阅读说明：本技术 基于机器人柔性传输的大型多工位压力机 (Large-scale multi-station press based on flexible transmission of robot ) 是由 秦晓雷 刘志勇 于 2021-09-13 设计创作，主要内容包括：本发明基于机器人柔性传输的大型多工位压力机,涉及板材冷冲压技术领域,尤其涉及一种基于机器人柔性传输的多工位大型压力机。本发明的传动系统装于上梁内部,并与离合器飞轮和六连杆机构相连接；六连杆机构的上部与上梁相连接,下部与滑块相连接,中部与齿轮传动系统相连接；滑块安装于四根立柱之间；移动工作台装于前后支脚底座的上部；主电机作为动力源装于上梁上,通过皮带与离合器飞轮相连接；底座内装有气控拉伸垫；机器人传输系统设置于前后支脚底座的两侧。本发明解决了现有设备不能适用各种工况、同时还结构复杂、工位距固定、柔性差、工艺适应性差、不能满足大点间距设计要求等问题。(The invention discloses a large multi-station press based on flexible robot transmission, relates to the technical field of cold stamping of plates, and particularly relates to a large multi-station press based on flexible robot transmission. The transmission system is arranged in the upper beam and is connected with the clutch flywheel and the six-connecting-rod mechanism; the upper part of the six-bar linkage is connected with the upper beam, the lower part of the six-bar linkage is connected with the sliding block, and the middle part of the six-bar linkage is connected with the gear transmission system; the sliding block is arranged among the four upright posts; the movable workbench is arranged on the upper parts of the front and rear support foot bases; the main motor is used as a power source and is arranged on the upper beam and connected with the clutch flywheel through a belt; a pneumatic control stretching pad is arranged in the base; the robot transmission system is arranged on two sides of the front and rear support foot bases. The invention solves the problems that the existing equipment can not be suitable for various working conditions, and simultaneously has complex structure, fixed station distance, poor flexibility, poor process adaptability, can not meet the design requirement of large-point distance and the like.)

1. The utility model provides a large-scale transfer press based on flexible transmission of robot which characterized in that, large-scale transfer press based on flexible transmission of robot include: the robot comprises a transmission system (01), a six-link mechanism (02), an upper beam (03), a vertical column (04), a sliding block (05), a movable workbench (06), front and rear support foot bases (07), a tensioning bolt (08), a pneumatic control stretching pad (09), a main motor (10), a belt (11), a clutch flywheel (12) and a robot transmission system (13);

the upper beam (03), the upright post (04) and the base (07) are assembled through tensioning bolts (08) in a pre-tightening way to form a pre-stressed fuselage frame;

the transmission system (01) is arranged in the upper beam (03) and is connected with the clutch flywheel (12) and the six-connecting-rod mechanism (02);

the upper part of the six-link mechanism (02) is connected with the upper beam (03), the lower part of the six-link mechanism is connected with the sliding block (05), and the middle part of the six-link mechanism is connected with the transmission system (01);

the sliding block (05) is arranged among the four upright posts (04) and can move up and down along the guide rails on the upright posts (04);

the movable workbench (06) is arranged on the upper part of the front and rear support foot base (07) and can horizontally move in the front and rear direction on the front and rear support foot base (07);

the main motor (10) is used as a power source and is arranged on the upper beam (03), the clutch flywheel (12), the transmission system (01) and the six-connecting-rod mechanism (02) are driven through the belt (11), and the sliding block (05) is driven to reciprocate up and down, so that the stretching, blanking and blanking of the plate are realized;

pneumatic control stretching pads (9) are arranged in the front and rear support foot bases (7);

and the robot transmission systems (13) are arranged on two sides of the front and rear support foot bases (07) to convey the plates.

