A workpiece transfer robot for continuous production of large punching machines

Abstract

The present invention discloses a workpiece transfer manipulator for continuous production of a large punching machine, comprising a main body and a sub-body respectively installed on both sides of the punching machine, a lifting base respectively installed on the main body and the sub-body, the lifting bases are respectively driven to lift by a lifting device, two transfer rods arranged at intervals are installed between the lifting base on the main body and the lifting base on the sub-body, the two transfer rods are driven by the transfer device to move back and forth in the length direction of the transfer rods at the same time, the transfer device is installed on the lifting base of the main body, the distance between the two transfer rods is controlled by a clamping device, and the clamping device is respectively installed on the main body and the sub-body. The workpiece transfer manipulator for continuous production of a large punching machine of the present invention can realize the transfer of workpieces quickly and efficiently, and cooperate with the large punching machine to realize continuous production work.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a workpiece transfer robot used for continuous production of large punching machines. Background Art

[0002] When producing workpieces such as household appliances, lamps, and auto parts, multiple parts need to be stamped and formed separately. In order to improve production efficiency, using a robot to transfer workpieces between various stations can greatly increase the production speed of the draft, while also improving production safety. However, this requires the assembly of multiple robots to complete the transfer work, which increases the cost of equipment and takes up a lot of space. Large-scale continuous production punching machines have a compact structure, and multiple stamping stations work simultaneously. The existing robot structure cannot form an effective match with it. Therefore, for the continuous production process of large punching machines, it is necessary to design a workpiece transfer robot that can be effectively used with it. Summary of the invention

[0003] In order to solve the above technical problems, the technical solution adopted by the present invention is: a workpiece transfer robot for continuous production of a large punching machine, comprising a main body and a sub-body respectively installed on both sides of the punching machine, the main body and the sub-body are respectively installed with a lifting base, the lifting base is driven to lift by a lifting device, two transfer rods arranged at intervals are installed between the lifting base on the main body and the lifting base of the sub-body, the two transfer rods are driven by the transfer device to move back and forth in the length direction of the transfer rods at the same time, the transfer device is installed on the lifting base of the main body, the distance between the two transfer rods is controlled by a clamping device, and the clamping device is respectively installed on the main body and the sub-body.

[0004] As a preferred embodiment of the above technical solution, first synchronous belts are respectively installed at both ends of the transfer rod, first driven wheel boxes are respectively installed at both ends of the lifting base, a first synchronous wheel is provided in the first driven wheel box, two ends of the first synchronous belt are respectively fixed on the transfer rod, the first synchronous belt is meshed with the first synchronous wheel, a first motor is installed on the lifting base on the main body, the first motor is connected to a first driving wheel box, and the first driving wheel box drives the first synchronous wheels on both sides of the lifting base of the main body to rotate simultaneously.

[0005] As a preferred embodiment of the above technical solution, idler wheels are respectively provided on both sides of the first synchronous wheel, and the idler wheels are rotatably mounted on the driven wheel box mounting seat, and the first driven wheel box is mounted on the driven wheel box mounting seat.

[0006] As a preferred embodiment of the above technical solution, the lifting device includes a second motor, a connecting shaft, a first slide rail, and a first slider. The two sides of the main body and the two sides of the sub-body are respectively fixedly installed with vertically arranged first slide rails, the first slider is slidably installed on the first slide rails, the first slider is fixedly connected to the corresponding lifting base, and gear boxes are respectively provided at both ends of the connecting shaft. The second motor drives the two gear boxes to move simultaneously through the connecting shaft, and a rack driven by the gear box to move linearly is installed on the gear box. One end of the rack is fixedly connected to the lifting base, and the second motor is fixed on the main body or the sub-body.

[0007] As a preferred embodiment of the above technical solution, the clamping device includes an clamping base fixedly mounted on the lifting base, a second slide rail is provided on the clamping base, a left clamping shift seat and a right clamping shift seat are sequentially mounted on the second slide rail, a second driving wheel box is mounted at one end of the clamping base, and a second driven wheel box is mounted at the other end, a second driving wheel box and a second driven wheel box are matched with each other and a second synchronous belt is mounted, the head end of the second synchronous belt is located on the upper surface of the clamping base, and the tail end of the second synchronous belt passes through the second driving wheel box and the lower surface of the clamping base in sequence. The second driven wheel box is connected to the head end of the second synchronous belt on the upper surface of the clamping base, the part of the second synchronous belt located on the upper surface of the clamping base is set as an upper belt segment, the part of the second synchronous belt located on the lower surface of the clamping base is set as a lower belt segment, the left clamping seat is fixedly connected to the upper belt segment, the right clamping seat is fixedly connected to the lower belt segment, the left clamping seat and the right clamping seat are respectively fixedly connected to the corresponding driven wheel box mounting seats, the second driving wheel box is driven to rotate by the third motor, and the second driving wheel box drives the second driven wheel box to rotate through the second synchronous belt.

