CN104668405A - Feeding and collecting device for iron wire bending machine - Google Patents
Feeding and collecting device for iron wire bending machine Download PDFInfo
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- CN104668405A CN104668405A CN201510128675.9A CN201510128675A CN104668405A CN 104668405 A CN104668405 A CN 104668405A CN 201510128675 A CN201510128675 A CN 201510128675A CN 104668405 A CN104668405 A CN 104668405A
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- drive unit
- connecting rod
- iron wire
- branched chain
- master arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
- B21F23/005—Feeding discrete lengths of wire or rod
- B21F23/007—Feeding discrete lengths of wire or rod using pick-up means, e.g. for isolating a predefined number of wires from a bundle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a feeding and collecting device for an iron wire bending machine and belongs to the technical field of application of an industrial robot. The feeding and collecting device comprises a three-freedom degree robot, the bending machine, a to-be-folded material storing device and a folded material storing device, wherein the bending machine device is arranged in front of the three-freedom degree robot; the to-be-folded material storing device is arranged on the side of a bending machine device pedestal and is positioned in front of the right of the three-freedom degree robot device; the folded material storing device is arranged in front of the left of the three-freedom degree robot; the three-freedom degree robot grabs a to-be-folded material in the to-be-folded material storing device and places the to-be-folded material on a bending machine lower die; after a bending machine upper die stamps, a folded material is taken out to be placed in the folded material storing device. The feeding and collecting device has the advantages of high production efficiency and high automation degree, and fully-automatic operation of material taking, stamping and material discharging can be realized.
Description
Technical field:
The invention belongs to industrial robot applied technical field, be specifically related to a kind of feeding for iron wire bender and gathering-device.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, encapsulate, particularly in the particularly outstanding work of this repetitions such as material handling, lathe loading and unloading, uninteresting, danger, in order to alleviate human labour intensity, increase work efficiency, in flow chart, adopt complete operating mechanism to replace manual working to be necessary.In light-duty carrying work, adopt multiple degrees of freedom Spatial Parallel machinery hand then to seem need not, or manufacturing cost is too high, if traditional SCARA robot is due to himself factor, its forearm is installed three motors and a ball-screw, so just limit its sphere of action, in-line wu-zhi-shan pig manufacturing cost is too high.But, in translating parallel robot mechanism, adopt the actuator on moving platform to be reduced the Work Space Range of mechanism by the method that power transmission shaft is connected with the motor in frame, limit the raising of end effector acceleration, make position and attitude accuracy be difficult to ensure.
Summary of the invention:
Object of the present invention in order to overcome above-mentioned deficiency of the prior art, provides a kind of feeding for iron wire bender and gathering-device just.This device is a kind of mechanism realizing the light-duty material handling of plane and arrangement, can realize picking and placeing of light-duty material in less space, coordinates the operating frequency of bender, forms a complete operation.
A kind of feeding for iron wire bender provided by the present invention and gathering-device comprise Three Degree Of Freedom robot I, bender II, the front material memory III of folding and the rear material collector IV of folding; Frame 12 in described Three Degree Of Freedom robot I is arranged vertically with the material loading front end face of bender II, and the vertical drive unit 11 being convenient to Three Degree Of Freedom robot I stretches out direction just to the upper surface of bender II material loading.Before described folding, material memory III is fixed on bender II base 16 side, before described folding, the opening surface of material memory III upward, before described folding, the bottom surface of material memory III is fixed on the cylinder 17 of bender II side, bottom surface can linear movement in the vertical direction, is convenient to the feeding of Three Degree Of Freedom robot I.
Described Three Degree Of Freedom robot I comprises frame 12, moving platform 8, first active branched chain, the second active branched chain, driven side chain, the first drive unit 9, second drive unit 10 and vertical drive unit 11; Described first drive unit 9, second drive unit 10 is arranged in described frame 12, described first drive unit 9 and the second drive unit 10 arranged concentric, described vertical drive unit 11 is connected on vertical drive unit installing plate 13, described moving platform 8 is connected in the clutch end on described vertical drive unit 11, and described moving platform 8 is driven by described vertical drive unit 11 and moves up and down.
Described first active branched chain comprises frame 12, first master arm 1, first and protects attitude connecting rod 2 and side link 6; Described first master arm 1 adopts turning joint to be connected with between described side link 6, described first two ends protecting attitude connecting rod 2 adopt turning joint to be connected with described frame 12 and described side link 6 respectively, and described frame 12, first master arm 1, first protects attitude connecting rod 2, side link 6 is connected to form parallelogram sturcutre by kinematic pair.
