CN102848379A - Automatic manipulator of caster support press line - Google Patents

Abstract

The invention relates to an automatic manipulator for a stamping line of a caster support, including a shell, a structural support, an electric manipulator, a driving device and a control device. The structural support includes a fixed plate, a guide column, an upper and lower base, an up and down lifting platform and a rotating platform, an upper and lower base and an up and down lifting platform The electric manipulator is installed on the rotary platform; the driving device includes two stepping motors, one is installed on the lifting platform, and is connected to the rotating shaft of the rotary platform through a synchronous pulley to drive the rotation of the manipulator, and the other is installed on the lifting platform. On the base, the lifting table is connected with the synchronous pulley and the screw rod to realize the lifting movement of the manipulator; the control device includes a sensor and a programmable controller. The manipulator is low in cost, simple and stable, easy to operate, can realize various movement modes, and has the function of dust and chip prevention. Take and send, replacing the tasks of workers' handling, loading and unloading.

Description

Automated manipulator for stamping line with caster bracket

technical field

The invention relates to the technical field of stamping line equipment for caster brackets, in particular to an automatic manipulator suitable for the stamping line of caster brackets.

Background technique

At present, most of the caster bracket stamping lines in China are produced by manual stamping by workers. The manual loading and unloading stamping of workers not only has harsh production conditions, but also has low safety, and is prone to fatigue and production accidents. Although there are currently some advanced manipulators designed to replace this simple and repetitive operation, as far as the domestic caster bracket stamping line is concerned, general-purpose manipulators are expensive and have complex structures. There are too many functions, and there are relatively high requirements for operators, and because of the special shape of the caster bracket, the molds of each station have different characteristics, the range of movement in the punch cavity is limited, and the workpiece requires great flexibility when grasping. Therefore, it is necessary to design a simple and reliable manipulator specially used for automatic stamping production of caster brackets. But at present, the manipulator dedicated to the automatic stamping production of caster brackets is still blank in the domestic field.

Contents of the invention

In view of the above situation, the technical problem to be solved by the present invention is to provide an automatic manipulator for the stamping line of the caster bracket, which is used to automatically complete the loading and unloading and transportation of the caster bracket workpiece between the punch molds, and requires simple structure, convenient operation and low cost. , the present invention is realized through the following schemes.

Caster bracket stamping line automation manipulator, including shell, structural support, electric manipulator, driving device and control device, the shell is divided into upper shell and lower shell; Rotary table; the electrical manipulator is installed on the rotary table and rotates with the rotary table; the driving device includes the first stepping motor and the second stepping motor, and the self-contained reduction mechanism of the first stepping motor is installed on the upper lifting table and the motor The shaft is connected to the rotating shaft of the rotary table to drive the manipulator to rotate; the second stepper motor is installed on the lower base and the motor shaft is connected to the screw on the lower lifting platform to realize the lifting movement of the manipulator; Sensors and programmable controllers for controlling electrical manipulators and stepping motors.

Further, the shell is divided into an upper shell and a lower shell, which play the role of dustproof and dustproof, wherein the upper shell is fixed on the rotating platform and rotates accordingly, and the lower shell is installed on the base and is fixed.

Further, the structural support mainly includes a fixed plate, a supporting guide column, an upper and lower base, an upper and lower lifting platform and a rotating platform. The fixed plate fixes the lower base through three supporting guide columns, and the lower base is connected to the upper base through three base guide shafts. The lower lifting platform is installed between the upper and lower bases, the upper lifting platform and the lower lifting platform are connected by 3 lifting platform guide shafts; the base guiding shaft passes through the lower lifting platform, and the lifting platform guiding shaft passes through the upper base, so that The upper and lower bases and the upper and lower lifting platforms cross each other to make the structure compact, stable and durable; the rotating platform is installed on the upper lifting platform through bearings.

Further, the electric manipulator includes a telescopic cylinder, a rotating cylinder and air claws, the air claws are installed on the rotating cylinder, the rotating cylinder is connected to the telescopic cylinder, and finally the telescopic cylinder is installed on the rotary platform through a profile; the electric manipulator has a compact structure and can extend According to the special shape of the caster bracket, it can grab the workpiece at various positions.

Further, the air gripper is replaced by a suction cup.

