CN203764827U - A workpiece automatic transmission device - Google Patents

Abstract

The utility model discloses an automatic workpiece conveying device, which comprises a fixed bracket, a transmission case, a feeding swing arm, a lifting swing arm, a telescopic swing arm, a feeding swing arm and a workpiece grabber; a supporting plate is arranged above the fixed support, and a transmission case is arranged below the fixed support; the feeding swing arm is of a box body structure, a gear or a synchronous belt is arranged in the feeding swing arm, the lower end of the feeding swing arm is connected with an output gear of the transmission case, the upper end of the feeding swing arm is hinged with one end of the lifting swing arm, the gear or the synchronous belt of the feeding swing arm transmits power of the transmission case to the lifting swing arm, and the other end of the lifting swing arm is hinged with a middle fulcrum of the telescopic swing arm; the telescopic swing arm comprises a swing rod and a sliding plate, the upper end of the swing rod is hinged to the supporting plate on the fixed support, the lower end of the sliding plate is connected with the feeding swing arm, the other end of the feeding swing arm is provided with a transmission mechanism, and the workpiece grabber is connected with the transmission mechanism. The utility model discloses can carry out the work piece fast under the less circumstances in last bed die space and get and put conveniently, both reduced press equipment manufacturing cost, shortened part transfer time again, improve production efficiency.

Description

A workpiece automatic transmission device

technical field

The utility model relates to a loading and unloading of a press, in particular to a workpiece transmission device used in a stamping line from the previous sequence to the next sequence. Can also be used for workpiece pick-and-place and transfer of single presses or similar machines.

Background technique

The manufacture of metal blanks to shaped workpieces requires multiple processes, the most important of which is stamping. The metal sheet needs to go through a variety of continuous forming steps such as deep drawing, bending, opening, trimming, etc. in the press, and finally obtain the desired shape. The form of the die determines the shape of the workpiece, and the die of a press usually consists of an upper die and a corresponding lower die, which are moved relative to each other to stretch the workpiece placed between the upper and lower dies. Since the forming of a workpiece needs to be completed through the continuous forming process of multiple molds, it is necessary to arrange multiple presses continuously to form a punching line, or to use a press including multiple molds. On the one hand, the capacity of a press line or multi-die press is determined by the capacity of the press, ie the time required to carry out a forming operation. On the other hand, however, the capacity depends largely on the efficiency with which the workpieces are transported from one press station to the next. Therefore, it is important to employ rapid transport systems that automatically transport workpieces from one press station to the next.

In the press line, the method of conveying workpieces between adjacent presses includes a robot conveyance method or a conveyor method. The so-called robot transfer method is to install a multi-joint transfer robot between adjacent presses, and use this transfer robot to take out the workpiece from the press in the previous process and simultaneously send the workpiece to the press in the next process. However, in the robot transport method, it is necessary to transport workpieces following intermittent operations of adjacent presses, and it is necessary to avoid interference with dies and the like during workpiece transport. Therefore, there is a disadvantage that the conveying speed of the workpiece cannot be increased, thereby limiting the improvement of the production tact of the entire line. In addition, when the robot is used for transportation, it is difficult to teach the transportation trajectory and the debugging time is long. The conveying mode of the conveyor is divided into two modes: single-arm feeding and double-arm feeding. Single-arm feeding is to arrange a set of feeding devices between adjacent presses. The retrieving arm extends from the front of the press slider to the press die The workpiece is taken out of the cavity, and the workpiece is sent to the press cavity of the next process at the same time. Double-arm feeding is to arrange a set of feeding arms on the left and right sides of adjacent presses. The two sets of feeding arms are connected by a cross bar, and the feeding arm drives the cross bar to complete the transportation of the workpiece.

Contents of the invention

The technical problem to be solved by the utility model is to provide an automatic conveying device capable of quickly and conveniently transporting workpieces to improve production efficiency in view of the defects existing in the prior art.

