CN114130914B - Single-arm robot stamping and carrying equipment - Google Patents

Abstract

The invention discloses a stamping and conveying equipment of a single-arm robot, which comprises: a workbench; an outer stamping frame, vertically fixed on one side of the upper end surface of the workbench; a bearing plate, arranged laterally on the upper end surface of the workbench , the drive chain plate is symmetrically arranged on the workbench, and one end of the drive chain plate is connected and fixed with the carrying plate, and drives the carrying plate to slide horizontally; the steering and handling assembly can be erected vertically in a relatively rotatable At one end of the workbench; the external adsorption fixing device is vertically arranged on the upper end of the steering and conveying assembly, and is used to adsorb and fix the punched sheet; and the air supply separation assembly is symmetrically arranged on the outer adsorption fixing device The positions on both sides of the lower end face.

Description

A single-arm robot punching and handling equipment

technical field

The invention belongs to the technical field of stamping equipment for plates, in particular to a single-arm robot stamping and conveying equipment.

Background technique

At present, it is often necessary to use machines to replace human operations in the stamping, handling and placement of model plate punching machines to reduce the risk of personal operations. However, due to the small forming space of the flexible sheet punching machine and high precision requirements, precise alignment is required during the handling process; at the same time, due to the flexible sheet design, it is difficult to change the film during the general handling process, among which the adsorption effect of the sheet is relatively prominent , causing it to be prone to sticking during the taking process. Excessive force to take the film can easily lead to direct rupture of the stamped sheet, which seriously affects production efficiency. At the same time, especially when the stamped sheet is fixed, its surface is easily difficult due to stamping deformation Adsorption fixation. Therefore, those skilled in the art provide a single-arm robot punching and conveying equipment to solve the problems raised in the above-mentioned background technology.

Contents of the invention

In order to achieve the above object, the present invention provides the following technical solution: a single-arm robot stamping and handling equipment, which includes:

workbench;

The outer stamping frame is vertically fixed on one side of the upper end surface of the workbench;

The carrying plate is arranged horizontally on the upper end surface of the workbench, and the drive chain plate is symmetrically arranged on the workbench, and one end of the drive chain plate is connected and fixed to the carrying plate, and drives the carrying plate slide;

Turn to the handling assembly, which can be relatively rotatable and vertically erected at one end of the workbench;

The external adsorption fixing device is vertically arranged on the upper end of the steering and conveying assembly, and is used for adsorbing and fixing the punched sheet; and

The air supply separation components are arranged symmetrically on both sides of the lower end surface of the external adsorption fixing device.

Further, as a preference, the steering and handling assembly includes:

Accept the cylinder seat and fix it vertically on one side of the workbench;

The inner rotating shaft is coaxially arranged in the receiving cylinder seat, which can be rotated relatively. The lower end of the receiving cylinder seat is equipped with a transmission gear seat. The output end of the transmission gear seat is connected with the inner rotating shaft and drives the Orientation rotation of the inner shaft;

The lower base is fixed on the upper end of the inner shaft;

The frame arm is arranged on the lower base so as to be relatively rotatable, and the frame arm has a two-stage foldable structure;

the mounting frame is relatively rotatably arranged on the frame arm; and

The coarse adjustment shaft is installed vertically through the mounting frame through the bearing and can be rotated relatively. A built-in motor is arranged in the mounting frame, and the output end of the built-in motor is meshed with the coarse adjustment shaft through gear engagement. connected drive.

Further, preferably, the external adsorption fixation device includes:

The upper fixed plate is coaxially fixed on the lower end of the coarse adjustment shaft;

The inner swivel seat can be relatively rotatably embedded and arranged under the inside of the upper fixed plate, a drive motor is installed on the upper fixed plate, and the output end of the drive motor is connected and driven with the inner turn seat through a transmission belt;

The support disc body is arranged coaxially under the inner swivel base, the upper end of the support disc body is vertically fixed with a telescopic guide rod, and one end of the telescopic guide rod is connected and fixed with the inner swivel base;

Supporting springs are arranged vertically and symmetrically between the supporting disc body and the inner swivel seat;

The adsorption and fixing devices are a plurality of evenly arranged horizontally, and each of the adsorption and fixing devices is vertically fixed on the support plate.