Further, the driving device includes two stepping motors, which are respectively responsible for the rotating motion and lifting motion of the manipulator; the first stepping motor responsible for the rotating motion is installed on the upper lifting platform, and the rotating shaft of the motor is connected to the rotating shaft of the rotating table through a synchronous belt pulley. ; The second stepper motor responsible for the lifting motion is installed on the lower base, and the motor shaft is connected to the lead screw installed on the lower lifting platform through a synchronous pulley; The electric manipulator extends into the cavity and reaches the appropriate pick-up position, with great flexibility.

When the present invention is applied, the motor installed on the base rotates to drive the synchronous wheel and the lead screw to rotate, thereby realizing the lifting motion of the manipulator. The motor installed on the lifting table rotates, driving the synchronous wheel and the rotating shaft of the rotating table to rotate, which can realize the 360-degree rotation of the mechanical arm. The telescopic cylinder is inflated, so that the rotary cylinder and air claws installed on it move horizontally, and the rotary cylinder can make the workpiece rotate with the mechanical arm as the axis after being clamped.

Compared with the prior art, the present invention has the following advantages and technical effects: the present invention is simple and compact in structure, low in cost, convenient to operate, realizes various movement modes, and has dustproof and chipproof functions. The manipulator has a wide range of control and adjustment, which is suitable for the production of caster brackets of various sizes. At the same time, it has 4 degrees of freedom and can easily extend into the cavity. The workpiece can be picked up and delivered at each station within a limited range of motion, which fully meets the needs of casters. The different characteristics of the molds on each station in the production of brackets. The manipulator can realize a variety of movement modes, and has dust-proof and chip-proof functions. It is especially suitable for the automatic transformation of the stamping production line of the caster bracket. It replaces workers to complete tasks such as handling, loading and unloading at each station.

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Description of drawings

Fig. 1a is an internal structure diagram of an automatic manipulator of a stamping line for a caster support in an embodiment.

Fig. 1b and Fig. 1c are enlarged views of the first synchronous pulley 3 and the second synchronous pulley.

Fig. 2 is a side view of the automatic manipulator of the stamping line for the caster support shown in Fig. 1 .

Figure 3 is the outline drawing of the automatic manipulator of the stamping line of the caster bracket.

Among them, 1 is the fixed plate, 2 is the supporting guide column × 3, 3 is the first synchronous pulley, 4 is the lower base, 5 is the sensor, 6 is the lower lifting platform, 7 is the first stepping motor, 8 is the upper base , 9 is the second synchronous pulley, 10 is the upper lifting platform, 11 is the bearing, 12 is the rotary table, 13 is the air claw, 14 is the rotary cylinder, 15 is the telescopic cylinder, 16 is the connecting plate, 17 is the profile, 18 is the rotating shaft , 19 is the lifting platform guide shaft × 3, and 20 is the base guide shaft × 3, and 21 is a ball screw, 22 is a second stepping motor, 23 is an upper shell, and 24 is a lower shell.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the implementation of the present invention is not limited thereto.

As shown in Fig. 1a ~ Fig. 1c and Fig. 2, the automatic manipulator of caster support stamping line includes a shell, a structural support, an electric manipulator, a driving device and a control device. Root support guide post 2 fixes lower base 4, and lower base 4 connects upper base 8 with 3 base guide shafts 20. The lower lifting platform 6 is installed between the upper and lower bases, and is passed by the base guide shaft 20. The upper lifting platform 10 is connected with the lower lifting platform 6 by 3 lifting platform guide shafts 19, and the lifting platform guide shaft 19 passes through the upper base 8. Ball screw mandrel 21 is housed on the lower lifting platform 6, and stepping motor 22 is housed on the lower base, and stepping motor 22 and ball screw mandrel 21 are connected by synchronous belt pulley 3, and sensor 5 is installed between the base up and down to detect lifting height. The rotary table 12 is connected to the rotating shaft 18, and is installed on the upper lifting table 10 through the bearing 11. The stepping motor 7 is installed on the upper lifting platform 10, and is connected with the rotating shaft 18 through the second synchronous pulley 9. Profile 17 is installed on the rotary table 12, connects telescopic cylinder 15 with connecting plate 16, and rotary cylinder 14 is installed on the telescopic cylinder 15, and air claw 13 is installed on the rotary cylinder 14.