2. A large-scale transfer press based on robotic flexible transport according to claim 1, characterized in that the transmission system (01) comprises: a transmission gear (011), an idle gear (012), an intermediate gear A (013), an intermediate gear B (014), a gear shaft A (015), a main gear A (016), a gear shaft B (017), and a main gear B (018);

the transmission gear (011) is meshed with the idle gear (012);

the idle gear (012) is meshed with the intermediate gear A (013);

the intermediate gear A (013) is connected with the gear shaft A (015) through a spline;

the gear shaft A (015) is meshed with the main gear A (016);

the transmission gear (011) is meshed with the intermediate gear B (014);

the intermediate gear B (014) is connected with the gear shaft B (017) through a spline;

the gear shaft B (017) is meshed with the main gear B (018)

Two ends of the gear shaft A (015) and the gear shaft B (017) are arranged on the upper beam (03) through bearing seats.

3. The large-scale multi-station press based on robot flexible transmission according to claim 2, characterized in that the transmission gear (011), the idle gear (012), the intermediate gear A (013), the intermediate gear B (014), the main gear A (016) and the main gear B (018) are all ultra-narrow Sendland herringbone gears, and the width of the herringbone gear tool withdrawal groove is 10 mm.

4. The large-scale multi-station press based on robot flexible transmission according to claim 1, characterized in that the six-bar linkage mechanism (02) is four sets, which are divided into two groups and symmetrically distributed at the outer side of the main gear A (016) and the main gear B (018) of the transmission system (01) to form four pressure points of the large-scale multi-station pressure gauge; each set of six-bar linkage (02) comprises: link a (021), link B (022), link C (023), guide post (024), shaft a (025), shaft B (026), shaft C (028), shaft D (029), and eccentric (027);

the connecting rod A (021) is connected with the upper beam (03) through a shaft A (025) and is connected with the connecting rod B (022) through a shaft B (026);

the connecting rod B (022) is connected with the connecting rod C (023) through a shaft C (028);

the upper part of the guide post (024) is connected with a connecting rod C (023) through a shaft D (029), and the lower part of the guide post (024) is connected with a sliding block (05);

the connecting rods B (022) on the two sets of six-bar mechanisms (02) on the same side are connected with the main gear A (016) through the same eccentric wheel (027), and the connecting rods B (022) on the two sets of six-bar mechanisms (02) on the other side are connected with the main gear B (018) through the same eccentric wheel (027).

5. The large-scale multi-station press based on robot flexible transmission according to claim 1, characterized in that the robot transmission system (13) is composed of four movable robots, respectively: robot a (131), robot B (132), robot C (133), and robot D (134); two large-scale multistation press front and back respectively set up, 4 robots all install on linear guide (136) on front and back stabilizer blade base (07) upper portion through movable base (135) to realized the robot and changed the removal between the station at transmission station and end effector.

6. The large-scale multi-station press based on robot flexible transmission according to claim 5, characterized in that each of the four robots carries a set of end-effector, and after the press is completed, the four robots move X, Y, Z in three directions to cooperatively transport the sheet and the workpiece to the next station.

Technical Field

The invention discloses a large multi-station press based on flexible robot transmission, relates to the technical field of cold stamping of plates, and particularly relates to a large multi-station press based on flexible robot transmission.

Background

At present, the following method is generally adopted for cold stamping production of plates:

1. the multi-station press adopts a single robot movable station carrying technology, a six-axis robot and a robot movable guide rail are arranged on one side of the press, and a multi-station end effector is mounted on the six-axis robot to realize simultaneous picking and placing of a plurality of plates;

2. the large-scale multi-station press adopts a three-coordinate or clamping plate type or a combined electronic feeding system of the three, the feeding system is arranged on an upright post of the press, and the synchronous carrying of the workpieces is realized through the linear motion in the x direction, the y direction and the z direction.

3. The large mechanical multi-station press adopts 3-stage transmission, one-stage belt transmission and two-stage gear transmission, wherein the gears are divided into straight teeth and herringbone teeth, and the herringbone gears for the large mechanical multi-station press adopt wider tool withdrawal grooves which are generally more than or equal to 30 mm.

4. The large-scale multi-station press connecting rod mechanism is arranged on the inner side of the final stage gear.

However, the above method has the following problems:

1. the multi-station press adopting the single-robot movable station carrying technology is only suitable for small table tops, small station distances and small plate material transmission.

2. The large-scale multi-station press adopting the three-coordinate or clamping plate type or the combined electronic feeding system of the three-coordinate or clamping plate type has complex feeding mechanism and structure, fixed station distance, poor flexibility and poor process adaptability.