Further, preferably, the adsorption and fixation device includes:

The inner suction disc is vertically fixed on the support disc body;

The telescopic conduit is connected to the upper end of the inner adsorption plate, and the upper end of the inner adsorption plate is symmetrically connected with an inner spring, and one end of the inner spring is connected to the support plate body;

an air pressure chamber, fixed laterally on the upper end of the support plate, and one end of each telescopic conduit communicates with the air pressure chamber; and

The outer branch pipe is vertically connected to one side of the air pressure cavity, and one end of the outer branch pipe is connected to an external air pressure pump.

Further, as a preference, it also includes:

The outer sealing cover is coaxially sleeved outside the inner adsorption disk, and the inner adsorption disk is limited and slid in the outer sealing cover;

A pipe sleeve is fixed on the upper end of the outer sealing cover, and one end of the pipe sleeve is embedded and fixed in the support disc body; and

The gasket is connected, and the socket is fixed on the outer sealing cover.

Further, as a preference, the air supply separation assembly includes:

The telescopic guide frame is horizontally fixed below the support plate;

The fixed shaft tube is vertically arranged on the telescopic guide frame through the guide sleeve so as to be relatively slidable, and the fixed shaft tube is vertically connected with a discharge pipe;

The connecting cavity is arranged laterally under the fixed shaft tube and communicates with the discharge tube through a flexible tube;

a connecting spring symmetrically connected between the connecting cavity and the fixed shaft tube;

The main rotating shaft is relatively rotatable and symmetrically arranged on the telescopic guide frame, the main rotating shaft is hinged with a transfer rod, and one end of the transfer rod is hinged with the fixed shaft tube; and

The airflow fan blade is relatively rotatably arranged in the fixed shaft tube.

Further, preferably, the connection cavity is configured as a rectangular frame structure, and an L-shaped air-permeable mesh fence is provided on the lower end surface of the connection cavity near the main rotating shaft.

Further, as a preference, it also includes:

an airflow fan blade, relatively rotatably arranged in the connecting cavity; and

A splitter leaf is connected to one end of the airflow fan blade.

Further, as a preference, a breathable membrane is attached to one side of the connecting cavity located on the side of the L-shaped breathable mesh fence.

Compared with prior art, the beneficial effect of the present invention is:

In the present invention, a steering and conveying assembly is installed on one side of the workbench, and the steering and conveying assembly can take and send the plate pieces one by one to the carrier plate, and the outer stamping frame performs vertical stamping work on them, and after the stamping is completed The formed plate parts are picked up through the external adsorption fixing device and the air supply separation component; among them, during the preliminary picking of the plate parts, the upper surface of the plate part is adsorbed and positioned by the inner suction plate; after the stamping is completed, in order to prevent the plate After stamping, there are concave and convex grooves on the surface of the parts, which cause air leakage when the inner adsorption plate is adsorbed and fixed, and cannot be taken normally. The outer sealing cover cooperates with the connecting gasket to further expand the adsorption area to ensure its adsorption sealing; especially when it involves plate parts After stamping, in order to prevent the sheet metal parts from being excessively attached to the carrier plate (that is, the sheet metal parts and the carrier plate are sealed and fit without residual air pressure), the fixed shaft tubes on both sides are driven by the rotation of the main shaft first. Sliding horizontally, at this time, the connecting cavity can push the plate to slide relative to the carrying plate, and then the airflow fan blades pass through the L-shaped air-permeable mesh fence to disperse the airflow through the splitter and introduce it between the plate and the carrying plate, so that the plate Parts can be partially detached from the carrier tray.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of steering assembly in the present invention;

Fig. 3 is a schematic structural view of the external adsorption and fixing device of the present invention;

Fig. 4 is a schematic structural view of the adsorption and fixing device in the present invention;

Fig. 5 is a schematic structural view of the air supply separation assembly in the present invention;

In the figure: 1 workbench, 11 transmission chain plate, 12 bearing plate, 2 outer stamping frame, 3 steering and handling assembly, 31 receiving cylinder seat, 32 transmission tooth seat, 33 lower base, 34 frame arm, 35 installation frame, 36 Coarse adjustment shaft, 4 external adsorption fixing device, 41 upper fixed plate, 42 inner swivel seat, 43 support plate body, 44 support spring, 45 drive motor, 5 air supply separation component, 51 telescopic guide frame, 52 fixed shaft tube, 53 Discharging pipe, 54 Connecting cavity, 55 Connecting spring, 56 Air flow fan blade, 57 Main shaft, 58 Splitter, 59 Breathable membrane, 6 Adsorption fixing device, 61 Inner adsorption plate, 62 Telescopic duct, 63 Air chamber, 64 Outer branch pipe, 65 outer sealing covers, 66 pipe sleeves, 67 connection gaskets.

