Transplanting robot for a continuous mold

Abstract

The present application relates to a kind of transplanting manipulator for continuous die, including two transplanting mechanisms respectively in the left and right sides of the bottom die of mould, transplanting mechanism includes support arm, the rotation unit of driving support arm rotation, and the lifting unit of driving rotation unit lifting, and the horizontal movement unit of driving lifting unit along the length direction of bottom die moves;Support arm is tilted downward near the end of rotation unit and is connected with the rotation axis of rotation unit by connecting component;The pickup unit for picking up workpiece is provided in the lower portion of support arm and is connected therewith, and the adjacent end of two support arms is provided with abutting portion;When the opposite end of two support arms abuts, two support arms are left-right symmetrical and the included angle of lower portion is less than 180 degrees;When working, by the cooperation of rotation unit and lifting unit and horizontal movement unit, it can be realized that support arm moves out and moves into mould to pick up workpiece and is transplanted to next station, and the opposite abutment of two support arms can prevent the end of support arm from falling to avoid the situation of collision caused by the bending of support arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of progressive die processing, in particular to a transplanting manipulator for a progressive die. BACKGROUND

[0002] Progressive die refers to a cold stamping die that uses a strip-shaped stamping raw material in a stamping process of a press machine, and completes multiple stamping processes simultaneously on a die with different stations.

[0003] In the production and processing of a progressive die, a complex part needs to go through the steps of trimming, punching, bending, shaping, and forming, and the production of the part is completed through precise movement relationships. However, due to the multiple processing steps of some large-size workpieces, the width and length of the die need to be designed to meet the needs of part processing. The longer the length and the larger the width of the die, the more difficult it is for workers to transplant the workpiece to the next station. In order to solve this problem, the industry generally uses a transplanting manipulator for transplantation. However, for a die with a large width, the length of the support arm of the manipulator becomes larger, which leads to poor rigidity of the manipulator, making it impossible to pick up the bottom die when picking up the workpiece, and thus causing a collision accident when driving the workpiece to move horizontally. Therefore, it is necessary to design a transplanting manipulator for a progressive die to solve the above problems. SUMMARY

[0004] The present application aims to solve the problems of the prior art and provides a transplanting manipulator for a progressive die.

[0005] To achieve the above requirements, the technical solution adopted by the present application to solve its technical problems is:

[0006] A transplanting manipulator for a progressive die is provided, which includes transplanting mechanisms respectively arranged on the left and right sides of the bottom die of the die. The transplanting mechanism includes a support arm arranged above the bottom die in the width direction of the bottom die, a rotating unit driving the support arm to rotate, a lifting unit driving the rotating unit to lift, and a horizontal moving unit driving the lifting unit to move in the length direction of the bottom die. One end of the support arm near the rotating unit is inclined downward and connected to the rotating shaft of the rotating unit through a connecting assembly. A picking unit for picking up workpieces is arranged below the support arm and connected thereto. The adjacent ends of the two support arms abut each other. When the opposite ends of the two support arms abut each other, the two support arms are left-right symmetrical and the included angle of the lower sides is less than 180 degrees.

[0007] The transplanting manipulator for continuous mold, wherein the upper portion of the rotating unit is provided with a fixing plate fixed on the movable terminal of the lifting unit, and the fixing plate is fixed with the movable terminal through a connecting column.

[0008] The transplanting manipulator for continuous mold, wherein the rotating unit is a motor, the upper end of the rotating shaft penetrates the fixing plate, the outer side of the rotating shaft is sleeved with an outer cylinder, and the outer cylinder is fixed on the upper surface of the fixing plate; the connecting assembly comprises a ring-shaped part coaxially sleeved on the outer cylinder, a movable head coaxially arranged above the outer cylinder, and a connecting rod connecting the movable head and the support arm; the movable head is axially slidably connected with the rotating shaft, and the support arm is connected with the ring-shaped part.

[0009] The transplanting manipulator for continuous mold, wherein the support arm is longitudinally connected with the ring-shaped part, the two ends of the connecting rod are longitudinally connected with the support arm and the movable head respectively, the lower end surface of the movable head is an inclined surface, and the upper end surface of the outer cylinder is an inclined lifting inclined surface; in the initial state, the lifting inclined surface is completely attached to the inclined surface.

[0010] The transplanting manipulator for continuous mold, wherein the end of the support arm close to the ring-shaped part is provided with a downward bending part, and the connecting point of the connecting rod and the support arm is located on the side of the bending part away from the ring-shaped part.