In order to solve this technical problem, the utility model provides an automatic workpiece transmission device, which includes a fixed bracket, a transmission box, a feeding swing arm, a lifting swing arm, a telescopic swing arm, a feeding swing arm, and a workpiece grabber; There is a supporting plate above the fixed bracket, and a transmission box below; the feeding swing arm is a box-type transmission structure, and a gear drive or a timing belt is arranged inside. The lower end of the feeding swing arm is connected with the output gear of the transmission box, and the upper end It is hinged with one end of the lifting swing arm, and the gear or synchronous belt fed into the swing arm transmits the power of the transmission box to the lifting swing arm, and the other end of the lifting swing arm is hinged with the middle fulcrum of the telescopic swing arm; the telescopic swing arm includes a swing The rod and the slide plate that can slide along the swing rod, the upper end of the swing rod is hinged with the supporting plate on the fixed bracket, the lower end of the slide plate is connected with the feeding swing arm and can expand and contract with the slide plate, and the other end of the feed swing arm is provided with a synchronous belt transmission mechanism , the workpiece grabber is connected with the synchronous belt transmission mechanism.

Motor 1 and reducer 1 located above the transmission box drive gear 1, gear 1 drives gear 2, and the gear is fixedly connected to the lower end of the feed swing arm to drive the feed swing arm to swing; motor 2 located below the transmission box, deceleration The second drive shaft of the machine, the shaft is connected with the third gear, and the third gear drives the fourth gear, the fifth gear and the sixth gear in turn, and the gear is fixedly connected with the lifting swing arm and then drives the lifting swing arm.

The swing rod of the telescopic swing arm is provided with a linear slide rail and a synchronous belt, and the linear slide rail is provided with a sliding block, and the slide plate is connected with the sliding block and is fixedly connected with the synchronous belt via a splint; The motor three and the reducer three drive the pulley one and then drive the slide plate to do reciprocating motion along the linear slide rail by driving the synchronous belt one, so that the length of the telescopic swing arm changes.

The feeding swing arm includes a motor 4, a reducer 4 and a swing arm, the fixed part of the reducer 4 is fixedly connected with the lower end of the telescopic arm slide plate, and the rotating part is fixedly connected with the upper end of the swing arm, and is located at the other end of the feed swing arm. The motor five that the synchronous belt transmission mechanism includes drives the pulley three, the synchronous belt two and the pulley four in turn to transmit power to the five reducers and the six reducers.

The workpiece grabber consists of left and right crossbars and an end picker fixed on the crossbars with a workpiece gripping function. The left and right two parts of the crossbars are respectively connected to the reducer of the synchronous belt transmission mechanism at the lower end of the feeding swing arm. On the reducer six, the crossbar can swing along with the feeding swing arm along the direction perpendicular to the conveying direction of the workpiece, and the end picker can move along the crossbar in the transverse direction of the part conveying direction.

Beneficial effects: the utility model can put in or take out the workpiece when the free space between the upper and lower molds is small, and can quickly and conveniently pick and place the workpiece, which not only reduces the manufacturing cost of the press equipment, but also shortens the The transmission time of parts is shortened, and the transmission speed of stamping workpieces is increased, thereby improving production efficiency.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a schematic diagram of the structure of the utility model's reclaiming position;

Fig. 3 is a structural schematic diagram of the discharging position of the utility model;

Fig. 4 is a schematic cross-sectional view of the structure of the utility model transmission box;

Fig. 5 is a schematic front view of the structure of the utility model telescopic swing arm;

Fig. 6 is a schematic front view of the structure of the feeding swing arm of the utility model;

Fig. 7a is a schematic front view of the structure of the workpiece grabber of the present invention;

Fig. 7b is a schematic top view of the structure of the workpiece grabber of the present invention;

Fig. 8 is a schematic structural diagram of an embodiment of the utility model.