Implementation

Please refer to Fig. 1, in the embodiment of the present invention, a single-arm robot stamping and handling equipment includes:

Workbench 1;

The outer stamping frame 2 is vertically fixed on one side of the upper end surface of the workbench 1;

The carrying plate 12 is arranged laterally on the upper end surface of the workbench 1, and the drive chain plate 11 is symmetrically arranged on the workbench 1, and one end of the drive chain plate 11 is connected and fixed with the carrying plate 12, and drives The carrying tray 12 slides laterally;

Turn to the handling assembly 3, which can be relatively rotatably erected on one end of the workbench 1;

The external adsorption fixing device 4 is vertically arranged on the upper end of the steering and conveying assembly 3, and is used for adsorbing and fixing the punched sheet; and

The air supply separation assembly 5 is symmetrically arranged on both sides of the lower end surface of the external adsorption and fixing device 4, wherein a plate storage area is provided on the side of the workbench close to the steering and conveying assembly, and the steering and conveying assembly can remove the plates one by one. The sheet parts are taken out from the storage area and placed on the carrying plate. At this time, the carrying plate is laterally displaced to the right below the outer stamping frame through the transmission chain plate, and after the stamping is completed, the external adsorption and fixing device cooperates with the air supply separation component to remove it from it.

In this embodiment, the steering and handling assembly 3 includes:

Accept the cylinder seat 31 and fix it vertically on one side of the workbench;

The inner rotating shaft (not shown in the figure) can be coaxially arranged in the receiving cylinder seat 31 relatively rotatably. Connected with the inner rotating shaft, and drive the inner rotating shaft to perform directional rotation;

The lower base 33 is fixed on the upper end of the inner shaft;

The frame arm 34 is relatively rotatably arranged on the lower base 33, and the frame arm 34 is a two-stage foldable structure;

The mounting frame 35 is relatively rotatably arranged on the frame arm 34; and

The coarse adjustment shaft 36 is installed vertically through the mounting frame 35 through bearings and can rotate relatively. A built-in motor is arranged in the mounting frame 35, and the output end of the built-in motor is meshed with the coarse The shaft adjustment rod 36 is connected and driven.

As a preferred embodiment, the external adsorption fixing device 4 includes:

The upper fixed plate 41 is coaxially fixed on the lower end of the coarse adjustment shaft 36;

The inner swivel seat 42 can be relatively rotatably embedded and arranged under the inside of the upper fixed plate 41. A driving motor 45 is installed on the upper fixed plate 41. The swivel seat 42 is connected to the transmission; especially when the sheet metal parts are positioned and placed, the coarse adjustment shaft is used to rotate and adjust first, and then the inner swivel seat cooperates with the second precise deflection, so as to realize the precise placement of the sheet metal parts;

The support disc body 43 is coaxially arranged below the inner swivel base 42, and the upper end of the support disc body 43 is vertically fixed with a telescopic guide rod, and one end of the telescopic guide rod is connected and fixed with the inner swivel base 42 ;

The support spring 44 is arranged vertically and symmetrically between the support plate body 43 and the inner swivel seat 42;

The adsorption and fixing devices 6 are a plurality of evenly arranged horizontally, and each of the adsorption and fixing devices 6 is vertically fixed on the support plate 43 .

In this embodiment, the adsorption and fixing device 6 includes:

The inner suction disc 61 is vertically fixed on the support disc body 43;

The telescopic conduit 62 communicates with the upper end of the inner suction disc 61, the upper end of the inner adsorption disc 61 is symmetrically connected with an inner spring, and one end of the inner spring is connected with the support disc body 43;

An air pressure chamber 63 is fixed laterally on the upper end of the support plate 43, and one end of each telescopic conduit 62 communicates with the air pressure chamber 63; and

The outer branch pipe 64 is vertically connected to one side of the air pressure cavity 63, and one end of the outer branch pipe 64 is connected with an external air pressure pump, wherein, the plate parts can be initially removed from the plate part storage area through the inner suction plate. Take, can effectively improve work efficiency.