[0008] As a preferred embodiment of the above technical solution, the lifting base includes two installation beams arranged at intervals, the two ends of the two installation beams are fixedly connected by connecting plates, the first driven wheel box is located between the two installation beams, the two installation beams are respectively provided with third slide rails, and the driven wheel box mounting seat is slidably installed on the third slide rails through third sliders.

[0009] As a preferred embodiment of the above technical solution, the first driving wheel box simultaneously drives the first synchronous wheels on both sides of the lifting base of the main body to rotate through the spline shaft, and the first driven wheel box can be installed on the spline shaft axially movable along the spline shaft.

[0010] As a preferred embodiment of the above technical solution, the transfer rod is composed of an active rod, an intermediate rod, and a driven rod connected in sequence, and the first synchronous belt is respectively installed on the active rod and the driven rod.

[0011] As a preferred embodiment of the above technical solution, the first motor, the second motor and the third motor are servo motors respectively.

[0012] The working principle of the present invention is: multiple workpieces are arranged in sequence between two transfer rods in the length direction of the transfer rod, and the distance between the two transfer rods is controlled by the clamping device, and all workpieces are clamped or released at the same time. After the transfer rod clamps the workpiece, the lifting device is used to make the workpiece leave the stamping station, and then the workpiece is transferred to the next station along the length direction of the transfer rod by the transfer device. After the workpiece transfer robot releases the workpiece, it returns to the initial state. Repeat the above process to achieve continuous transfer of workpieces.

[0013] The beneficial effects of the present invention are as follows: the workpiece transfer manipulator for continuous production of a large punching machine of the present invention can realize the transfer of workpieces quickly and efficiently, and cooperate with the large punching machine to realize continuous production work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention;

[0015] Figure 2 is a top view of the present invention;

[0016] Figure 3 is a bottom view of the present invention;

[0017] Figure 4 is a front view of the present invention;

[0018] Figure 5 is a side view of the present invention;

[0019] Figure 6 It is a structural schematic diagram of the lifting device;

[0020] Figure 7 is a schematic diagram of the structure of the transfer device;

[0021] Figure 8 is a schematic diagram of the structure of the clamping device;

[0022] Fig. 9 It is a schematic diagram of the structure of the clamping device from another angle;

[0023] Fig.10 It is a schematic diagram of the cross-sectional structure of the transfer device. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1-10 As shown, a workpiece transfer manipulator for continuous production of a large punching machine includes a main body 1 and a sub-body 2 respectively mounted on the punching machine, a lifting base 3 is respectively mounted on the main body 1 and the sub-body 2, and the lifting base 3 is respectively driven to lift by a lifting device, and two spaced transfer rods 4 are installed between the lifting base 3 on the main body 1 and the lifting base 3 of the sub-body 2, and the two transfer rods 4 are driven by the transfer device to move back and forth in the length direction of the transfer rods 4 at the same time, and the transfer device is mounted on the lifting base 3 of the main body 1, and the distance between the two transfer rods 4 is controlled by a clamping device, and the clamping device is respectively mounted on the main body 1 and the sub-body 2. The main body 1 and the sub-body 2 are fixed on the punching machine, and a plurality of stamping stations arranged in sequence are designed between the main body 1 and the sub-body 2, and the workpiece passes through all the stamping stations in sequence to complete the stamping forming. When the manipulator is in use, the lifting device first drives the two transfer rods 4 to descend; then the clamping device controls the two transfer rods 4 to clamp all the workpieces; the lifting device drives the two transfer rods 4 to rise so that the workpieces are separated from the stamping station; the transfer device makes the two transfer rods 4 clamp the workpieces and move a distance so that all the workpieces are moved to the top of the next stamping station; the lifting device drives the two transfer rods 4 to descend and transfer the workpieces to the stamping station; the clamping device is controlled to release all the workpieces; the lifting device drives the two transfer rods 4 to rise; the transfer device controls the two transfer rods 4 to return to the initial position, and all stamping stations perform stamping work. Repeating the above steps continuously, the manipulator completes the continuous transfer action of the workpiece passing through all stamping stations in sequence.

