the three-dimensional manipulator transmission equipment used in stamping equipment are: through the provided lifting transmission mechanism, clamp opening transmission mechanism and left and right lateral movement transmission mechanism, the two clamp arms can be driven to move up and down, in and out, and left and right respectively, The two fixture arms can move three-dimensionally along the X-axis, Y-axis and Z-axis, realizing the synchronous movement of the stamping parts between the molds of each station in the stamping equipment following the angle of the crankshaft of the stamping equipment, fully automatic continuous operation, instead of manual The feeding action improves the production efficiency, effectively prevents the occurrence of industrial accidents, and improves the safe use performance of the present invention; in addition, two support arms are used to drive the clamp arm to move up and down, in and out, and left and right, so that the entire transmission structure can be lifted up and down. During the transmission process, the force is more balanced and reliable, reducing local stress concentration; by setting the left and right lateral movement transmission mechanism on the support arm to drive the fixture arm to move left and right, the support arm does not have to move left and right with the fixture arm, reducing the transmission load. The space occupied by the left and right traversing transmission mechanism is shortened; and the clamp arm can be used in conjunction with large stamping equipment.

Description of drawings

Fig. 1 is a schematic diagram of the assembly of the three-dimensional manipulator transfer equipment and the stamping equipment used in the stamping equipment according to the present invention.

Fig. 2 is a schematic perspective view of the transmission body of the present invention.

Fig. 3 is a top structural schematic view of the transmission main body of the present invention.

FIG. 4 is a schematic diagram of an enlarged structure at A in FIG. 3 .

Fig. 5 is a schematic diagram of the internal structure of the transmission main body of the present invention.

Fig. 6 is a schematic diagram of the internal structure of the transmission main body of the present invention from another angle.

FIG. 7 is a schematic diagram of an enlarged structure at B in FIG. 6 .

FIG. 8 is a schematic diagram of an enlarged structure at point C in FIG. 6 .

Fig. 9 is a schematic structural view of the clip-opening transmission mechanism of the present invention.

FIG. 10 is a schematic diagram of an enlarged structure at D in FIG. 9 .

Fig. 11 is a schematic diagram of an exploded structure of the joint of the first clamp arm and the second clamp arm of the present invention.

Explanation of symbols in the figure: 1. Stamping equipment, 2. Fixture arm, 3. Transmission main body, 4. Support arm, 5. Fixture, 6. Frame, 7. First lifting transmission screw rod, 8. Second lifting transmission wire Rod, 9, lifting transmission motor, 10, the first lifting nut seat, 11, the second lifting nut seat, 12, the first linear guide rail, 121, the slide block of the first linear guide rail, 13, the lifting load balance cylinder, 14, left-handed screw mandrel, 15, right-handed screw mandrel, 16, unclip drive motor, 17, left-handed unclamp nut seat, 18, right-handed unclamp nut seat, 19, second linear guide rail, 191, second linear guide rail slider, 20, synchronous pulley, 21, traverse transmission motor, 22, lifting linear guide rail, 23, synchronous belt, 24, idler wheel, 25, third linear slide rail, 251, slide of the third linear slide rail Block, 26, fixed plate, 27, the fourth linear guide rail, 271, the slide block of the fourth linear guide rail, 28, oil cylinder, 29, base, 291, through hole, 292, the fifth mortise, 30, positioning block, 301 , the first rotary surface, 31, the limit block, 311, the second rotary surface, 32, the connecting seat, 321, the limit slot, 33, the lifting drive motor of the whole machine, 34, the clamping linear guide rail, 35, the first clamp Arm, 36, second clamp arm.

Detailed ways

The up and down, inside and outside, front and rear, and left and right mentioned in the present invention are all based on the orientation in FIG. 1 .

