CN-122009824-A - High-speed unstacking device

CN122009824ACN 122009824 ACN122009824 ACN 122009824ACN-122009824-A

Abstract

The invention discloses a high-speed unstacking device, which belongs to the technical field of stamping automation production lines, and structurally comprises a two-coordinate structure, a linear shaft structure and an end pick-up device, wherein the two-coordinate structure adopts a gantry frame type design of double-side upright posts and top cross beams, is provided with a movable sliding table capable of realizing horizontal feeding and vertical lifting two-way movement, the linear shaft structure is fixedly arranged at the lower end of the movable sliding table and comprises a mounting frame, a transmission box and a double-speed transmission mechanism, independent transverse displacement adjustment of the end pick-up device relative to the movable sliding table can be realized, the end pick-up device is driven to do double-speed transverse movement, and the end pick-up device is fixed at the lower end of a sliding plate of the linear shaft structure and is used for grabbing and releasing stacked materials. The high-speed unstacking device provided by the invention has the advantages of high rigidity, high bearing capacity and high stability of a gantry structure, greatly shortens the unstacking transverse stroke, improves the horizontal movement speed and unstacking beat, and is comprehensively suitable for the operation requirements of high yield and high stability of a large-scale stamping production line.

Inventors

WANG CHUANYING
WANG XIANGYU
LIU YUXIN
ZHANG PENG
ZHAO BING
CHEN FUJIAN
GAO XIUHUA
WANG YUE

Assignees

济南二机床集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (9)

1. The high-speed unstacking device comprises a two-coordinate structure and an end effector, wherein the two-coordinate structure is provided with a movable sliding table capable of realizing horizontal feeding and vertical lifting, the high-speed unstacking device is characterized by further comprising a linear shaft structure, the linear shaft structure is fixedly arranged at the lower end of the movable sliding table and used for realizing independent transverse displacement adjustment of the end effector relative to the movable sliding table, the linear shaft structure comprises a mounting frame, a horizontal sliding pair, a transmission case, a double-speed transmission mechanism, a vertical sliding pair and a sliding plate, the upper end of the transmission case is fixedly connected with the movable sliding table, the transmission case is in sliding fit with the mounting frame through the horizontal sliding pair, the double-speed transmission mechanism is arranged between the transmission case and the mounting frame and the sliding plate and used for driving the mounting frame to transversely reciprocate along the horizontal sliding pair and driving the sliding plate to transversely reciprocate at double speed relative to the mounting frame, and the end effector is fixedly arranged at the lower end of the sliding plate.
2. The high-speed unstacking device according to claim 1, wherein the two-coordinate structure further comprises a feeding driving assembly and a lifting driving assembly, the feeding driving assembly comprises a first servo motor, a first driving synchronous pulley, a first synchronous belt, a first driven synchronous pulley and a beam guide rail, an output shaft of the first servo motor is fixedly connected with the first driving synchronous pulley coaxially, the first synchronous belt is wound between the first driving synchronous pulley and the first driven synchronous pulley and is in meshed transmission, and the first synchronous belt is fixedly connected with the lifting driving assembly and is used for driving the lifting driving assembly to do horizontal reciprocating feeding motion along the beam guide rail.
3. The high-speed unstacking device according to claim 2, wherein the lifting driving assembly comprises a second servo motor, a gear, a rack and a vertical guide rail, the second servo motor is fixed on a mounting seat of the lifting driving assembly, an output shaft of the second servo motor is coaxially connected with the gear, the gear and the rack are meshed and driven, the rack is fixedly arranged along the vertical direction of the movable sliding table, the movable sliding table is provided with the vertical guide rail, and the vertical guide rail is in sliding fit with a sliding block on the mounting seat.
4. The high-speed unstacking device according to claim 1, wherein the horizontal sliding pair comprises a horizontal sliding rail and a horizontal sliding block which are in sliding fit with each other, the horizontal sliding rail is fixed on the top of the mounting frame, the horizontal sliding block is fixed on the bottom of the transmission case, and the transmission case is in transverse sliding connection with the mounting frame through the matching of the horizontal sliding block and the horizontal sliding rail.
5. The high-speed unstacking device according to claim 1, wherein the vertical surface sliding pair comprises a vertical surface sliding rail and a vertical surface sliding block which are in sliding fit with each other, the vertical surface sliding rail is fixed on the front side and the rear side of the mounting frame, the vertical surface sliding block is fixed on the front end and the rear end of the sliding plate, and the sliding plate is in transverse sliding connection with the mounting frame through the matching of the vertical surface sliding block and the vertical surface sliding rail.
6. The high-speed unstacking device is characterized in that the speed doubling transmission mechanism comprises a third servo motor, a third driving synchronous pulley, a third driving synchronous belt, a tensioning device, two groups of third driven synchronous pulleys and a follow-up synchronous belt, the third servo motor is fixed inside a transmission box, an output shaft of the third servo motor is fixedly connected with the third driving synchronous pulley coaxially, the third driving synchronous belt and the third driving synchronous pulley are in meshed transmission, the tensioning device is arranged in the transmission box and used for tensioning the third driving synchronous belt, the third driving synchronous belt is fixedly meshed on the installation frame through a meshing block after bypassing the third driving synchronous pulley and the tensioning device, the two groups of third driven synchronous pulleys are respectively rotatably installed at two transverse ends of the installation frame, the follow-up synchronous belt is wound on the two groups of third driven synchronous pulleys, two ends of the follow-up synchronous belt are respectively and fixedly connected with two transverse ends of the transmission box correspondingly to form a transmission structure, and the follow-up synchronous belt is fixedly connected with the lower closed loop of the follow-up synchronous belt.
7. The high-speed unstacking device according to claim 6, wherein the tensioning devices are provided with two groups and are respectively arranged at two sides below the third driving synchronous pulley and used for carrying out bidirectional tensioning on the third driving synchronous pulley.
8. The high-speed unstacking device according to claim 6, wherein the third driving synchronous pulley and the third driving synchronous belt, and the third driven synchronous pulley and the driven synchronous belt are all in toothed engagement transmission.
9. The high-speed unstacking device according to claim 1, wherein the end pick-up device is of a modularized truss type cross beam structure, a plurality of groups of connecting rod supports are distributed on the truss type cross beam, vacuum chucks are arranged at the lower ends of the connecting rod supports, and a connecting flange is arranged in the middle of the truss type cross beam and used for fixedly butt joint with the sliding plate.