3. The herringbone gear for the large-scale multi-station press is wide, the material utilization rate is low, and the design of large-point spacing is not facilitated.

4. The link mechanism of the large-scale multi-station press is arranged on the inner side of the final gear, and the design requirement of large-point spacing cannot be met.

Aiming at the problems in the prior art, a novel large-scale multi-station press based on flexible robot transmission is researched and designed, so that the problem in the prior art is very necessary to be overcome.

Disclosure of Invention

According to the technical problems that all the devices provided by the prior art cannot be suitable for various working conditions, and meanwhile, the structure is complex, the station distance is fixed, the flexibility is poor, the process adaptability is poor, the large-point distance design requirements cannot be met, and the like, the large-scale multi-station press based on robot flexible transmission is provided. The invention mainly adopts a herringbone transmission system to drive the slide block to move up and down through the six-link mechanism, and processes the material plate by matching with the movable type and the heat transmission system thereof, thereby realizing the effects of designing large-point spacing, improving the working efficiency and the stability of equipment, and reducing the production cost and energy consumption.

The technical means adopted by the invention are as follows:

a large-scale multi-station press based on flexible robot transmission comprises: the robot comprises a transmission system, a six-link mechanism, an upper beam, an upright post, a sliding block, a movable workbench, front and rear support foot bases, a tensioning bolt, a pneumatic control stretching pad, a main motor, a belt, a clutch flywheel and a robot transmission system.

Furthermore, the upper beam, the upright post and the base are assembled through tensioning bolts in a pre-tightening manner to form a pre-stressed fuselage frame;

furthermore, the transmission system is arranged in the upper beam and is connected with the clutch flywheel and the six-connecting-rod mechanism;

furthermore, the upper part of the six-bar linkage is connected with the upper beam, the lower part of the six-bar linkage is connected with the sliding block, and the middle part of the six-bar linkage is connected with the transmission system;

furthermore, the sliding block is arranged among the four upright posts and can move up and down along the guide rails on the upright posts;

furthermore, the movable workbench is arranged on the upper parts of the front and rear support foot bases and can horizontally move in the front and rear directions on the front and rear support foot bases;

furthermore, a main motor is arranged on the upper beam as a power source, and drives a clutch flywheel, a transmission system and a six-link mechanism through a belt to drive the slide block to reciprocate up and down, so that the stretching, blanking and the like of the plate are realized;

furthermore, pneumatic control stretching pads are arranged in the front and rear support foot bases;

further, the robot transmission system is arranged on two sides of the front and rear support foot bases, and the plates are conveyed.

Further, the transmission system includes: the transmission gear, the idle gear, the intermediate gear A, the intermediate gear B, the gear shaft A, the main gear A, the gear shaft B and the main gear B;

further, the transmission gear is meshed with the idle gear;

further, the idle gear is meshed with the intermediate gear A;

further, the intermediate gear A is connected with the gear shaft A through a spline;

further, the gear shaft A is meshed with the main gear A;

further, the transmission gear is meshed with the intermediate gear B;

further, the intermediate gear B is connected with the gear shaft B through a spline;

further, the gear shaft B is meshed with the main gear B

Furthermore, two ends of the gear shaft A and the gear shaft B are arranged on the upper beam through bearing seats.

Furthermore, the transmission gear, the idle gear, the intermediate gear A, the intermediate gear B, the main gear A and the main gear B all adopt ultra-narrow Sendland herringbone gears, and the width of a tool retracting groove of each herringbone gear is 10 mm.

Furthermore, the six-link mechanism is divided into four groups which are symmetrically distributed at the outer sides of a main gear A and a main gear B of the transmission system and become four pressure points of the large-scale multi-station pressure gauge; each set of six-link mechanism comprises: the connecting rod A, the connecting rod B, the connecting rod C, the guide pillar, the shaft A, the shaft B, the shaft C, the shaft D and the eccentric wheel;

further, the connecting rod A is connected with the upper beam through a shaft A and is connected with the connecting rod B through a shaft B;

further, the connecting rod B is connected with the connecting rod C through a shaft C;

further, the upper part of the guide post is connected with a connecting rod C through a shaft D, and the lower part of the guide post is connected with the sliding block;

further, the connecting rods B on the two sets of six-bar linkage mechanisms on the same side are connected with the main gear A through the same eccentric wheel, and the connecting rods B on the two sets of six-bar linkage mechanisms on the other side are connected with the main gear B through the same eccentric wheel.