[0028] Further, the first synchronous belt 401 is installed at both ends of the transfer rod 4, the first driven wheel box 402 is installed at both ends of the lifting base 3, the first driven wheel box 402 is provided with a first synchronous wheel 403, the two ends of the first synchronous belt 401 are fixed on the transfer rod 4, the first synchronous belt 401 is meshed with the first synchronous wheel 403, the lifting base 3 on the main body 1 is installed with a first motor 404, the first motor 404 is connected to a first driving wheel box 405, and the first driving wheel box 405 drives the first synchronous wheels 403 on both sides of the lifting base 3 of the main body 1 to rotate simultaneously. The first motor 404 simultaneously drives the first synchronous wheel 403 in the first driven wheel box 402 on the main body 1 to rotate. The rotation of the first synchronous wheel 403 drives the first synchronous belt 401 to move, and the first synchronous belt 401 drives the transfer rod 4 to move. The transfer rod 4 moves, driving the first synchronous belt 401 at the other end of the transfer rod 4 to move, and then driving the first driven wheel box 402 on the secondary body 2 to move, so that the single motor drives the transfer rod 4 to move back and forth in the length direction of the transfer rod 4 through the transfer device.

[0029] Furthermore, idler wheels 406 are respectively provided on both sides of the first synchronous wheel 403 . The idler wheels 406 are rotatably mounted on a driven wheel box mounting seat 407 , and the first driven wheel box 402 is mounted on the driven wheel box mounting seat 407 .

[0030] Further, the lifting device includes a second motor 500, a connecting shaft 501, a first slide rail 502, and a first slider 503. The two sides of the main body 1 and the two sides of the sub-body 2 are respectively fixedly installed with vertically arranged first slide rails 502, the first slider 503 is slidably installed on the first slide rails 502, the first slider 503 is fixedly connected to the corresponding lifting base 3, the two ends of the connecting shaft 501 are respectively provided with gear boxes 504, the second motor 500 drives the two gear boxes 504 to move simultaneously through the connecting shaft 501, the gear box 504 is matched with a rack 505 driven by the gear box 504 to move linearly, one end of the rack 505 is fixedly connected to the lifting base 3, and the second motor 500 is fixed on the main body 1 or the sub-body 2. The second motor 500 drives the gear box 504 to move at the same time, so that the rack 505 rises or falls, thereby driving the lifting base 3 to rise or fall, and then driving the two transfer rods 4 to rise or fall at the same time.

[0031] Furthermore, the clamping device includes a clamping base 600 fixedly mounted on the lifting base 3, a second slide rail 601 is provided on the clamping base 600, a left clamping shift seat 602 and a right clamping shift seat 603 are sequentially mounted on the second slide rail 601, a second driving wheel box 604 is mounted on one end of the clamping base 600, and a second driven wheel box 605 is mounted on the other end, a second driving wheel box 604 and a second driven wheel box 605 are matched with a second synchronous belt 606, the head end of the second synchronous belt 606 is located on the upper surface of the clamping base 600, and the tail end of the second synchronous belt 606 passes through the second driving wheel box 604, the clamping base 600, and the second driven wheel box 605. The lower surface and the second driven wheel box 605 are connected to the head end of the second synchronous belt 606 on the upper surface of the clamping base 600. The portion of the second synchronous belt 606 located on the upper surface of the clamping base 600 is set as the upper belt segment, and the portion of the second synchronous belt 606 located on the lower surface of the clamping base 600 is set as the lower belt segment. The left clamping and shifting seat is fixedly connected to the upper belt segment, and the right clamping and shifting seat 603 is fixedly connected to the lower belt segment. The left clamping and shifting seat 602 and the right clamping and shifting seat 603 are respectively fixedly connected to the corresponding driven wheel box mounting seat 407, and the second driving wheel box 604 is driven to rotate by the third motor 607, and the third motor 607 drives the second driving wheel box 604 to move through the reducer.

[0032] Furthermore, the lifting base 3 includes two installation beams 301 arranged at intervals, and the two ends of the two installation beams 301 are fixedly connected by connecting plates 302. The first driven wheel box 402 is located between the two installation beams 301. The two installation beams 301 are respectively provided with third slide rails 303, and the driven wheel box mounting seat 407 is slidably mounted on the third slide rails 303 through third sliders 304.

[0033] Furthermore, the first driving wheel box 405 drives the first synchronous wheels 403 on both sides of the lifting base 3 of the main body 1 to rotate through the spline shaft 408, and the first driven wheel box 402 can be installed on the spline shaft 408 so as to be movable along the axial direction of the spline shaft 408. In this way, when the clamping device moves the driven wheel box mounting seat 407, the first driven wheel box 402 can move on the spline shaft 408 without affecting the power transmission of the transfer device.

[0034] Furthermore, the transfer rod 4 is composed of an active rod 409, an intermediate rod 410, and a driven rod 411 connected in sequence, and the first synchronous belt 401 is respectively installed on the active rod 409 and the driven rod 411. The length of the intermediate rod 410 can be set as needed.

[0035] Furthermore, the first motor 404 , the second motor 500 , and the third motor 607 are servo motors respectively, and the first motor 404 , the second motor 500 , and the third motor 607 are all connected to a reducer.