As shown in Figures 1 to 11, a three-dimensional manipulator transfer device for stamping equipment includes a clamp arm 2 and a transmission body 3, the transmission body 3 includes a frame 6, and the frame 6 is provided with a support arm 4, which can The lifting transmission mechanism that drives the support arm 4 to move up and down and the clamping transmission mechanism that can drive the support arm 4 to move in and out, the support arm 4 is slidingly connected with the clamp arm 2, and the clamp arm 2 is equipped with a clamp 5 that can clamp the stamping parts , the support arm 4 is provided with a left and right lateral movement transmission mechanism that can drive the clamp arm 2 to move left and right, the number of the support arm 4 and the clamp arm 2 is two, and the support arm 4 and the clamp arm 2 are symmetrically arranged on the machine. The front and back sides of frame 6. Among them, the two support arms 4 arranged symmetrically can respectively drive the two clamp arms 2 to move up and down synchronously and move in and out. slide. Specifically, the three-dimensional manipulator transmission equipment used in stamping equipment of the present invention is installed on the feed port/discharge port of stamping equipment 1, the working table inside stamping equipment 1 is equipped with a single-process mold, and the slider of stamping equipment 1 Drive the single-process mold to press and form the material. In the single-process mold's one-time stamping and forming process, the action process of the three-dimensional manipulator transfer equipment used in the stamping equipment of the present invention is as follows: 1. After the first stamping and forming, the slide of the stamping equipment 1 The block drives the single-process mold to open; 2. The clip-opening transmission mechanism drives the two support arms 4 to move inward synchronously, and the two support arms 4 drive the two clamp arms 2 to also move inward synchronously, and the two clamp arms 2 pass through them symmetrically. The set fixture 5 clamps the stamping part; 3. The lifting transmission mechanism drives the two support arms 4 to drive the two fixture arms 2 to move upwards synchronously until the stamping part breaks away from the single-process mold; 4. The left and right lateral movement transmission set on the support arm 4 The mechanism drives the two clamp arms 2 to move to the right synchronously, and the two clamp arms 2 drive the clamp 5 to move from the position of the first stamping process to the position of the second stamping process. At this time, the stamping part is located above the second stamping process; 5. Lifting The transmission mechanism drives the two support arms 4 to drive the two clamp arms 2 to move downward synchronously until the stamping part is located at the stamping position of the single-process mold; 6. The clip-opening transmission mechanism drives the two support arms 4 to move outward synchronously, and the two supports The arm 4 drives the two clamp arms 2 to move outward synchronously, and the clamps 5 arranged symmetrically on the two clamp arms 2 release the stamping parts; The clamp arm 2 drives the clamp 5 to move back from the position of the second stamping process to the position of the first stamping process. 8. The slider of the stamping equipment 1 drives the single-process mold to close and stamps the stamping parts, and one working cycle of the stamping parts ends. The three-dimensional manipulator transmission equipment used in the stamping equipment of the present invention is provided with a motion controller and an encoder. The encoder is installed in the stamping equipment 1 and connected to the crankshaft of the stamping equipment 1. The encoder is mainly used to follow the angular position of the crankshaft. The encoder converts the angular displacement of the crankshaft during a stamping stroke into a pulse signal and sends it to the motion controller. , clamping transmission mechanism and left and right traversing transmission mechanism respectively control the up and down, in and out, and left and right movements of the stamping parts after receiving the signal, so as to realize the clamping, lifting, traversing feeding, descending and releasing of the stamping parts in one stamping stroke Each action of feeding, opening and returning, cooperates with stamping equipment 1 to realize automatic production. Through the set up and down transmission mechanism, clamp opening transmission mechanism and left and right lateral movement transmission mechanism, the two clamp arms 2 can be respectively driven to move up and down, inside and outside, and left and right. The two clamp arms 2 can move along the X axis, Y axis and Z axis. The three-dimensional movement of the space realizes the synchronous movement of the stamping parts between the molds of each station in the stamping equipment 1 following the angle of the crankshaft of the stamping equipment 1, and the fully automatic continuous operation operation replaces the manual feeding action, which improves production efficiency and effectively prevents work-related injuries The occurrence of the accident has improved the safe use performance of the present invention; in addition, two support arms 4 are used to drive the clamp arm 2 to move up and down, in and out, and left and right, so that the stamping parts are more evenly stressed during the lifting and driving process, reducing the Local stress concentration; by setting the left and right traversing transmission mechanism on the support arm 4 to drive the fixture arm 2 to move left and right, the support arm 4 does not have to move left and right with the fixture arm 2, which reduces the transmission load and shortens the occupied time of the left and right traversing transmission mechanism. space; and the clamp arm 2 can be used in conjunction with the large stamping equipment 1.

The number of the transmission main bodies 3 is two, and the two transmission main bodies 3 are respectively symmetrically installed on the material inlet and the material outlet of the punching equipment 1 . Specifically, the two transmission bodies 3 can synchronously drive the two clamp arms 2 to move up and down, in and out, and left and right respectively. Since the two transmission bodies 3 are symmetrically installed on the feed port and the discharge port of the stamping equipment 1, each At this time, the clamp arm 2 has two support arms 4 symmetrically connected left and right, so that the force of the single clamp arm 2 is more balanced, the load of each transmission part is balanced, the local stress concentration of the clamp arm 2 is reduced, and the clamp arm is strengthened. 2 Stability during left and right sliding.