Further, the robot transmission system is composed of four movable robots, which are respectively: the robot comprises a robot A, a robot B, a robot C and a robot D; two large-scale multistation press front and back respectively set up, 4 robots all install on the linear guide on stabilizer blade base upper portion around through movable base to realized the robot and changed the removal between the station at transmission station and end effector.

Furthermore, four robots respectively carry a set of end effector, and after the punching of the press machine is completed, the four robots cooperatively convey the plate and the workpiece to the next station through X, Y, Z movement in three directions.

The large-scale multi-station press related by the invention designs a movable workbench with a large table-board capable of moving back and forth and provided with a zipper structure based on robot transmission, when a mould and an end effector are replaced, a table robot of a robot transmission system respectively and simultaneously moves to an end effector replacing station towards a direction far away from the center of the press, so that the end effector replacement is completed, as shown in fig. 4; meanwhile, the moving workbench back-and-forth moving channel is opened, the moving workbench moves back and forth to realize die replacement, and 4 robots of the robot transmission system respectively move to the transmission station in the direction close to the center of the press at the same time after the die replacement is finished, as shown in fig. 5.

Compared with the prior art, the invention has the following advantages:

1. the large-scale multi-station press based on flexible transmission of the robot adopts the ultra-narrow Sendelan herringbone gear, and the connecting rod mechanism is arranged at the outer side of the main gear, so that the structure is compact, and the design of large dot spacing is realized;

2. the large-scale multi-station press based on the flexible robot transmission provided by the invention adopts a multi-robot system to transmit the plate and the workpiece, has high efficiency and high stability compared with single robot transmission, and is more suitable for the large-table-board multi-station press

3. According to the large-scale multi-station press based on the robot flexible transmission, the multi-robot is adopted to cooperatively and flexibly transmit the plate and the workpiece, a traditional multi-station transmission system with complex mechanism and structure is replaced, the reliability of system operation is improved, and the production cost and the energy consumption are reduced;

4. the large-scale multi-station press based on flexible robot transmission provided by the invention is based on large-point spacing design and robot flexibility, can realize cross-station transmission, improves the flexibility of process layout, reduces unbalance loading, and realizes the light weight of a press mechanism;

5. the large-scale multi-station press based on flexible robot transmission provided by the invention adopts a symmetrical six-link mechanism, and can meet the multi-process requirements (one machine has multiple functions) of single-station blanking, blanking and the like with central load and small unbalance load.

In conclusion, the technical scheme of the invention solves the problems that each device in the prior art can not be suitable for various working conditions, and simultaneously has the defects of complex structure, fixed station distance, poor flexibility, poor process adaptability, incapability of meeting the design requirement of large-point distance and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the transmission mechanism of the present invention;

FIG. 3 is a schematic structural view of a six-bar linkage mechanism according to the present invention;

FIG. 4 is a schematic diagram of a structure of a moving space of a mobile workbench, which is set aside from the center of a press, of a robot transmission system;

FIG. 5 is a schematic structural diagram of the robot transmission system moving toward the center of the press and the movable worktable.

In the figure:

01. a transmission system 011, a transmission gear 012, an idler gear 013, an intermediate gear A014, an intermediate gear B015, a gear shaft A016, a main gear A017, a gear shaft B018 and a main gear B;

02. six-bar linkage 021, bar A022, bar B023, bar C024, guide post 025, axle A026, axle B027, eccentric wheel 028, axle C029, axle D;

03. an upper beam;

04. a column;

05. a slider;

06. moving the working table;

07. front and rear leg bases;

08. tightening the bolts;

09. an air control stretching pad;

10. a main motor;

11. a belt;

12. a clutch flywheel;