In this embodiment, also include:

The outer sealing cover 65 is coaxially sleeved outside the inner suction disk 61, and the inner adsorption disk 61 slides within the outer sealing cover 65;

A pipe sleeve 66 is fixed on the upper end of the outer sealing cover 65, and one end of the pipe sleeve 66 is embedded and fixed in the support disc body 43; and

The connecting gasket 67 is sleeved and fixed on the outer sealing cover 65, especially after the punching is completed, in order to prevent the punching groove on the sheet material from causing the inner adsorption disk to be unable to be normally adsorbed and fixed, the outer sealing cover is formed by the cooperation of the connecting gasket. Sealing cavity, at this time, when the inner adsorption plate is in the groove of the die, the sealing cavity formed by the outer sealing cover cooperates with the inner adsorption plate, and the air pressure cavity can be pumped and discharged by an external air pump to achieve Negative pressure adsorption; and when the inner adsorption plate is not in the die groove, the inner adsorption plate body performs negative pressure adsorption to improve the handling efficiency.

In this embodiment, the air supply separation assembly 5 includes:

The telescopic guide frame 51 is laterally fixed below the supporting disc body 43;

The fixed shaft tube 52 is vertically arranged on the telescopic guide frame 51 through the guide sleeve so as to be relatively slidable, and the fixed shaft tube 52 is vertically connected with a discharge pipe 53;

The connection cavity 54 is arranged laterally below the fixed shaft tube 52 and communicates with the discharge tube 53 through a flexible tube;

The connecting spring 55 is symmetrically connected between the connecting cavity 54 and the fixed shaft tube 52;

The main rotating shaft 57 is relatively rotatable and symmetrically arranged on the telescopic guide frame 51, the main rotating shaft 57 is hinged with a transfer rod, and one end of the transfer rod is hinged with the fixed shaft tube 52; and

The airflow fan blade 56 is relatively rotatably arranged in the fixed shaft tube 52, wherein, especially after the stamping work of the plate part is preliminarily completed, the main shaft rotates synchronously at this time, so that the fixed shaft tubes located on both sides perform simultaneous rotation. To reciprocate horizontally, so that the plate parts can be partially detached from the supporting plate. It should be noted that the adsorption plate is in a non-contact state at the same time.

As a preferred embodiment, the connecting cavity 54 is configured as a rectangular frame structure, and the lower end surface of the connecting cavity 54 near the main rotating shaft 57 is provided with an L-shaped air-permeable mesh fence.

In this embodiment, also include:

Airflow fan blades are relatively rotatably arranged in the connecting cavity 54; and

The splitter leaf 58 is connected to one end of the airflow fan blade, so as to facilitate the rapid flow of the external airflow between the plate part and the carrying tray.

In this embodiment, a breathable film 59 is attached to one side of the connecting chamber 54 located on the side of the L-shaped breathable mesh fence.

Specifically, in stamping transportation, the steering and transportation assembly can take out the plate parts one by one from the plate part storage area through the inner suction plate, and place them on the carrying plate. At this time, the carrying plate is laterally displaced to the outer stamping frame through the transmission chain plate, After the initial stamping is completed, the steering and handling assembly controls the downward displacement of the external adsorption fixing device and contacts the surface of the plate. At this time, the rotation of the main shaft makes the fixed shaft tubes on both sides move in the same direction through the transfer rod. Horizontal reciprocating movement, so that the plate parts can be partially detached from the supporting plate, and the connecting cavity parts return to the original position, while the inner adsorption plate is gradually retracted into the outer sealing cover under continuous pressure, and the outer sealing cover cooperates to connect the gasket and the plate Parts contact to form a sealed cavity, and the air pressure cavity can be pumped and discharged by an external air pump to achieve negative pressure adsorption. Detached from the carrier tray, it is convenient and quick to carry and take.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technology of the present invention Any equivalent replacement or change of the scheme and its inventive concepts shall fall within the protection scope of the present invention.

Claims (4)