The lifting transmission mechanism includes a first lifting transmission screw mandrel 7, a second lifting transmission screw mandrel 8 installed on the frame, and a lifting transmission motor that can drive the first lifting transmission screw mandrel 7 and the second lifting transmission screw mandrel 8 to rotate synchronously. 9. The lifting transmission motor 9 is installed in the middle position between the first lifting transmission screw rod 7 and the second lifting transmission screw rod 8. Specifically, the main shaft of the lifting transmission motor 9, the first lifting transmission screw rod 7 and the second lifting transmission screw rod The outer surface of the rod 8 is equipped with a lifting synchronous pulley, and the outer side of the lifting synchronous pulley is wound with a synchronous belt; the lifting transmission motor 9 drives the first lifting transmission screw mandrel 7 and the second lifting transmission screw mandrel 8 synchronously through the synchronous belt. Rotate, the first lifting drive screw mandrel 7 is threadedly connected with the first lifting nut seat 10, the second lifting drive screw mandrel 9 is threadedly connected with the second lifting nut seat 11, the first lifting drive screw mandrel 7 is connected with the first lifting nut seat 10 And the second lifting transmission screw mandrel 8 and the second lifting nut seat 11 form the screw mandrel nut structure respectively, when the first lifting transmission screw mandrel 7 and the second lifting transmission screw mandrel 8 synchronously rotate, the first lifting nut seat 10 and the second lifting nut seat 10 Two elevating nut seats 11 slide vertically along the first elevating drive screw mandrel 7 and the second elevating drive screw mandrel 8 respectively; The two support arms 4 are respectively fixedly connected to the sliders 121 of the first linear guide rail 12 . Specifically, through the first linear guide rail 12 installed horizontally, the two support arms 4 and the nut seat are fixed to each other in the vertical direction, that is, the two support arms 4 are hung on the nut seat respectively, and the first lifting nut seat 10 and the second nut seat The two lifting nut seats 11 can respectively drive the two supporting arms 4 to slide up and down together, and the two supporting arms 4 drive the clamp arm 2 to slide up and down together, thereby realizing the function of the lifting transmission mechanism driving the supporting arms 4 to move up and down. The two support arms 4 are hung and installed in the vertical direction, which can save installation space and reduce the volume of the three-dimensional manipulator transmission equipment used in the stamping equipment of the present invention; Driven to move in and out along the first linear guide rail 12, so that the up and down sliding and in and out sliding of the two support arms 4 do not interfere with each other.

The lifting transmission mechanism also includes some lifting linear guide rails 22 vertically installed on the frame 6, the first lifting nut seat 10 and the second lifting nut seat 11 are respectively fixedly connected with the slide blocks of some lifting linear guide rails 22, and some lifting linear guide rails 22 can provide good guidance and support for the up and down movement of the support arm 4.

The lifting transmission mechanism also includes several lifting load balancing cylinders 13 installed on the frame 6, and the piston rods of the lifting load balancing cylinders 13 are fixedly connected to the first lifting nut seat 10 and the second lifting nut seat 11 respectively. Specifically, the first lifting nut seat 10 and the second lifting nut seat 11 are suspended with a support arm 4 and a clamp arm 2, and the support arm 4 and the clamp arm 2 will give the first lifting nut seat 10 and the clamp arm 2 under the action of their own gravity The second lifting nut seat 11 exerts a downward pulling force. When the lifting drive motor 9 is running, it will be very easy when the first lifting nut seat 10 and the second lifting nut seat 11 move downward. When the first lifting nut seat 10 and the second lifting nut seat 11 move downward Can be very strenuous again when the second elevating nut seat 11 moves upwards. Through several lifting load balancing cylinders 13 provided, several lifting load balancing cylinders 13 will apply an upward force to the first lifting nut seat 10 and the second lifting nut seat 11 respectively, to offset the influence of self gravity, so that the first lifting nut The force on the vertical direction of the seat 10 and the second lifting nut seat 11 is balanced, so that the lifting drive motor 9 can drive the first lifting nut seat 10 and the second lifting nut seat 11 to move up and down stably and continuously, reducing the load , Reduce energy consumption and increase the service life of parts.