Description

High-speed unstacking device Technical Field The invention relates to the technical field of stamping automatic production lines, in particular to a high-speed unstacking device. Background The first unstacking of a large-scale stamping production line is a key link of automatic material feeding, and the structural design of the first unstacking is used for directly determining the operation beat, the bearing capacity and the adaptation scene of the production line. The main stream unstacking structure in the current industry is mainly divided into three types, namely a robot unstacking structure, a Gantry unstacking structure and a top suction unstacking structure. The robot unstacking takes the multi-degree-of-freedom industrial robot as a core, the operation flexibility is high, the special-shaped plates and the multi-specification materials can be matched for unstacking, but the equipment purchasing and subsequent maintenance cost is high, the bearing capacity of a single robot is limited, the space for lifting the section beats is insufficient during high-speed continuous operation, and the high-productivity requirement of a large-scale stamping production line is difficult to meet. The Gantry destacking structure uses the Gantry frame as a core support, carries on the movable slipway, has strong overall structure rigidity, outstanding bearing capacity, high running stability and controllable operation precision, is a main flow application structure of the current large-scale stamping production line, but the transverse beam of the Gantry destacking structure has longer stroke, the transmission response speed of the movable slipway is limited, the moving speed in the horizontal direction is difficult to break through the bottleneck, and the requirement of high-beat operation cannot be matched. The top suction type unstacking structure core is composed of a top fixing frame and a movable adsorption component, the plate is grabbed through a vacuum chuck or an electromagnetic chuck, the structure is simple, the manufacturing cost is low, the whole bearing capacity is weak, the adsorption stability is affected by the flatness of the plate, and the plate is easy to deviate and shake during high-speed operation and is only suitable for a small-sized simple stamping production line. By combining the core requirements of the large-scale stamping production line on 'high beat, high productivity and high stability', the Gantry type unstacking structure has the basic advantages of high rigidity, sufficient bearing and wide adaptability, but the problems of long beam travel and limited transmission response speed of the movable sliding table become key pain points for restricting the improvement of the production line efficiency. The unstacking and top-suction unstacking of the robot cannot be the optimal solution of a large-scale high-productivity production line due to the limitation of bearing, cost or suitability. Disclosure of Invention The invention aims at overcoming the defects in the prior art, and provides a high-speed unstacking device which is fully adaptive to the high-yield and high-stability operation requirements of a large-scale stamping production line by adding an independent double-speed linear shaft structure to greatly shorten the horizontal feeding process of a two-coordinate structure and improve the horizontal moving speed and the response speed of an end effector. The invention solves the technical problems by adopting the technical scheme that the invention comprises a two-coordinate structure, a linear shaft structure and an end pick-up. The two-coordinate structure is used as a supporting and basic bearing unit of the whole device, a gantry frame type design of double-side upright posts and top cross beams is adopted to form a stable door type supporting structure, and a movable sliding table capable of realizing horizontal feeding and vertical lifting two-way movement is configured to provide basic displacement guarantee for unstacking operation. The linear shaft structure is fixedly arranged at the lower end of the movable slipway of the two-coordinate structure and used for realizing independent transverse displacement adjustment of the end pick-up relative to the movable slipway, the linear shaft structure comprises a mounting frame, a horizontal plane sliding pair, a transmission case, a double-speed transmission mechanism, a vertical plane sliding pair and a skateboard, the upper end of the transmission case is fixedly connected with the movable slipway, the transmission case is in sliding fit with the mounting frame through the horizontal plane sliding pair, the double-speed transmission mechanism is arranged between the transmission case and the mounting frame and between the transmission case and the skateboard and can drive the mounting frame to transversely reciprocate along the horizontal plane sliding pair and drive the skateboard to transversely reciprocate at double spee