When the manipulator picks up the workpiece, under the drive of the motor 22, the first synchronous pulley 3 drives the ball screw 21 to rotate, so that the lower lift table 6, the upper lift table 10 and the rotary table 12 are lifted up and down thereupon. The base guide shaft 20 connects the lower base 4 and the upper base 8, and passes through the lower lifting platform 6 simultaneously to play the role of guiding and stabilizing the structure. Lifting platform guide shaft 19 connects lower lifting platform 6 and upper lifting platform 10, passes upper base 8 simultaneously, is also the effect of guiding and stabilizing structure. After being lifted to a specified height, the motor 7 drives the synchronous wheel 9 to rotate, which drives the rotating shaft 18 and the rotary table to rotate, thereby realizing the rotary motion of the manipulator around the vertical direction. After turning to the specified position, the telescopic cylinder 15 stretches out and enters the cavity of the punch press, the rotary cylinder 14 rotates at a certain angle, and at the same time, the second stepping motor 22 drives the manipulator to rise and fall within a small range. After reaching the specified position for grabbing, pass The closing of the air gripper realizes the pick-up of the workpiece. For changes in the shape of the workpiece, the air claw can also be replaced with a suction cup. After grabbing the workpiece, the motor 22 drives the manipulator to lift in a small range to help the workpiece to be demoulded. Then the rotary cylinder 14 rotates, the telescopic cylinder 15 retracts, and the last stepping motor 7 drives the manipulator to rotate away from the punch cavity range.

The process is similar when the manipulator places the workpiece. The second stepping motor 22 drives the manipulator to rise and fall to the specified height, and the motor 7 drives the manipulator to rotate to the specified angle. Two stepping motors 22 drive the manipulator to lift in a small range, and the manipulator is sent into the mold. Finally, the air claw opens the workpiece and falls into the mould. After the manipulator leaves the cavity, the punch press performs stamping.

Claims (6)

1. Caster bracket stamping line automation manipulator is characterized in that it includes a shell, a structural support, an electrical manipulator, a driving device and a control device. The shell is divided into an upper shell and a lower shell; the structural support includes a fixed plate, a guide post, and an upper and lower base. , up and down lifting platform and rotary platform; the electric manipulator is installed on the rotary platform, and swings and rotates with the rotary platform; the driving device includes the first stepping motor and the second stepping motor, and the first stepping motor (7) has its own deceleration mechanism Installed on the upper lifting platform (10) and the motor shaft is connected to the rotating shaft of the rotating platform to drive the manipulator to rotate; the second stepping motor (22) is installed on the lower base (4) and the motor shaft is connected to the lower lifting platform (6) The screw rod realizes the lifting movement of the manipulator; the control device includes a sensor for detecting the rotation angle and lifting height of the manipulator and a programmable controller for controlling the electric manipulator and stepping motor. 2. The caster support stamping line automation manipulator according to claim 1, characterized in that: the shell is divided into an upper shell and a lower shell, wherein the upper shell is fixed on the rotating table and rotates accordingly, and the lower shell is installed on the base, fixed Do not move. 3. The caster support stamping line automation manipulator according to claim 1, characterized in that: the structural support mainly includes a fixed plate, a supporting guide column, an upper and lower base, an upper and lower lifting platform and a rotating platform, and the fixed plate is supported by three The guide column fixes the lower base, and the lower base is connected to the upper base through 3 base guide shafts; the lower lifting platform is installed between the upper and lower bases, and the upper lifting platform and the lower lifting platform are connected through 3 lifting platform guide shafts; Through the lower lifting platform, the guide shaft of the lifting platform passes through the upper base, so that the upper and lower bases and the upper and lower lifting platforms are cross-supported. 4. The caster support stamping line automation manipulator according to claim 1, characterized in that: the electric manipulator includes a telescopic cylinder, a rotating cylinder and an air claw, the air claw is installed on the rotating cylinder, and the rotating cylinder is connected to the telescopic cylinder, and finally stretches The cylinders are mounted on the swivel table via profiles. 5. The caster support stamping line automation manipulator according to claim 4, characterized in that: the air gripper is replaced by a suction cup. 6. The caster support stamping line automation manipulator according to any one of claims 1 to 5, characterized in that: among the two stepping motors included in the driving device, the first stepping motor responsible for the rotation movement is installed on the upper lifting platform On (10), the shaft of the motor is connected to the shaft of the rotary table through a synchronous pulley; the second stepping motor responsible for the lifting movement is installed on the lower base (4), and the shaft of the motor is connected to the lower lifting table (6) through a synchronous pulley lead screw.

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