The clip-opening transmission mechanism includes a left-handed screw mandrel 14 installed on the frame 6, a right-handed screw mandrel 15, and an unclamping transmission motor 16 that can drive the left-handed screw mandrel 14 and the right-handed screw mandrel 15 to rotate synchronously. Installed in the middle position of the left-handed screw mandrel 14 and the right-handed screw mandrel 15, specifically, the left-handed screw mandrel 14 and the right-handed screw mandrel 15 are connected into a whole through a coupling and a connecting shaft, and the connecting shaft and the unclamping transmission motor 16 The main shaft is evenly covered with a timing belt pulley for opening and closing, and a timing belt is wound around the outside of the opening and closing timing belt pulley. The opening and clamping drive motor 16 drives the left-handed screw mandrel 14 and the right-handed screw mandrel 15 to rotate synchronously through the synchronous belt, and the left-handed screw mandrel 14 The thread is connected with a left-handed nut seat 17, and the right-handed screw thread 15 is connected with a right-handed nut seat 18, and the left-handed screw mandrel 14 is connected with the left-handed nut seat 17 and the right-handed screw rod 15 is connected with the right-handed nut seat. 18 respectively form the screw nut structure, because the screw teeth of the left-handed screw mandrel 14 and the right-handed screw mandrel 15 are opposite, when the left-handed screw mandrel 14 and the right-handed screw mandrel 15 rotate synchronously, the left-handed screw mandrel 17 and the right-handed screw mandrel 15 rotate synchronously. The nut seat 18 slides inwards or outwards synchronously along the left-handed screw mandrel 14 and the right-handed screw mandrel 15; The nut seats 18 are respectively fixedly connected with the sliders 191 of the second linear guide rail 19 . Specifically, through the second linear guide rail 19 installed vertically, the two support arms 4 and the nut seats are fixed to each other in the horizontal direction, that is, the left-handed nut seat 17 and the right-handed nut seat 18 can drive the two support arms respectively. 4 slide in and out together, and the two support arms 4 drive the clamp arm 2 to move in and out together, thereby realizing the function of the unclamp transmission mechanism driving the support arm 4 to move in and out; Driven to move up and down along the second linear guide rail 19, so that the inward and outward sliding and up and down sliding of the two support arms 4 do not interfere with each other.

Described unclip driving mechanism also comprises some unclamp linear guide rails 34 that are horizontally installed on frame 6, and left-handed unclamp nut seat 17 and right-handed unclamp nut seat 18 are respectively fixedly connected with the slide block of some unclamp linear guide rails 34, Several unclamping linear guide rails 34 can provide good guidance and support for the inward and outward movement of the support arm 4 .

The left and right traversing transmission mechanism includes a synchronous pulley 20 installed on the support arm 4 and a traversing transmission motor 21 that can drive the rotation of the synchronous pulley 20. The outer surface of the synchronous pulley 20 is wound with a synchronous belt 23, 20 and the synchronous belt 23 mesh with each other, and the two ends of the synchronous belt 23 are fixedly connected with the left and right ends of the clamp arm 2 respectively. Specifically, the traversing transmission motor 21 is driven and connected with the synchronous pulley 20 through the gear reducer provided, the traversing transmission motor 21 drives the synchronous pulley 20 to rotate, the synchronous pulley 20 and the synchronous belt 23 mesh with each other, and the synchronous pulley 20 drives The synchronous belt 23 moves together. When the traverse transmission motor 21 rotates forward, the synchronous belt 23 drives the clamp arm 2 to move to the left. When the traverse transmission motor 21 reverses, the synchronous belt 23 drives the clamp arm 2 to move to the right, thereby realizing The left and right traversing transmission mechanism drives the clamp arm 2 to move left and right. Through the synchronous belt pulley 20 and the synchronous belt 23 provided, the gripper arm 2 moves more smoothly when it moves left and right, and the synchronization of the two gripper arms 2 is better; in addition, the two support arms 4 drive the gripper arm 2 to move at the same time, which can bear a balanced load. The inertial force of the clamp arm 2 during movement improves the movement stability of the clamp arm 2 .

The support arm 4 is also equipped with two idler pulleys 24, and the two idler pulleys 24 are symmetrically installed on both sides of the synchronous pulley 20 respectively. The transmission direction of the synchronous belt 23 can be changed by setting the two idlers 24, and the position of the synchronous belt 23 can also be positioned at the same time to prevent the jig arm 2 from shifting during the movement and enhance the left and right movement of the jig arm 2 of stability.

