Parallel mechanical arm for feeding and discharging of press line

Abstract

The invention discloses a parallel mechanical arm for feeding and discharging on a press line, which comprises a support arranged between a front press machine and a rear press machine, the lifting adjusting plate is arranged on the inner side of the support and ascends and descends on the support, the horizontal sliding plate is arranged on the lifting adjusting plate and moves on the lifting adjusting plate, the tail end grabbing mechanism is used for grabbing workpieces, and the parallel feeding mechanism is used for driving the tail end grabbing mechanism to move. The mechanical arm is composed of a rack, a lifting adjusting device, a horizontal sliding device, a parallel feeding device and a tail end grabbing device, the degree of freedom is high, and the flexibility of the mechanical arm can be improved.

Description

Technical Field

[0001] The present invention relates to the field of stamping, and more specifically to a parallel manipulator for loading and unloading on a stamping line. Background Art

[0002] The parallel manipulator for loading and unloading on a stamping line is an efficient device for an automated stamping production line, mainly used to automatically load raw materials and unload finished parts during the stamping process, thereby improving production efficiency, reducing labor costs, and enhancing production safety.

[0003] There is an existing invention patent with an application number of 201611137186.0 and a patent name of "A clamping manipulator for an automated stamping line", which includes a base and a rotating column. The top of the base is provided with a rotating column, and both the base and the rotating column are hollow structures. A first motor is provided inside the base, and the output shaft of the first motor passes through the top side wall of the base and is connected to the rotating column. A partition is provided inside the rotating column, and a first through hole is opened on the partition. A first opening is provided on the side wall of the rotating column. A second motor is provided at the bottom end inside the rotating column, and the output shaft of the second motor passes through the first through hole and is connected to a rotating shaft. A thread is provided on the outer side wall of the rotating shaft. By providing a first motor inside the base, the first motor drives the rotating column to rotate. A cylinder is provided on the fixture box, which can clamp the movable clamping plate and the fixed clamping plate. This device has a high degree of automation, can move up and down, back and forth, rotate 360 degrees, and automatically clamp. However, it still cannot avoid manual picking of parts, reducing safety hazards and improving work efficiency.

[0004] However, due to the limitations of its structure, the movement of the above solution is not flexible enough, and it cannot quickly transfer workpieces on the stamping line, resulting in a relatively low overall production efficiency of the stamping line. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems, and to provide a parallel manipulator for loading and unloading on a stamping line, which has higher flexibility and agility and a faster transfer speed, with high efficiency.

[0006] The technical solution adopted by the present invention to solve its technical problems is: A parallel manipulator for loading and unloading on a stamping line includes a bracket arranged between a pre-stage press and a post-stage press. The bracket is symmetrically arranged front and back. It also includes a lifting and adjusting plate arranged inside the bracket and moving up and down on the bracket, a horizontal sliding plate arranged on the lifting and adjusting plate and moving on the lifting and adjusting plate, an end grasping mechanism for grasping workpieces, and a parallel feeding mechanism for driving the movement of the end grasping mechanism; The parallel feeding mechanism includes swing arms symmetrically arranged at the upper end and rotatably connected to the horizontal sliding plate, and two follower arms corresponding to the swing arms one by one. The upper end of the follower arm is rotatably connected to the corresponding swing arm, and the lower end of the follower arm is rotatably connected to the end grasping mechanism.

[0007] Further, the lifting and adjusting plate and the bracket are slidably connected through a guide rail-slider pair.

[0008] Further, a motor is provided at the upper end of the bracket, and the motor drives the lifting and adjusting plate to lift and lower through a synchronous belt.

[0009] Further, the horizontal sliding plate and the lifting and adjusting plate are slidably connected through a guide rail-slider pair.

[0010] Further, a motor for driving the horizontal sliding plate to move is provided at the end of the lifting and adjusting plate.

[0011] Further, a motor for driving the swing arm to rotate is provided at the position where the swing arm is rotatably connected to the horizontal sliding plate.

[0012] Further, the end grasping mechanism includes a cross bar and an end pick-up.

[0013] Further, rotary motors for driving the cross bar to rotate are provided at both ends of the cross bar.

