Carrying manipulator and press line conveying system

Abstract

A carrying manipulator and a stamping line conveying system belong to the technical field of stamping equipment and comprise a mounting cross beam, and a tail end executive device for moving materials is arranged on the mounting cross beam; the tail end execution device comprises a feeding arm which is arranged on the horizontal plane and extends towards one side of the machining equipment, a fourth moving pair which is installed on the feeding arm and arranged in the length direction of the feeding arm, a first rotating pair which slides along the fourth moving pair, a transverse rod which rotates around the first rotating pair and an end picking-up device which is arranged on the transverse rod. The fourth moving pair drives the first rotating pair to slide along the fourth moving pair; when the first rotating pair slides to one end far away from the mounting cross beam, the first rotating pair drives the cross rod to rotate to form a state parallel to the feeding arm, and the extension length of the tail end execution device is prolonged; and when the first rotating pair slides to the end close to the mounting cross beam, the first rotating pair drives the cross rod to return to the state covered by the feeding arm, and the occupied length of the tail end executing device is shortened. The gravity center is adjusted when stroke coverage is prolonged, tail end shaking is reduced, and positioning precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of stamping equipment, in particular to a handling robot and a stamping line conveying system. Background Art

[0002] A handling robot is an automated device that is widely used in industries such as logistics, warehousing, and manufacturing. They can improve production efficiency, reduce error rates, and reduce labor costs. They can handle objects in a variety of scenarios. They usually consist of multiple movable arms, each with a gripper that can grab an object and move it to another location.

[0003] The handling manipulator needs to use a variety of technologies to realize its functions, including robot control technology, computer vision technology, artificial intelligence algorithm, etc. These technologies can make the handling manipulator more intelligent and better adapt to different environments and task requirements.

[0004] When a handling robot performs tasks, it may involve factors such as the weight, shape, and texture of the items. Therefore, during the design and manufacturing process, safety issues must be fully considered to ensure that the handling robot can operate stably under various conditions. In addition, regular maintenance and inspection are required to ensure its reliability and durability.

[0005] In recent years, handling manipulators have played an increasingly important role in the manufacturing industry, especially in the field of automated press line transportation technology. Although the existing manipulators used for sheet material handling on press lines have improved their operating speed and stability over ordinary robots, they still have problems such as low production efficiency of sheet material feeding on press lines, and poor end jitter and positioning accuracy of the manipulator due to their structural limitations. In order to meet the requirements of fast and stable sheet material handling on a press line, a manipulator for sheet material handling on a press line is needed. Summary of the invention

[0006] In order to solve the problems of shaking and poor precision at the end of a robot, the present invention provides a handling robot and a stamping line conveying system.

[0007] The present invention is achieved through the following technical solutions: A handling manipulator comprises a mounting crossbeam, on which an end effector for moving materials is arranged; the end effector comprises a feeding arm arranged on a horizontal plane and extending to one side of a processing device, a fourth moving pair installed on the feeding arm and arranged along the length direction thereof, a first rotating pair sliding along the fourth moving pair, a crossbar rotating around the first rotating pair, and an end picker arranged on the crossbar for grabbing or releasing materials; The fourth movable pair drives the first rotating pair to slide along it; when the first rotating pair slides to one end away from the mounting beam, the first rotating pair drives the cross bar to rotate to form a state parallel to the feed arm, so as to extend the extension length of the end effector; when the first rotating pair slides to one end close to the mounting beam, the first rotating pair drives the cross bar to return to the state covered by the feed arm, so as to shorten the occupied length of the end effector.

[0008] While optimizing the structure of the end effector, the stroke coverage after extension is extended and the space occupied in the folded state is reduced. In particular, the center of gravity position in the extended state is adjusted to reduce end jitter and improve positioning accuracy.

[0009] A further improvement of the present invention is that it also includes a vertical lifting device arranged on the mounting crossbeam for adjusting the height of the feeding arm, which helps to adjust the operating height of the entire end effector.

[0010] A further improvement of the present invention is that the vertical lifting device comprises a second moving pair arranged in the vertical direction and a vertical lifting arm sliding along the second moving pair; the feeding arm is installed at the lower end of the vertical lifting arm. The feeding arm can move up and down along the second moving pair with the vertical lifting arm; the vertical lifting device can adjust the manipulator in the vertical direction to adapt to the change in the height of the material taking and placing position of different molds.

[0011] A further improvement of the present invention is that the vertical lifting device further includes a third moving pair installed at the lower end of the vertical lifting arm and extending in the horizontal direction, and the feeding arm is slidably arranged on the third moving pair to increase the span of the telescopic stroke of the end effector. The third moving pair further increases the extension stroke length of the feeding arm.