The two clamp arms 4 are horizontally installed with a third linear slide rail 25 , and the two support arms 4 are respectively fixedly connected with the sliders 251 of the third linear slide rail 25 . Specifically, the clamp arm 2 can move left and right along the support arm 4 through the third linear slide rail 25 installed horizontally, and the third linear slide rail 25 can effectively position and pre-guid the clamp arm 2 to prevent the clamp arm 2 from moving Offset occurs during the process, which enhances the stability of the clamp arm 2 moving left and right.

The three-dimensional manipulator transmission equipment used for stamping equipment also includes a fixed plate 26 that can be installed on the stamping equipment 1, the fixed plate 26 is vertically installed with a fourth linear guide rail 27, the slider 271 of the fourth linear guide rail 27 and the frame 6 Fixedly connected, the fixed plate 26 is also provided with a complete machine lifting transmission mechanism that can drive the frame 6 to slide up and down along the fourth linear guide rail 27 . Specifically, the lifting transmission mechanism of the whole machine can drive the frame 6 to move up and down along the fourth linear guide rail 27, and the lifting transmission mechanism, the clamping transmission mechanism and the left and right lateral movement transmission mechanism are all installed on the frame 6 and can be connected with the frame 6. Move up and down together; through the set up and down transmission mechanism of the whole machine, the vertical stroke displacement of the two clamp arms 2 is increased, so that the present invention can be applied to stamping equipment with a larger stroke, and the three-dimensional dimension of the present invention for stamping equipment is increased The range of use of the manipulator transfer equipment; in addition, when the worktable and mold of the stamping equipment 1 move as a whole, the lifting transmission mechanism of the whole machine can drive the clamp arm 2 to move up and down, and the clamp arm 2 can be smoothly avoided without disassembly. Enhanced its practical performance.

Preferably, the whole machine lifting transmission mechanism includes a worm gear and worm elevator installed on the fixed plate 26 and a whole machine lifting transmission motor 33, the worm gear and worm elevator includes a horizontal direction input shaft and a vertical direction output screw, and the motor of the whole machine lifting transmission motor The shaft is drivingly connected to the horizontal input shaft of the worm elevator, and the vertical output screw of the worm elevator is fixedly connected to the frame. When the whole machine lifting transmission motor 33 rotates, the whole machine lifting transmission motor 33 passes through the worm elevator driving machine. Frame 6 moves up and down.

The clamp arm 2 is provided with a first clamp arm 35 and a second clamp arm 36 that can be connected to each other, and the connecting ends of the first clamp arm 35 and the second clamp arm 36 are respectively provided with a base 29 and a connecting seat 32, and the base 29 is equipped with an oil cylinder 28, the piston rod of the oil cylinder 28 is connected with a positioning block 30, the center of the base 29 is provided with a through hole 291 for the insertion of the positioning block 30, and the positioning block 30 is provided with a diameter gradually decreasing from left to right The base 29 is also provided with a number of limit blocks 31, specifically, a number of limit blocks 31 are symmetrically arranged on the base 29, and the limit block 31 is provided with a shape corresponding to the first revolving surface 301. Adapted to the second turning surface 311, the second turning surface 311 of the limiting block 31 is slidingly connected with the first turning surface 301 of the positioning block 30. Specifically, the base 29 is also provided with a fifth socket 292, and the limiting block 31 is provided with There is a fifth mortise block 312 that can be inserted into the fifth mortise 292. The limit block 31 is slidably connected to the base 29. The connecting seat 32 is provided with a limit groove 321. When the first clamp arm 35 is connected to the second clamp arm 36 , several limit blocks 31 abut against the limit groove 321 . Specifically, the connecting ends of the first clamp arm 35 and the second clamp arm 36 are respectively provided with a base 29 and a connecting seat 32. When connecting, the base 29 and the connecting seat 32 are docked, and several limit blocks 31 provided on the base 29 are inserted and connected. The limit groove 321 of the seat 32, at this time the oil cylinder 28 starts to move, the piston rod of the oil cylinder 28 drives the positioning block 30 to move to the right, the first rotary surface 301 provided on the positioning block 30 and the second rotary surface 311 of the limit block 31 Slidingly connected, several limit blocks 31 move outwards along the fifth socket 292 under the drive of the positioning block 30, until some limit blocks 31 touch the inner surface of the limit groove 321, and some symmetrically arranged limit blocks 31 give The limiting groove 321 of the connecting seat 32 exerts an outward tension, so that the lateral friction between the connecting seat 32 and the limiting block 31 increases, and the connecting seat 32 is tightly fixed by several limiting blocks 31, thereby realizing Fixed connection of the first clamp arm 35 and the second clamp arm 36 . Wherein, the outer shape of the positioning block 30 can also be a wedge shape, and the same function and effect as that of the first rotating surface 301 can be achieved by setting the wedge shape, which will not be repeated here. Through the automatic connection device, when changing the mold, it can realize fully automatic operation, save the mold changing time and improve the work efficiency.