13. robot transport system 131, robot a 132, robot B133, robot C134, robot 135, mobile base 136, linear guides.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 3, the present invention provides a large-scale multi-station press based on robot flexible transmission, including: the robot comprises a transmission system 01, a six-bar linkage 02, an upper beam 03, a stand column 04, a sliding block 05, a movable workbench 06, a front and rear support foot base 07, a tensioning bolt 08, a main motor 10, a belt 11, a clutch flywheel 12 and a robot transmission system 13; the upper beam 03, the upright column 04 and the base 07 are assembled through the tensioning bolt 08 in a pre-tightening way to form a pre-stressed fuselage frame; the transmission system 01 is arranged in the upper beam 03 and is connected with the clutch flywheel 12 and the six-connecting-rod mechanism 02; the upper part of the six-bar linkage 02 is connected with the upper beam 03, the lower part is connected with the sliding block 05, and the middle part is connected with the transmission system 01; the sliding block 05 is arranged among the four upright posts 04 and can move up and down along the guide rails on the upright posts 04; the movable workbench 06 is arranged on the upper part of the front and rear support foot base 07 and can horizontally move in the front and rear direction on the front and rear support foot base 07; the main motor 10 is used as a power source and is arranged on the upper beam 03, the belt 11 drives the clutch flywheel 12, the transmission system 01 and the six-link mechanism 02 to drive the slide block 05 to reciprocate up and down, so that the stretching, blanking and the like of the plate material are realized; pneumatic control stretching pads 9 are arranged in the front and rear support foot bases 7; the robot transmission system 13 is arranged on two sides of the front and rear support foot bases 07 to convey the plate.

As shown in fig. 1 and 2, the transmission system 01 includes: a transmission gear 011, an idle gear 012, an intermediate gear a013, an intermediate gear B014, a gear shaft a015, a main gear a016, a gear shaft B017 and a main gear B018; the transmission gear 011 is meshed with the idle gear 012; the idler wheel 012 is meshed with the intermediate gear a 013; the intermediate gear A013 is connected with the gear shaft A015 through a spline; the gear shaft A015 is meshed with the main gear A016; the transmission gear 011 is meshed with an intermediate gear B014; the intermediate gear B014 is connected with a gear shaft B017 through a spline; the gear shaft B017 is meshed with the main gear B018; two ends of a gear shaft A015 and a gear shaft B017 are arranged on the upper beam 03 through bearing seats.

As shown in fig. 1 and 2, the transmission gear 011, the idle gear 012, the intermediate gear a013, the intermediate gear B014, the main gear a016 and the main gear B018 all adopt ultra-narrow senderian herringbone gears, and the width of a tool retracting groove of the herringbone gears is 10 mm.

As shown in fig. 1-3, the six-bar linkage 02 is divided into four sets, which are symmetrically distributed on the outer sides of the main gear a016 and the main gear B018 of the transmission system 01 to form four pressure points of the large multi-station pressure gauge; each set of six-bar linkage 02 includes: connecting rod A021, connecting rod B022, connecting rod C023, guide post 024, shaft A025, shaft B026, shaft C028, shaft D029 and eccentric wheel 027; link a021 is connected to upper beam 03 via shaft a025 and to link B022 via shaft B026; the link B022 is connected with the link C023 through a shaft C028; the upper part of the guide post 024 is connected with a connecting rod C023 through a shaft D029, and the lower part of the guide post 024 is connected with a sliding block 05; the connecting rods B022 on the two sets of six-bar mechanisms 02 on the same side are connected with the main gear A016 through the same eccentric 027, and the connecting rods B022 on the two sets of six-bar mechanisms 02 on the other side are connected with the main gear B018 through the same eccentric 027.

As shown in fig. 1 and 2, the robot transmission system 13 is composed of four movable robots, which are respectively: robot a131, robot B132, robot C133, and robot D134; two large-scale multistation press front and back respectively set up, 4 robots all install on the linear guide 136 of front and back stabilizer blade base 07 upper portion through movable base 135 to realized the robot and changed the removal between the station at transmission station and end effector.

As shown in fig. 1 and 2, each of the four robots carries a set of end effector, and after the press completes stamping, the four robots cooperatively transport the sheet and the workpiece to the next station through X, Y, Z movement in three directions.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.