[0012] A further improvement of the present invention is that the above-mentioned mounting crossbeam is provided with a first movable pair arranged on a horizontal plane along its length direction, and the second movable pair is slidably mounted on the first movable pair to increase the span of the horizontal moving stroke of the vertical lifting device.

[0013] A press line conveying system includes a handling robot and a preceding press and a succeeding press respectively arranged on both sides of the handling robot, which is helpful to increase the operable radius range of the handling robot and improve the working efficiency of the press line conveying system.

[0014] A further improvement of the present invention is that the preceding press and the succeeding press are symmetrically arranged on both sides of the mounting crossbeam.

[0015] A further improvement of the present invention is that the preceding press comprises a preceding lower die and a preceding upper die arranged above the preceding lower die, and the preceding upper die moves relative to the preceding lower die to punch the material moved into the preceding press through the end picker.

[0016] A further improvement of the present invention is that the above-mentioned subsequent press includes a subsequent lower mold and a subsequent upper mold arranged above the subsequent lower mold, and the subsequent upper mold moves relative to the subsequent lower mold to punch the material moved into the preceding press through the end picker.

[0017] A further improvement of the present invention is that the mounting crossbeam is connected between the frame of the preceding press and the frame of the succeeding press, which helps to improve the stability of the handling manipulator on the conveying system of the stamping line.

[0018] It can be seen from the above technical solutions that the beneficial effects of the present invention are: while optimizing the structure of the end effector, the travel coverage after extension is extended, and the space occupancy in the folded state is reduced, especially the center of gravity position in the extended state is adjusted, the end jitter is reduced, and the positioning accuracy is improved; and the end picker is installed on the cross bar and moves with it to achieve double-piece separation; the feeding arm can move horizontally in the logistics direction relative to the vertical lifting arm, and at the same time drive the cross bar and the end picker to move horizontally in the logistics direction, which can achieve double speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of the horizontal transmission device and the end actuator of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the vertical lifting device and the end execution device described in the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the robot arm of the present invention in the conveying system of the stamping line.

[0023] Figure 4 It is a structural schematic diagram of an embodiment of the manipulator described in the present invention.

[0024] In the attached drawings: 1. installation beam; 2. vertical lifting arm; 3. feeding arm; 4. cross bar; 5. end picker; 6. preceding press; 601. preceding upper mold; 602. preceding lower mold; 7. succeeding press; 701. succeeding upper mold; 702. succeeding lower mold; 8. sheet; P1. first moving pair; P2. second moving pair; P3. third moving pair; P4. fourth moving pair; R1. first rotating pair. DETAILED DESCRIPTION

[0025] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0026] As attached Figure 1-4 As shown, a press line conveying system includes a handling robot and a preceding press 6 and a following press 7 respectively arranged on both sides of the handling robot. The preceding press 6 and the following press 7 are symmetrically arranged on both sides of the mounting crossbeam 1. This helps to improve the working efficiency of the press line conveying system.

[0027] The mounting crossbeam 1 is provided with a first moving pair P1 arranged on a horizontal plane along its length direction, and the first moving pair P1 is provided with a vertical lifting device capable of adjusting the height of the end effector. The vertical lifting device includes a second moving pair P2 arranged in the vertical direction and sliding along the first moving pair P1 and a vertical lifting arm 2 sliding along the second moving pair P2. The lower end of the vertical lifting arm 2 is provided with an end effector for moving materials. This helps to adjust the operating height of the entire end effector.

[0028] The end effector includes a third movable pair P3 installed in the horizontal direction at the lower end of the vertical lifting arm 2, a feed arm 3 sliding along the third movable pair P3 and extending horizontally to one side of the processing equipment, a fourth movable pair P4 installed on the feed arm 3 and arranged along its length direction, a first rotating pair R1 sliding along the fourth movable pair P4, a cross bar 4 rotating around the first rotating pair R1 and an end picker 5 arranged on the cross bar 4 for grabbing or releasing materials.

[0029] The feeding arm 3 can be lifted and lowered along the second moving pair P2 along with the vertical lifting arm 2; the vertical lifting device can make the manipulator adjust in the vertical direction to adapt to the changing height requirements of the material taking and placing positions of different molds.

[0030] There are two fourth movable pairs P4, which are arranged parallel to each other along the length direction on the feeding arm 3; a first rotating pair R1 is slidably arranged on each fourth movable pair P4. With the different positions of the two first rotating pairs R1 on the same feeding arm 3, double-piece separation is achieved.

[0031] In summary, the handling robot can realize the following operations: the first moving pair P1 is provided with a vertical lifting device capable of adjusting the height of the end effector, so as to increase the span of the vertical lifting device's moving stroke in the horizontal direction.