1. A single-arm robot stamping handling equipment, characterized in that: it comprises: Workbench (1); The outer stamping frame (2) is vertically fixed on one side of the upper end surface of the workbench (1); The carrying plate (12) is horizontally arranged on the upper end surface of the workbench (1), and the drive chain plate (11) is symmetrically arranged on the workbench (1), and one end of the drive chain plate (11) is connected to the The carrier plate (12) is connected and fixed, and the carrier plate (12) is driven to slide laterally; Turn to the handling assembly (3), which can be relatively rotatably erected vertically on one end of the workbench (1); The external adsorption fixing device (4) is vertically arranged on the upper end of the steering and conveying assembly (3), and is used for adsorbing and fixing the punched sheet; and The air supply separation component (5) is symmetrically arranged on both sides of the lower end surface of the external adsorption fixing device (4); The steering assembly (3) includes: Accept the socket (31), and fix it vertically on one side of the workbench; The inner rotating shaft is relatively rotatable and coaxially arranged in the receiving cylinder seat (31), and the lower end of the receiving cylinder seat (31) is equipped with a transmission tooth seat (32), and the output of the transmission tooth seat (32) The end is connected with the inner rotating shaft, and drives the inner rotating shaft to perform directional rotation; The lower base (33) is fixed on the upper end of the inner shaft; The frame arm (34) is relatively rotatably arranged on the lower base (33), and the frame arm (34) has a two-stage foldable structure; The mounting frame (35) is relatively rotatably arranged on the frame arm (34); and The coarse adjustment shaft (36) is installed vertically through the mounting frame (35) through bearings and can be rotated relatively. A built-in motor is arranged in the mounting frame (35), and the output end of the built-in motor is passed through a gear The meshing action is connected with the coarse adjustment shaft (36) for transmission; The external adsorption fixing device (4) comprises: The upper fixed plate (41) is coaxially fixed on the lower end of the coarse adjustment shaft (36); The inner swivel seat (42) is relatively rotatably embedded and arranged under the inside of the upper fixed disk (41), and a driving motor (45) is installed on the upper fixed disk (41), and the driving motor (45) The output end is connected to the inner swivel seat (42) for transmission through a transmission belt; The support disc body (43) is coaxially arranged below the inner swivel seat (42), and the upper end of the support disc body (43) is vertically fixed with a telescopic guide rod, and one end of the telescopic guide rod is connected to the inner The swivel seat (42) is connected and fixed; The support spring (44) is arranged vertically and symmetrically between the support plate (43) and the inner swivel seat (42); Adsorption and fixing devices (6) are a plurality of evenly arranged horizontally, and each of the adsorption and fixing devices (6) is vertically fixed on the support plate (43); The air supply separation assembly (5) includes: The telescopic guide frame (51) is horizontally fixed below the supporting disc body (43); The fixed shaft tube (52) is vertically arranged on the telescopic guide frame (51) through the guide sleeve so as to be relatively slidable, and the fixed shaft tube (52) is vertically connected with a discharge pipe (53); The connecting cavity (54) is horizontally arranged below the fixed shaft tube (52), and communicates with the discharge tube (53) through a flexible tube; A connecting spring (55), symmetrically connected between the connecting cavity (54) and the fixed shaft tube (52); The main rotating shaft (57) is symmetrically arranged on the telescopic guide frame (51) in a relatively rotatable manner, and a transmission rod is hinged on the main rotating shaft (57), and one end of the transmission rod is connected to the fixed shaft tube (52) are hinged; and The airflow fan blade (56) is relatively rotatably arranged in the fixed shaft tube (52); The connecting cavity (54) is configured as a rectangular frame structure, and the lower end surface of the connecting cavity (54) is provided with an L-shaped air-permeable mesh fence on the side close to the main rotating shaft (57); It also includes: airflow fan blades, which are relatively rotatable and arranged in the connecting cavity (54); and A splitter leaf (58), connected to one end of the airflow fan blade. 2. A single-arm robot stamping and handling equipment according to claim 1, characterized in that: the adsorption and fixing device (6) comprises: The inner suction disc (61) is vertically fixed on the support disc body (43); The telescopic conduit (62) communicates with the upper end of the inner suction disc (61), and the upper end of the inner adsorption disc (61) is symmetrically connected with an inner spring, and one end of the inner spring is connected to the support disc body (43 ) are connected; an air pressure chamber (63), fixed laterally on the upper end of the support plate (43), and one end of each telescopic conduit (62) communicates with the air pressure chamber (63); and The outer branch pipe (64) is vertically connected to one side of the air pressure chamber (63), and one end of the outer branch pipe (64) is connected with an external air pressure pump. 3. A single-arm robot stamping and handling equipment according to claim 2, characterized in that: it also includes: The outer sealing cover (65) is coaxially sleeved outside the inner suction disc (61), and the inner adsorption disc (61) slides within the outer sealing cover (65); A pipe sleeve (66), fixed on the upper end of the outer sealing cover (65), one end of the pipe sleeve (66) is embedded and fixed in the support plate (43); and The connecting gasket (67) is sleeved and fixed on the outer sealing cover (65). 4. A single-arm robot stamping and conveying equipment according to claim 3, characterized in that: the connecting cavity (54) is also provided with a breathable film (59) on one side of the L-shaped breathable mesh fence .

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