[0036] It is worth mentioning that the technical features involved in the patent application of the present invention, such as the first motor 404, the second motor 500, the third motor 607, the first driving wheel box 405, the second driving wheel box 604, the second driven wheel box 605, the gear box 504, the rack 505, the second driven wheel box 605, the first driven wheel box 402, etc., should be regarded as the prior art, which are all common equipment purchased from the market. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected according to the conventional selection in the field, and should not be regarded as the inventive point of the patent of the present invention, and the patent of the present invention will not be further elaborated.

[0037] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. A workpiece transfer robot for continuous production of large punching machines, characterized in that: The invention comprises a main body and a sub-body respectively installed on both sides of the punch press, a lifting base is respectively installed on the main body and the sub-body, and the lifting base is driven to lift by a lifting device respectively, and two transfer rods arranged at intervals are installed between the lifting base on the main body and the lifting base of the sub-body, and the two transfer rods are driven by the transfer device to move back and forth in the length direction of the transfer rods at the same time, and the transfer device is installed on the lifting base of the main body, and the distance between the two transfer rods is controlled by a clamping device, and the clamping device is respectively installed on the main body and the sub-body, and the first synchronous belt is respectively installed at both ends of the transfer rod, and the first driven wheel box is respectively installed at both ends of the lifting base, and the first driven wheel box is provided with The first synchronous wheel and the two ends of the first synchronous belt are respectively fixed on the transfer rod, the first synchronous belt is meshed with the first synchronous wheel, a first motor is installed on the lifting base on the main body, the first motor is connected to a first driving wheel box, the first driving wheel box drives the first synchronous wheels on both sides of the lifting base of the main body to rotate simultaneously, an idler wheel is respectively arranged on both sides of the first synchronous wheel, the idler wheel is rotatably installed on the driven wheel box mounting seat, the first driven wheel box is installed on the driven wheel box mounting seat, the lifting device includes a second motor, a connecting shaft, a first slide rail, and a first slider, both sides of the main body and both sides of the sub-body are respectively fixedly installed with vertically arranged first slide rails, the first slider is slidably installed on the first On a slide rail, the first slider is fixedly connected to the corresponding lifting base, gear boxes are respectively provided at both ends of the connecting shaft, the second motor drives the two gear boxes to move simultaneously through the connecting shaft, and a rack driven by the gear box for linear motion is installed on the gear box, one end of the rack is fixedly connected to the lifting base, and the second motor is correspondingly fixed on the main body or the sub-body, the clamping device includes a clamping base fixedly installed on the lifting base, a second slide rail is provided on the clamping base, a left clamping seat and a right clamping seat are sequentially installed on the second slide rail, a second driving wheel box is installed at one end of the clamping base, and a second driven wheel box is installed at the other end, and a first Two synchronous belts, the head end of the second synchronous belt is located on the upper surface of the opening and clamping base, the tail end of the second synchronous belt passes through the second driving wheel box, the lower surface of the opening and clamping base, and the second driven wheel box in sequence, and is connected to the head end of the second synchronous belt on the upper surface of the opening and clamping base, the part of the second synchronous belt located on the upper surface of the opening and clamping base is set as the upper belt section, the part of the second synchronous belt located on the lower surface of the opening and clamping base is set as the lower belt section, the left opening and clamping seat is fixedly connected to the upper belt section, the right opening and clamping seat is fixedly connected to the lower belt section, the left opening and clamping seat and the right opening and clamping seat are respectively fixedly connected to the corresponding driven wheel box mounting seats, the second driving wheel box is driven to rotate by the third motor, and the second driving wheel box drives the second driven wheel box to rotate through the second synchronous belt.

2. The workpiece transfer robot for continuous production of large punching machines according to claim 1, characterized in that: The lifting base includes two installation beams arranged at intervals, the two ends of the two installation beams are fixedly connected by connecting plates, the first driven wheel box is located between the two installation beams, the two installation beams are respectively provided with third slide rails, and the driven wheel box mounting seat is slidably mounted on the third slide rails through third sliders.

3. The workpiece transfer robot for continuous production of large punching machines as claimed in claim 2, characterized in that: The first driving wheel box simultaneously drives the first synchronous wheels on both sides of the lifting base of the main body to rotate through the spline shaft, and the first driven wheel box can be installed on the spline shaft axially movable along the spline shaft.

4. The workpiece transfer robot for continuous production of large punching machines as claimed in claim 3, characterized in that: The transfer rod is composed of an active rod, an intermediate rod and a driven rod connected in sequence, and the first synchronous belt is respectively installed on the active rod and the driven rod.

5. The workpiece transfer robot for continuous production of large punching machines as claimed in claim 4, characterized in that: The first motor, the second motor and the third motor are servo motors respectively.

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