[0014] The beneficial effects of the present invention are as follows: 1. The present invention includes a bracket arranged between the pre-stage press and the post-stage press. The bracket is symmetrically arranged front and back. It also includes a lifting and adjusting plate arranged inside the bracket and ascending and descending on the bracket, a horizontal sliding plate arranged on the lifting and adjusting plate and moving on the lifting and adjusting plate, an end grasping mechanism for grasping workpieces, and a parallel feeding mechanism for driving the end grasping mechanism to move; it is composed of a frame, a lifting adjustment device, a horizontal sliding device, a parallel feeding device, and an end grasping device, and has a high degree of freedom, which can improve the flexibility of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is a schematic diagram of the swing arm and the follower arm of the present invention; Figure 3 It is a front view of the present invention; Figure 4 Schematic diagram for loading and unloading in a stamping production line.

[0017] In the figure: previous press 1, subsequent press 2, bracket 3, lifting and adjusting plate 4, horizontal sliding plate 5, swinging large arm 6, follower small arm 7, motor 8, cross bar 9, end picker 10, rotating motor 11. Detailed implementation mode

[0018] In order to enable those skilled in the art to better understand the technical solutions in this invention, the following will clearly and completely describe the technical solutions in the embodiments of this invention with reference to the accompanying drawings in the embodiments of this invention. Obviously, the described embodiments are only part of the embodiments of this invention, rather than all of the embodiments. Based on the embodiments of this invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this invention.

[0019] As Figure 1 and Figure 4 shown, a parallel manipulator for loading and unloading in a stamping line includes a bracket 3 arranged between the previous press 1 and the subsequent press 2. The bracket 3 is symmetrically arranged front and back. It further includes a lifting and adjusting plate 4 arranged inside the bracket 3 and moving up and down on the bracket 3, a horizontal sliding plate 5 arranged on the lifting and adjusting plate 4 and moving on the lifting and adjusting plate 4, an end grasping mechanism for grasping workpieces, and a parallel feeding mechanism for driving the end grasping mechanism to move; it is composed of a frame, a lifting and adjusting device, a horizontal sliding device, a parallel feeding device, and an end grasping device, with a relatively high degree of freedom, which can improve the flexibility of the manipulator.

[0020] As Figure 2 and Figure 3 shown, the parallel feeding mechanism includes swinging large arms 6 symmetrically arranged and rotatably connected to the horizontal sliding plate 5 at the upper end, and two follower small arms 7 corresponding to the swinging large arms 6 one by one. The upper end of the follower small arm 7 is rotatably connected to the corresponding swinging large arm 6, and the lower end of the follower small arm 7 is rotatably connected to the end grasping mechanism. By setting the swinging large arms 6 and the follower small arms 7, the combined movement of the horizontal sliding plate 5 of the lifting and adjusting plate 4 can ensure the loading and unloading effect of the end grasping device, and can improve the production efficiency of loading and unloading in the stamping production line.

[0021] As Figure 3 shown, the lifting and adjusting plate 4 is slidably connected to the bracket 3 through a guide rail slider pair.

[0022] As Figure 3As shown, a motor 8 is provided at the upper end of the bracket 3. The motor 8 drives the lifting and adjusting plate 4 to move up and down through a synchronous belt. The motor reducer is installed on the frame 3 and drives the synchronous belt to make the lifting and adjusting plate 4 perform vertical movement on the linear guide rail, further driving the horizontally sliding plate 5, the parallel feeding mechanism, and the end grasping mechanism connected thereto to perform vertical movement. The parallel manipulator is vertically adjusted through the lifting and adjusting plate 4 to meet the requirements of different molds for the height of the material taking and placing positions.

[0023] As Figure 3 shown, the horizontally sliding plate 5 and the lifting and adjusting plate 4 are slidably connected through a guide rail slider pair.

[0024] A motor for driving the horizontally sliding plate 5 to move is provided at the end of the lifting and adjusting plate 4. The linear motor drives the horizontally sliding plate 5 to drive the parallel feeding mechanism and the end grasping mechanism connected thereto to perform horizontal movement to adapt to different press spacings and compensate for the feeding distance.