[0011] The transplanting manipulator for continuous mold, wherein the ring-shaped part is a bearing, the inner ring of the bearing is fixed with the outer cylinder, and the outer ring of the bearing is longitudinally hinged with the support arm.

[0012] The transplanting manipulator for continuous mold, wherein the pickup unit comprises a suction disc holder arranged below the support arm, and a suction disc body arranged on the lower surface of the suction disc holder; the suction disc body is provided with a plurality of.

[0013] The transplanting manipulator for continuous mold, wherein the two support arms are provided with a groove on the adjacent end surface of one of the support arms, and a protrusion corresponding to the groove is arranged on the adjacent end surface of the other support arm; the groove is V-shaped, and the groove is arranged along the length direction of the bottom mold, and the two ends of the groove penetrate the side wall of the corresponding support arm.

[0014] The transplanting manipulator for continuous mold, wherein the lifting unit comprises a lifting cylinder and a guide rail assembly guiding the lifting movement of the movable rod of the lifting cylinder; the guide rail assembly and the lifting cylinder are both vertically fixed on the movable terminal of the horizontal moving unit.

[0015] The transplanting manipulator for the continuous die, wherein the horizontal moving unit is a linear motor or a screw rod motor

[0016] The present application has the advantages that: during operation, the support arms can be moved in and out of the mold to pick up workpieces and transplant them to the next work station by the cooperation of the rotating unit, the lifting unit and the horizontal moving unit, and the abutment of the two support arms can prevent the end of the support arm from falling and avoid the collision caused by the bending of the support arm. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the present application will be further described below with reference to the drawings and embodiments. The drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings:

[0018] Figure 1 is the front view of the transplanting manipulator for the continuous die and the mold assembly of the present application.

[0019] Figure 2 is Figure 1 is the enlarged view of the transplanting mechanism in

[0020] Figure 3 is Figure 1 is the enlarged view of the abutment of the two support arms in

[0021] Figure 4 is the longitudinal sectional view of the rotating unit and the connecting assembly assembly of the transplanting manipulator for the continuous die of the present application. DETAILED DESCRIPTION

[0022] The terms "first", "second", "third", and "fourth" and the like in the description and claims of the present application and in the accompanying drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "include", "have", and "contain" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a list of steps or units are not necessarily limited to the listed steps or units, but can optionally further include additional steps or units not expressly listed or can also include additional steps or units inherent to such process, method, product, or apparatus.

[0023] Reference to "an embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the other embodiments "combinations of the features of the dependent claims of the application may not all be necessary or desirous in all embodiments.

[0024] "Multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing together, and B existing alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0025] Furthermore, the terms "upper", "lower", "left", "right", "upper end", "lower end", "vertical", and the like indicating the orientation are all based on the attitude position of the device or equipment described in the present scheme when it is normally used.

[0026] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0027] The preferred embodiment of the present application is a transplanting manipulator for a progressive die, such as Figures 1-4As shown, the mechanical hand includes transplanting mechanism 10 respectively arranged on the left and right sides of the bottom mold 100, the transplanting mechanism 10 includes a support arm 101 arranged along the width direction of the bottom mold 100 and arranged above the bottom mold 100, a rotating unit 102 driving the support arm 101 to rotate horizontally, and a lifting unit 103 driving the rotating unit 102 to lift, and a horizontal moving unit 104 driving the lifting unit 103 to move along the length direction of the bottom mold 100. The end of the support arm 101 close to the rotating unit 102 is inclined downward and connected with the rotating shaft of the rotating unit 102 through the connecting assembly 20. The lower side of the support arm 101 is provided with a picking unit 30 connected thereto and used for picking workpieces. The adjacent ends of the two support arms 101 are provided with abutting portions 40. When the opposite ends of the two support arms 101 abut, the two support arms 101 are symmetrical and the included angle of the lower sides of the two support arms 101 is less than 180 degrees. During operation, through the cooperation of the rotating unit 102, the lifting unit 103 and the horizontal moving unit 104, the support arm 101 can be moved out of or into the mold to pick workpieces and transplant the workpieces to the next station. Moreover, when picking workpieces, the adjacent ends of the two support arms 101 are inclined upward and abut against each other, which can prevent the end of the support arm 101 from falling down and avoid the situation that the end of the support arm 101 is bent due to gravity and causes a collision during horizontal movement.

[0028] In the embodiment, the upper side of the rotating unit 102 is provided with a fixing plate 50 fixed on the movable end of the lifting unit 103, and the fixing plate 50 is fixed on the movable end through a connecting column 60, so as to ensure the stable operation of the rotating unit 102.

