多工位传递模伺服送料机械手的研制

Research and development of servo feeding manipulator for multi-stage transfer die

为了实现多工位传递模在冲压过程中自动送料,研制了一种伺服送料机械手。送料运动采用二维轨迹以提高送料效率,横向送料采用伺服驱动以提高定位精度,垂直取放料采用双三轴气缸和两个聚氨酯限位器以实现在3个垂直高度的定位。设计了PLC控制系统的硬件和软件部分。生产实践表明,当送料节拍达15次.min-1时,定位精度可达±0.2mm,机械手能平稳可靠地与压力机配合动作。

In order to achieve automatic feeding required by a multi-stage transfer die,a servo feeding manipulator was developed.A planar transfer feed motion was used to improve transfer efficiency,a servo drive system was applied to transfer the workpiece transversely to improve the positioning accuracy,and two three-axis cylinders and two polyurethane limiters were adopted to realize positioning at three height.The hardware and software of the PLC control system were designed as well.The application shows that when the transfer frequency reaches 15 times per minute,the positioning accuracy is ±0.2 mm,and the manipulator can run stably with the press.