The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so all equivalent changes or modifications made according to the structure, features and principles described in the patent scope of the present invention should be Included in the patent application scope of the present invention.

Claims (10)

1. three-D manipulator transfer equipment that is used for pressing equipment, comprise clip arm and transmission main body, the transmission main body comprises frame, it is characterized in that, described frame is provided with support arm, the elevating drive mechanism that support arm moves up and down can be driven and the inside and outside mobile folder transmission mechanism of opening of support arm can be driven, support arm and clip arm are slidingly connected, clip arm is equipped with the anchor clamps that can carry out to stamping parts clamping, described support arm is provided with the transverse moving left and right transmission mechanism that can drive the clip arm move left and right, the quantity of described support arm and clip arm is two, and support arm and clip arm all are symmetricly set in the both sides, front and back of frame.

2. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1 is characterized in that, the quantity of described transmission main body is two, and two transmission main bodys are symmetrical charging aperture and the discharging opening that is installed on pressing equipment respectively.

3. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described elevating drive mechanism comprises the first lifting drive lead screw that is installed on frame, the second lifting drive lead screw and can drive the first lifting drive lead screw and the lifting driving motor of the second lifting drive lead screw synchronous rotary, the first lifting drive lead screw first lifting nut seat that has been threaded, the second lifting drive lead screw second lifting nut seat that has been threaded, the first lifting nut seat and the second lifting nut seat all are horizontally installed with the first line slideway, and two support arms are fixedly connected with the slide block of the first line slideway respectively.

4. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 3, it is characterized in that, described elevating drive mechanism also comprises the some lifting load balance cylinders that are installed on frame, and the piston rod of some lifting load balance cylinders is fixedly connected with the second lifting nut seat with the first lifting nut seat respectively.

5. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described open the folder transmission mechanism comprise left-handed screw mandrel, the dextrorotation screw mandrel that is installed on frame and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open the folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, the dextrorotation wire rod thread is connected with dextrorotation and opens the folder nut seat, two support arms all are vertically installed with the second line slideway, left-handedly open folder nut seat and dextrorotation and open the folder nut seat and be fixedly connected with the slide block of the second line slideway respectively.

6. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, the traversing driving motor that described transverse moving left and right transmission mechanism comprises the synchronous pulley that is installed on support arm and can drive the synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, and the two ends of Timing Belt are fixedly connected with the two ends, the left and right sides of clip arm respectively.

7. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 6 is characterized in that, described two clip arms all are horizontally installed with the 3rd line slide rail, and two support arms are fixedly connected with the slide block of the 3rd line slide rail respectively.

8. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described three-D manipulator transfer equipment for pressing equipment also comprises the fixed head that can be installed on pressing equipment, fixed head is vertically installed with the 4th line slideway, the slide block of the 4th line slideway is fixedly connected with frame, but fixed head also is provided with the complete machine elevating drive mechanism that drive chassis slides up and down along the 4th line slideway.

9. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 8, it is characterized in that, described complete machine elevating drive mechanism comprises worm and gear lift and the complete machine lifting driving motor that is installed on fixed head, the worm and gear lift comprises horizontal direction power shaft and vertical direction output screw mandrel, the motor shaft of complete machine lifting driving motor drives with the horizontal direction power shaft of worm and gear lift and is connected, and the vertical direction output screw mandrel of worm and gear lift is fixedly connected with frame.

10. the three-D manipulator transfer equipment for pressing equipment as claimed in claim 1, it is characterized in that, described clip arm is provided with can interconnective the first clip arm and the second clip arm, the link of the first clip arm and the second clip arm is respectively equipped with base and Connection Block, described floor installation has oil cylinder or cylinder, the piston rod of oil cylinder or cylinder is connected with locating piece, the centre of base is provided with one can be for the through hole of locating piece insertion, described locating piece is provided with first surface of revolution that an external diameter reduces from left to right gradually, described base sliding is connected with some limited blocks, limited block is provided with second surface of revolution that outer shape and first surface of revolution adapt, second surface of revolution of limited block and first surface of revolution of locating piece are slidingly connected, described Connection Block is provided with stopper slot, when the first clip arm was connected with the second clip arm, some limited blocks were supported stopper slot.

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