[0029] In the embodiment, the rotating unit 102 is a motor, the upper end of the rotating shaft 1021 of the motor penetrates through the fixing plate 50, the outer side of the rotating shaft 1021 is coaxially sleeved with an outer cylinder 70 and can relatively move, and the outer cylinder 70 is integrally fixed on the upper surface of the fixing plate 50. The connecting assembly 20 includes a ring-shaped part 201 coaxially and movably sleeved on the outer cylinder 70, a movable head 202 coaxially arranged above the outer cylinder 70, and a connecting rod 203 connecting the movable head 202 and the support arm 101. The movable head 202 is coaxially and axially slidably connected with the rotating shaft 1021, and the connection mode adopts a spline shaft connection mode, so as to satisfy that the movable head 202 and the rotating shaft 1021 can synchronously rotate and can axially move up and down. The support arm 101 is connected with the ring-shaped part 201. After the workpieces are transplanted, the rotating shaft 1021 is rotated to drive the movable head 202 to rotate, and then drive the support arm 101 and the ring-shaped part 201 to rotate together, and then rotate the support arm 101 to move out of the mold, so as to facilitate the downward movement of the upper mold of the mold. The connecting rod 203, the ring-shaped part 201 and the support arm 101 form a triangular structure, so that the structure is stable and firm in the longitudinal direction, and the bending deformation of the end of the support arm 101 connected with the ring-shaped part 201 due to concentrated stress can be effectively prevented.

[0030] In the embodiment, the connection between the movable head 202 and the rotating shaft 1021 is achieved by means of a spline shaft and a spline sleeve. The rotating shaft 1021 functions as a spline shaft, and the movable head 202 functions as a spline sleeve. The upper end of the rotating shaft 1021 penetrates the upper end of the movable head 202, and the upper end of the rotating shaft 1021 is further provided with a stop block 80 to prevent the movable head 202 from falling off. The support arm 101 is longitudinally connected with the annular member 201, and the two ends of the connecting rod 203 are longitudinally connected with the support arm 101 and the movable head 202, respectively. The lower end surface of the movable head 202 is an inclined surface 2021, and the upper end surface of the outer cylinder 70 is an inclined lifting slope 701. Specifically, the lifting slope 701 is oriented in the same direction as the direction of the workpiece transfer. In the initial state, the support arm 101 is located outside the mold. In this state, the lifting slope 701 is completely attached to the inclined surface 2021. During the process of driving the support arm 101 into the mold to pick up the workpiece by rotating the rotating shaft 1021, the movable head 202 rotates synchronously above the outer cylinder 70 at the same angular velocity as the rotating shaft 1021, so that the inclined surface 2021 changes from being completely attached to the lifting slope 701 to moving upward along the lifting slope 701 from the lowest point of the inclined surface 2021 to the middle of the lifting slope 701. After the workpiece is transferred, the motor is reset. During the process, the inclined surface 2021 slides downward at the middle of the lifting slope 701, and the height of the movable head 202 gradually decreases, thereby gradually reducing the height of the end of the support arm 101 during the process of rotating and moving out of the mold, thereby avoiding collision between the higher end of the support arm 101 and the punch on the movable upper die 200 of the mold. Moreover, the support arm 101 can be moved out of the mold at the same time as the mold is closed, and the mold is just closed when the support arm 101 is completely moved out of the mold, thereby shortening the waiting time of the mold and further improving the production efficiency.

[0031] In the embodiment, the end of the support arm 101 close to the annular member 201 is provided with a downward bending part 1011, and the connection point between the connecting rod and the support arm 101 is located on the side of the bending part 1011 away from the annular member 201, so as to reduce the height of the end of the connecting rod 203 and increase the distance from the upper die of the mold, so that the upper die 200 of the mold can be quickly closed with the lower die when the support arm 101 is moved out of the mold.

[0032] In the embodiment, the annular member 201 is a bearing, and its inner ring is fixed with the outer cylinder 70, and its outer ring is longitudinally hinged with the support arm 101, so as to ensure the stable horizontal rotation of the support arm 101 without shaking, and also avoid the wear caused by the direct relative rotation between the annular member 201 and the outer cylinder 70.

[0033] In the embodiment, the pickup unit 30 includes a suction cup rack 301 arranged below the support arm 101, and a plurality of suction cup bodies 302 arranged on the lower surface of the suction cup rack 301, so as to ensure that the suction force for picking up the workpiece is sufficient and the workpiece is prevented from falling off.