[0025] A motor for driving the swing arm 6 to rotate is provided at the position where the swing arm 6 is rotatably connected to the horizontally sliding plate 5. The two swing arms are driven to rotate to perform the swing movement in the feeding direction, and at the same time, the two follower arms and the end grasping mechanism connected thereto are driven to move in the feeding direction.

[0026] One ends of the two swing arms 6 of the parallel feeding mechanism are respectively connected to the horizontally sliding plate 5 through the first rotating pair R1 and the second rotating pair R2, and the other ends are respectively connected to the two follower arms 7 through the third rotating pair R3 and the fourth rotating pair R4. The lower ends of the two follower arms 7 are connected together through a planar hinge and are connected to the end of the cross bar of the end grasping mechanism through the fifth rotating pair R5.

[0027] As Figure 3 shown, the end grasping mechanism includes a cross bar 9 and an end pick-up 10.

[0028] As Figure 1 shown, rotating motors 11 for driving the cross bar 9 to rotate are provided at both ends of the cross bar 9. The cross bar 9 rotates synchronously when the swing arm swings. Through the above two movements, multi-angle grasping of double sheet materials and workpieces can be achieved. Through the above composite movement, the movement of the end grasping mechanism in the plane can be jointly realized to complete the transmission of the sheet material and the workpiece.

[0029] As Figure 4The figure shows a schematic diagram of workpiece handling in an embodiment of the present invention in a stamping production line. The parallel manipulator is installed on the stamping line between the previous press and the subsequent press. During the production process of the stamping line, the parallel manipulator takes out the stamped workpiece from the previous press and transports it to the subsequent press for the next stamping operation on the workpiece, and then the parallel manipulator retracts and repeats the next transfer operation.

[0030] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "left", "right", "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present invention.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "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, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Claims

1. A parallel robot arm for loading and unloading materials on a stamping line, comprising a bracket (3) arranged between a preceding press (1) and a succeeding press (2), wherein the bracket (3) is arranged symmetrically in front and back, and is characterized in that: It also includes a lifting adjustment plate (4) arranged on the inner side of the bracket (3) and raised and lowered on the bracket (3), a horizontal sliding plate (5) arranged on the lifting adjustment plate (4) and moving on the lifting adjustment plate (4), an end gripping mechanism for gripping a workpiece, and a parallel feeding mechanism for driving the end gripping mechanism to move; The parallel feeding mechanism comprises a swing arm (6) symmetrically arranged at the upper end and rotatably connected to the horizontal sliding plate (5), and two follower arms (7) corresponding to the swing arm (6) one by one, wherein the upper end of the follower arm (7) is rotatably connected to the corresponding swing arm (6), and the lower end of the follower arm (7) is rotatably connected to the end grasping mechanism.

2. A parallel robot arm for loading and unloading materials on a stamping line according to claim 1, characterized in that: The lifting adjustment plate (4) and the bracket (3) are slidably connected via a guide rail slider pair.

3. A parallel robot arm for loading and unloading materials on a stamping line according to claim 2, characterized in that: A motor (8) is provided at the upper end of the bracket (3), and the motor (8) drives the lifting and adjusting plate (4) to move up and down via a synchronous belt.

4. A parallel robot arm for loading and unloading materials on a stamping line according to claim 1, characterized in that: The horizontal sliding plate (5) and the lifting adjustment plate (4) are slidably connected via a guide rail slider pair.

5. A parallel robot arm for loading and unloading materials on a stamping line according to claim 4, characterized in that: A motor for driving the horizontal sliding plate (5) to move is provided at the end of the lifting adjustment plate (4).

6. The parallel robot arm for loading and unloading materials on a stamping line according to claim 1, characterized in that: A motor for driving the swing arm (6) to rotate is provided at a position where the swing arm (6) is rotatably connected to the horizontal sliding plate (5).

7. The parallel robot arm for loading and unloading materials on a stamping line according to claim 1, characterized in that: The end gripping mechanism comprises a crossbar (9) and an end picker (10).

8. The parallel robot arm for loading and unloading materials on a stamping line according to claim 1, characterized in that: Both ends of the crossbar (9) are provided with rotating motors (11) for driving the crossbar (9) to rotate.

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