[0032] The fourth movable pair P4 drives the first rotating pair R1 to slide along it; when the first rotating pair R1 slides to one end away from the mounting beam 1, the first rotating pair R1 drives the cross bar 4 to rotate to form a state parallel to the feed arm 3, so as to extend the extension length of the end effector; when the first rotating pair R1 slides to one end close to the mounting beam 1, the first rotating pair R1 drives the cross bar 4 to return to the state covered by the feed arm 3, so as to shorten the occupied length of the end effector.

[0033] The third mobile pair P3 further increases the extended stroke length of the feed arm 3; while optimizing the structure of the end actuator, it extends the stroke coverage after extension and reduces the space occupied in the folded state, especially adjusting the center of gravity position in the extended state, reducing the end jitter and improving the positioning accuracy.

[0034] The handling robot and stamping line conveying system described in the present invention optimize the structure of the end actuator, extend the travel coverage after extension, and reduce the space occupied in the folded state, especially adjust the center of gravity position in the extended state, reduce the end jitter, and improve the positioning accuracy; and the end picker is installed on the cross bar and moves with it to achieve double-piece separation; the feeding arm can move horizontally in the logistics direction relative to the vertical lifting arm, and at the same time drive the cross bar and the end picker to move horizontally in the logistics direction, which can achieve double speed.

[0035] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0036] The terms "upper", "lower", "outer side", "inner side", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish the relative relationship in position if they exist, and do not need to be qualitative. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0037] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A handling robot, comprising a mounting beam (1), characterized in that: The mounting crossbeam (1) is provided with an end effector for moving materials; the end effector comprises a feed arm (3) arranged on a horizontal plane and extending toward one side of the processing equipment, a fourth moving pair (P4) mounted on the feed arm (3) and arranged along its length direction, a first rotating pair (R1) sliding along the fourth moving pair (P4), a cross bar (4) rotating around the first rotating pair (R1), and an end picker (5) arranged on the cross bar (4) for grabbing or releasing materials; the fourth moving pair (P4) drives the first rotating pair (R1) to slide along it; when the first rotating pair (R1) slides to an end away from the mounting crossbeam (1), the first rotating pair (R1) drives the cross bar (4) to rotate to form a state parallel to the feed arm (3) to extend the extension length of the end effector; when the first rotating pair (R1) slides to an end close to the mounting crossbeam (1), the first rotating pair (R1) drives the cross bar (4) to return to a state covered by the feed arm (3) to shorten the occupied length of the end effector.

2. A handling robot according to claim 1, characterized in that: It also includes a vertical lifting device arranged on the mounting crossbeam (1) for adjusting the height of the feeding arm (3).

3. A handling robot according to claim 2, characterized in that: The vertical lifting device comprises a second movable pair (P2) arranged in the vertical direction and a vertical lifting arm (2) sliding along the second movable pair (P2); the feeding arm (3) is mounted on the lower end of the vertical lifting arm (2).

4. A handling robot according to claim 3, characterized in that: The vertical lifting device also includes a third movable pair (P3) mounted at the lower end of the vertical lifting arm (2) and extending in the horizontal direction, and the feeding arm (3) is slidably arranged on the third movable pair (P3) to increase the span of the telescopic stroke of the end actuator.

5. A handling robot according to claim 3 or 4, characterized in that: The mounting crossbeam (1) is provided with a first movable pair (P1) arranged on a horizontal plane along its length direction, and the second movable pair (P2) is slidably mounted on the first movable pair (P1) to increase the span of the vertical lifting device's moving stroke in the horizontal direction.

6. A press line conveying system, characterized in that: It comprises the handling robot as claimed in claim 5 and a preceding press (6) and a succeeding press (7) respectively arranged on both sides of the handling robot.

7. A press line conveying system according to claim 6, characterized in that: The preceding press (6) and the succeeding press (7) are symmetrically arranged on both sides of the mounting crossbeam (1).

8. A press line conveying system according to claim 6, characterized in that: The preceding press (6) comprises a preceding lower die (602) and a preceding upper die (601) arranged above the preceding lower die (602), wherein the preceding upper die (601) moves relative to the preceding lower die (602) to punch the material moved into the preceding press (6) through the end picker (5).

9. A press line conveying system according to claim 6, characterized in that: The subsequent press (7) comprises a subsequent lower die (702) and a subsequent upper die (701) arranged above the subsequent lower die (702), and the subsequent upper die (701) moves relative to the subsequent lower die (702) to punch the material moved into the preceding press (6) through the end picker (5).

10. A press line conveying system according to claim 6, characterized in that: The mounting crossbeam (1) is connected between the frame of the preceding press (6) and the frame of the succeeding press (7).

Images