[0034] In the embodiment, the two support arms 101 are provided with a groove 1012 on the adjacent end face of one support arm 101, and a protrusion 1013 corresponding to the groove 1012 is provided on the adjacent end face of the other support arm 101. The groove 1012 is V-shaped, and is arranged along the length direction of the mold 100. The two ends of the groove 1012 penetrate the side wall of the corresponding support arm 101. When the two support arms 101 are rotated into the mold, the adjacent ends of the two support arms 101 can be fixed through the cooperation of the protrusion 1013 and the groove 1012, so as to prevent the occurrence of large shaking, and ensure that the two support arms 101 can maintain a stable state of abutment during the abutment process. In order to further ensure the stability, a magnet can be arranged on the adjacent ends of the two support arms 101.

[0035] In the embodiment, the lifting unit 103 comprises a lifting cylinder 1031, and a guide rail assembly 1032 for guiding the lifting movement of the movable rod of the lifting cylinder 1031. The horizontal moving unit 104 is a linear motor or a screw motor. The guide rail assembly 1032 and the lifting cylinder 1031 are both vertically fixed on the movable terminal of the horizontal moving unit 104. The lifting of the rotating unit 102 can be ensured to be stable and not to shake through the guide rail assembly 1032.

[0036] It should be understood that, for those skilled in the art, improvements or changes can be made according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A transfer robot for a continuous mold, the robot comprising two transfer mechanisms respectively disposed on the left and right sides of the bottom mold of the mold, characterized in that, The transplanting mechanism includes a support arm disposed above the bottom mold along the width direction, a rotating unit that drives the support arm to rotate horizontally, a lifting unit that drives the rotating unit to rise and fall, and a traversing unit that drives the lifting unit to move along the length direction of the bottom mold; one end of the support arm near the rotating unit is inclined downward and connected to the rotating shaft of the rotating unit through a connecting assembly; a picking unit connected to the support arm and used to pick up the workpiece is provided below the support arm, and adjacent ends of the two support arms are provided with abutment portions; when the opposite ends of the two support arms abut against each other, the two support arms are symmetrical from left to right and the included angle at the bottom is less than 180 degrees.

2. The transfer robot for continuous molding according to claim 1, characterized in that, The rotating unit is provided with a fixing plate above it, which is fixed to the movable terminal of the lifting unit. The fixing plate is fixed to the movable terminal by a connecting column.

3. The transfer robot for continuous molding according to claim 2, characterized in that, The rotating unit is a motor. The upper end of the rotating shaft passes through the fixed plate. An outer cylindrical component is sleeved on the outside of the rotating shaft and fixed to the upper surface of the fixed plate. The connecting assembly includes an annular component coaxially sleeved on the outer cylindrical component, a movable head coaxially disposed above the outer cylindrical component, and a connecting rod connecting the movable head and the support arm. The movable head is axially slidably connected to the rotating shaft, and the support arm is connected to the annular component.

4. The transfer robot for continuous molding according to claim 3, characterized in that, The support arm intersects longitudinally with the annular component, and the two ends of the connecting rod intersect longitudinally with the support arm and the movable head, respectively. The lower end face of the movable head is an inclined surface, and the upper end face of the outer cylinder is an inclined lifting slope. In the initial state, the lifting slope and the inclined surface are completely in contact.

5. The transfer robot for continuous molding according to claim 4, characterized in that, The support arm has a downward-curved portion at one end near the annular component, and the connection point between the connecting rod and the support arm is located on the side of the curved portion away from the annular component.

6. The transfer robot for continuous molding according to claim 3, characterized in that, The annular component is a bearing, with its inner ring fixed to the outer cylinder and its outer ring longitudinally hinged to the support arm.

7. The transfer robot for continuous molding according to claim 1, characterized in that, The pickup unit includes a suction cup frame located below the support arm, and a suction cup body located on the lower surface of the suction cup frame; the suction cup body has multiple components.

8. The transfer robot for continuous molding according to claim 1, characterized in that, One of the two support arms has a groove on the adjacent end face of the support arm, and the other support arm has a protrusion on the adjacent end face of the groove corresponding to the groove. The groove is V-shaped and is arranged along the length direction of the bottom mold. The two ends of the groove penetrate through the side wall of the support arm corresponding to it.

9. The transfer robot for continuous molding according to claim 1, characterized in that, The lifting unit includes a lifting cylinder and a guide rail assembly that guides the lifting movement of the movable rod of the lifting cylinder; both the guide rail assembly and the lifting cylinder are vertically fixed to the movable terminal of the transverse unit.

10. The transfer robot for continuous molding according to claim 1, characterized in that, The lateral movement unit is a linear motor or a lead screw motor.

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