In the figure: 1 tandem press line, 2 large beam, 3 slider, 4 upper mold, 5 lower mold, 6 mobile table, 7 press column, 8 fixed bracket, 9 transmission box, 10 feeding swing arm, 11 Lifting swing arm, 12 telescopic swing arm, 13 slide plate, 14 feeding swing arm, 15 workpiece grabber; 16 transmission device 1, 17 transmission device 2, 18 transmission device 3, 19 transmission device 4, 20 track curve, 21 beam, 22 cantilever beam, 23 shock absorber, 24 parallel slide rail, 25 pallet, 26 swing rod, 27 motor 1, 28 reducer 1, 29 gear 1, 30 gear 2, 31 motor 2, 32 reducer 2, 33 shaft , 34 gear three, 35 gear four, 36 gear five, 37 gear six, 38 motor three, 39 reducer three, 40 pulley one, 41 synchronous belt one, 42 linear slide rail, 43 splint, 44 pulley two, 45 Motor four, 46 reducer four, 47 swing arm, 48 motor five, 49 pulley three, 50 synchronous belt two, 51 reducer five, 52 pulley four, 53 reducer six, 54 motor six, 55 screw, 56 Cross bar, 57 slide rails, 58 end pickers.

Detailed ways

The utility model adopts several swing arms of different lengths to be hinged to each other, realizes the lift, translation and rotation of the workpiece during the transmission process through the swing and telescopic movement, and can adjust the lifting height and running track of the grabber according to the different shapes of the workpiece For programming, its structural form has more favorable obstacle avoidance in the movement of the press slide, so when the opening stroke of the press slide is relatively small, the feeding arm can be inserted between the upper and lower molds to remove parts.

Below in conjunction with accompanying drawing and embodiment the utility model is described in detail.

Shown in Fig. 1 is the structural representation of the utility model.

The automatic transmission device includes a fixed support 8 , a transmission box 9 , a feeding swing arm 10 , a lifting swing arm 11 , a telescopic swing arm 12 , a feeding swing arm 14 , and a workpiece grabber 15 .

The top of the fixed bracket 8 is provided with a supporting plate 25 , and the bottom is a transmission box 9 .

The fixed bracket 8 is provided with two vertical parallel slide rails 24, the supporting plate 25 is fixedly connected with the sliding blocks on the slide rails, and the transmission box 9 below it is provided with a motor and a reducer to drive the feed swing arm 10 and the lifting pendulum. The arm 11 is arranged on the box body connected with the fixed support 8 so that the transmission of the feeding swing arm 10 and the lifting swing arm 11 is arranged, which is very conducive to reducing the moment of inertia of the moving parts and can increase the speed of workpiece transportation.

Figure 4 is a schematic sectional view of the structure of the transmission box of the present invention.

Motor one 27, speed reducer one 28 that the top of described transmission case 9 is provided with drive gear one 29, gear two 30 successively, and gear 30 is concentric with the swing fulcrum that sends into swing arm 10 lower ends, both are fixedly connected, and gear two 30 then Drive and send the swing arm 10 to swing; the motor two 31 and the reducer two 32 drive the shaft 33 located at the bottom of the transmission box 9, the shaft 33 is connected with the three gears 34, and the three gears 34 sequentially drive the four gears 35, five gears 36 and six gears 37, gear six 37 is fixedly connected with the lifting swing arm 11 and then transmits power to the lifting swing arm 11.

The lower end of the sending swing arm 10 is connected to the output gear of the transmission box 9, and its upper end is hinged with one end of the lifting swing arm 11. The sending swing arm 10 is a box-type transmission structure, and the inside is set for gear transmission or synchronous belt transmission. To transmit the power of the transmission box 9 to the lifting swing arm 11, the feed swing arm 10 realizes the horizontal movement of the workpiece from the previous station to the next station by swinging.

The box body of the sending swing arm 10 is a high-strength cast aluminum part or a thin-walled steel welded part, so that the sending swing arm 10 not only has sufficient rigidity, but also is as lightweight as possible.

One end of the lifting swing arm 11 is hinged to the feed swing arm, and the other end is hinged to the middle fulcrum of the telescopic swing arm 12. The swing of the lifting swing arm 11 on the one hand realizes the rapid lifting of the workpiece grabber to pick and place the workpiece in the mold cavity. And drop, on the other hand adapt to different lower die heights and workpiece transfer heights from the previous station to the next station.

Fig. 5 is a schematic front view of the structure of the telescopic swing arm of the present invention.

The telescopic swing arm 12 includes a swing rod 26 and a slide plate 13 .

Described fork 26 is the fixed part of telescopic swing arm 12, and fork 26 is provided with linear guide rail and synchronous belt, and linear slide rail 42 is provided with slide block, and fork 26 upper ends and supporting plate 25 lower ends on fixed bracket 8 The support pivot point is hinged, and when the telescopic swing arm swings, it can carry out vertical lifting movement along the guide rail on the fixed bracket together with the supporting plate.

The swing rod 26 of the telescopic swing arm 12 is a high-strength cast aluminum part or a thin-walled steel welded part, which not only possesses sufficient rigidity, but also reduces the moment of inertia of the telescopic arm as much as possible.

The slide plate 13 is the sliding part of the telescopic swing arm 12, the slide plate 13 is connected with the sliding block and is fixedly connected with the synchronous belt 1 41 through the splint 43, and the motor 3 38 and the reducer 3 39 drive the pulley 1 above the telescopic swing arm 12. 40, belt pulley two 44 and synchronous belt one 41, slide plate 13 moves back and forth along the linear slide rail 42 along with the drive of synchronous belt one 41, thereby the length of telescopic swing arm 12 is changed.

The lower end of the slide plate 13 is connected with the feed swing arm 14 and expands and contracts with the slide plate 13. The other end of the feed swing arm 14 is provided with a synchronous belt transmission mechanism, and the workpiece grabber 15 is connected with the synchronous belt transmission mechanism. When the feed swing arm When 14 enters and exits the mold area, it can swing while expanding and contracting with the slide plate 13. In this structure, when the opening stroke of the slider of the press is relatively small, the feeding swing arm 14 can be inserted into the upper mold 4 and the upper mold 4 in a more favorable manner. The workpiece is picked and placed between the lower molds 5. This movement mode can not only shorten the transfer time of the parts, but also reduce the manufacturing cost of the press equipment.

Figure 6 is a schematic front view of the structure of the feeding swing arm of the present invention.

Described feeding swing arm 14 is arranged on the top of workpiece conveying plane, comprises motor 45, speed reducer 46 and swing arm 47, the fixed part of speed reducer 46 is fixedly connected with the lower end of telescopic arm slide plate 13, speed reducer 46, pendulum The lower end of the arm 47 and the telescopic arm slide plate 13 is the same center; its rotating part is fixedly connected with the upper end of the swing arm 47, and the swing of the feeding swing arm 14 is driven by the motor four 45 and the speed reducer four 46 that are connected to the swing arm 47. Finish.

The other end of the feeding swing arm 14 is connected with the workpiece grabber 15 through a synchronous belt transmission mechanism. Belt two 50 transmit power to reducer five 51 and reducer six 53.

When the feeding swing arm 14 enters and exits the mold area, it can swing while expanding and contracting with the slide plate 13. This structural form is particularly advantageous for using the small free passage space between the upper mold 4 and the lower mold 5 to enter and exit the mold area, avoiding the movement of the feeding swing arm 14, the workpiece grabber 15 and the workpiece with the slider 3 during the movement Interference, when the slide block 3 opening stroke is relatively small, the feeding swing arm 14 can be inserted into the workpiece between the upper mold 4 and the lower mold 5 in a more favorable manner. The structure of the transmission device and its compound motion process determine that it has good obstacle avoidance, and a single axis can complete the transmission of workpieces from the previous process to the next process at high speed without high speed and acceleration, which shortens the The transmission time of the workpiece is shortened, and the vibration of the workpiece during operation is reduced, and the transmission is stable. At the same time, the manufacturing costs of the press equipment and the transfer device are reduced.

Fig. 7a is a schematic front view showing the structure of the workpiece grabber of the present invention.

Fig. 7b is a schematic top view of the structure of the workpiece grabber of the present invention.

The workpiece grabber 15 is divided into left and right parts and arranged symmetrically, including a left and right cross bar 56 and an end picker 58 fixed on the cross bar 56 with a workpiece gripping function, and the rotation of the cross bar 56 and the speed reducer 53 Some fixed connections.

The cross bar 56 has an additional degree of freedom, and can swing along the vertical workpiece conveying direction with the feeding swing arm 14. The end picker 58 can move along the cross bar 56 in the transverse direction of the part transmission direction. This function is completed by the motor 654 connected to the cross bar 56 itself to drive the screw 55. Two parallel slides are respectively arranged on the cross bar 56 at both ends. The rail 57 serves as a guide for the end picker 58 and the workpiece to move laterally.

Since the lower end surface of the end picker 58 is basically kept parallel to the ground during the workpiece conveying process, the workpiece grabber needs to follow the feeding swing arm 14 for real-time rotational movement, and the motor five 48 and its synchronous belt drive are used to drive the workpiece grabber. The rotary motion of the extractor 15.

The utility model can be used for pick-and-place and transfer of workpieces of a single press or similar machines, and can also be applied to a serial press production line. This swing-type workpiece automatic transmission device is placed above the front of the press slider, and does not require additional free space between the press slider and the column. The workpiece can be put in or taken out under certain conditions, and the transmission device can follow the running curve of the punching machine to transfer the workpiece when the punching machine is running continuously.

FIG. 8 is a schematic structural view of an embodiment of the utility model on a series stamping line 1 .

This embodiment includes a series stamping line 1 composed of multiple presses, the uppermost end of the press is a beam 2, the upper mold 4 is clamped on the lower end surface of the slider 3, and the lower mold 5 is fixed on the press table 6, each An automatic workpiece transmission device is installed on the first press, and the automatic workpiece transmission device is located above the workpiece transmission plane, and is installed on the press column 7 through the beam 21 and the cantilever beam 22. The swing arm 11, the telescopic swing arm 12, the feeding swing arm 14 and the workpiece grabber 15 are hinged to each other, and the lifting, translation and rotation movement of the workpiece during the transmission process can be realized through swinging and telescopic movements, and the workpiece can be adjusted according to the different shapes of the workpiece. The lifting height and the running track of grabber 15 are programmed to form track curve 20, and the feeding swing arm 14 can be stretched into between the upper mold 4 and the lower mold 5 of the press to take out the workpiece that is located on the lower mold 5.

The fixed bracket 8 is used to carry the whole set of transmission device. The two press columns 7 span the crossbeam 21, and the cantilever beam 22 is also connected to the press column 7. The fixed bracket 8 carrying the whole set of transmission equipment is suspended on the crossbeam 21 and the cantilever. On the beam 22, located directly above the press slider 3, a shock absorber 23 is provided at the connection between the beam 21 and the cantilever beam 22 and the column 7 of the press, so as to reduce the impact of the vibration of the press on the transmission device when the workpiece is stamped and formed. Influence.

Each automatic workpiece transfer device is represented by different working states:

Figure 2 is a schematic diagram of the structure of the utility model's reclaiming position.

Figure 3 is a schematic diagram of the structure of the discharging position of the utility model.

The conveying device 16 represents that it is in the picking position (as shown in Figure 3); the conveying device 17 represents the waiting position during the workpiece forming; position; the conveying device 19 represents the discharging position (as shown in FIG. 4 ), and the workpiece is put into the lower mold 5 .

The smooth line below the trajectory curve 20 is the trajectory of the workpiece gripper 15 returning without load, and the smooth line above is the trajectory of the workpiece gripper 15 running with a load. The height of the trajectory curve 20 can be freely programmed according to the depth of workpiece forming and the height that needs to be lifted. The part of the trajectory curve 20 outside the mold area, whether it is the trajectory with load or the trajectory of no-load return, is a very smooth curve, and does not need to be raised or lowered. The simple running trajectory is conducive to shortening the workpiece transmission time.

The utility model lies in its movement process and structural form, it does not need an additional free space between the slide block and the column of the press, and the workpiece can be put in or taken out when the free space between the upper and lower molds is small, and can The workpiece conveying device of the tandem continuous stamping line can quickly and conveniently teach the workpiece conveying trajectory, and can speed up the conveying speed of the workpiece, which not only reduces the manufacturing cost of the press equipment, but also shortens the conveying time of the parts, making the tandem The workpiece transmission speed of the continuous press line is high-speed, thereby improving the production efficiency of the whole line.

The utility model is not limited to the described and illustrated embodiments, but also includes all configurations that can be made by professionals within the scope of the present claims.

Claims (5)

1. An automatic workpiece transmission device, characterized in that it includes a fixed bracket (8), a transmission box (9), a feeding swing arm (10), a lifting swing arm (11), a telescopic swing arm (12), a feeding swing arm The arm (14) and the workpiece grabber (15); the support plate (25) is arranged above the fixed bracket (8), and the transmission box (9) is located below; the sending swing arm (10) is a box type Transmission structure, gear transmission or synchronous belt is set inside, the lower end of the feeding swing arm (10) is connected with the output gear of the transmission box (9), the upper end is hinged with one end of the lifting swing arm (11), and the feeding swing arm (10) The gear or synchronous belt transmits the power of the transmission box (9) to the lifting swing arm (11), and the other end of the lifting swing arm (11) is hinged with the middle fulcrum of the telescopic swing arm (12); the telescopic swing arm (12 ) includes a fork (26) and a slide plate (13) that can slide along the fork (26), the upper end of the fork (26) is hinged with the supporting plate (25) on the fixed bracket (8), and the lower end of the slide (13) The feeding swing arm (14) is connected and can expand and contract with the slide plate (13). The other end of the feeding swing arm (14) is provided with a synchronous belt transmission mechanism, and the workpiece grabber (15) is connected with the synchronous belt transmission mechanism. 2. The workpiece automatic transmission device according to claim 1, characterized in that: motor one (27), reducer one (28) and gear one (29), which are arranged above the transmission box (9), drive gear one (29). ) driving gear two (30), the gear (30) is fixedly connected with the lower end of the sending swing arm (10) and then drives the sending swing arm (10) to swing; the motor two (31), Reducer two (32) drive shaft (33), shaft (33) is connected with gear three (34), gear three (34) sequentially drives gear four (35), gear five (36) and gear six (37), gear (37) is fixedly connected with the lifting swing arm (11) to drive the lifting swing arm (11). 3. The workpiece automatic transmission device according to claim 1, characterized in that: the swing rod (26) of the telescopic swing arm (12) is provided with a linear slide rail (42) and a timing belt one (41), and the straight line A slide block is provided on the slide rail (42), and the slide plate (13) is connected with the slide block and fixedly connected with the timing belt one (41) through the splint (43); the motor three (38) is set above the telescopic swing arm (12) And reducer three (39) drive the pulley one (40) and then drive the slide plate (13) to move back and forth along the linear slide rail (42) by driving the synchronous belt one (41), so that the length of the telescopic swing arm (12) occurs Variety. 4. The workpiece automatic transmission device according to claim 1, characterized in that: the feeding swing arm (14) includes motor four (45), reducer four (46) and swing arm (47), reducer four ( The fixed part of 46) is fixedly connected with the lower end of the telescopic arm slide plate (13), and its rotating part is fixedly connected with the upper end of the swing arm (47). (48) drives pulley three (49), synchronous belt two (50) and pulley four (52) in turn to transmit power to reducer five (51) and reducer six (53). 5. The workpiece automatic transmission device according to any one of claims 1-4, characterized in that: the workpiece grabber (15) includes left and right cross bars (56) and fixed on the cross bar (56) with The end picker (58) with the workpiece grasping function is composed of the left and right two parts of the cross bar (56) respectively connected to the reducer five (51) and the reducer six (53) of the synchronous belt transmission mechanism at the lower end of the feeding swing arm (14). ), the cross bar (56) can swing along with the feeding swing arm (14) along the direction perpendicular to the conveying direction of the workpiece, and the end effector (58) can move along the cross bar (56) in the transverse direction of the part conveying direction.