Described second active branched chain comprises the first master arm 1, second master arm 4, slave arm 3 and forearm connecting rod 5; Described second master arm 4 adopts turning joint to be connected with between described forearm connecting rod 5, turning joint is adopted to connect between slave arm 3 described in described forearm connecting rod 5, adopt turning joint to be connected between described slave arm 3 with described first master arm 1, described first master arm 1, second master arm 4, slave arm 3, forearm connecting rod 5 are connected to form parallelogram sturcutre by kinematic pair.
Described driven side chain comprises vertical drive unit installing plate 13, slave arm 3, side link 6 and second guarantor's attitude connecting rod 7; Turning joint is adopted to be connected between described slave arm 3 with described vertical drive unit installing plate 13, described vertical drive unit installing plate 13 and described second is protected between attitude connecting rod 7 and is adopted turning joint to be connected, described second protects attitude connecting rod 7 adopts turning joint to be connected with between described side link 6, and described vertical drive unit installing plate 13, slave arm 3, side link 6, second are protected attitude connecting rod 7 and be connected to form parallelogram sturcutre by kinematic pair.
Described first active branched chain and described second active branched chain have common described first master arm 1, described driven side chain and described first active branched chain have common described side link 6, and described driven side chain and described second active branched chain have common described slave arm 3.
Second master arm 4 of the first master arm 1, second active branched chain of described first active branched chain drives rotation by described first drive unit 9, second drive unit 10 respectively, described first drive unit 9, second drive unit 10 adopts servomotor-reducer structure, and described vertical drive unit 11 adopts servomotor-reducer structure or adopts pneumatic means.
Described bender II comprises hydraulic system, base 16, mold 14 and bed die 15; Described HYDRAULIC CONTROL SYSTEM mold 14 is regular to be depressed on bed die 15, frequency-adjustable, mold 14 is arranged on the piston rod of hydraulic system, bed die 15 is arranged on base 16, the vertical direction vis-a-vis of mold 14, bed die 15, described bender II can be extruded by mold 14, bed die 15 and the iron wire be placed in the middle of mould is bent into predetermined shape.
Before described folding, material memory III comprises baffle plate, bottom surface and cylinder 17; Before multiple folding, iron wire is by the bottom surface of block pattern row pattern in baffle plate after manual sorting, iron wire piles up the end effector crawl that height should be suitable for Three Degree Of Freedom robot I, when iron wire insufficient height, bottom surface cylinder 17 can will remain iron wire lifting by upward vertical movement, ensures that the end effector of described Three Degree Of Freedom robot I effectively can grab the front iron wire of folding.
Three Degree Of Freedom robot in the present invention drives moving platform by first, second active branched chain, driven side chain coordinates the movement locus of active branched chain restriction moving platform, ensure the translation of moving platform and have clear and definite moving line and positional precision, the common effect of contraction of driving and driven side chain, limit the revolution free degree of moving platform, the relative frame of moving platform is made only to have two translational degree of freedom, ensure that robot mechanism attitude stabilization, the motion of moving platform in the vertical direction then has vertical drive unit to drive.The motion driving that three groups of drive units provide, makes this Three Degree Of Freedom robot mechanism have the motion determined, ensure that this mechanism position is accurate.
Bender II described in this device comprises hydraulic system, base and mould (comprising mold and bed die).Described HYDRAULIC CONTROL SYSTEM mold is regular to be depressed on bed die, frequency-adjustable.Mold is arranged on the piston rod of hydraulic system, and bed die is arranged on base, upper/lower die vertical direction vis-a-vis.The iron wire be placed in the middle of mould can be bent into predetermined shape by upper/lower die extruding by bender II.
Before folding described in this device, material memory III comprises baffle plate, bottom surface and cylinder.Before multiple folding, iron wire is by the bottom surface of block pattern row pattern in baffle plate after manual sorting, and iron wire piles up the end effector crawl that height should be suitable for Three Degree Of Freedom robot I.When iron wire insufficient height, bottom surface cylinder can will remain iron wire lifting by upward vertical movement, ensures that Three Degree Of Freedom robot I end effector effectively can grab the front iron wire of folding.
The present invention has following technical characterstic:
(1) the present invention adopts the endless form of feeding of feeding-bending-discharging-again to complete iron wire bending process.
(2) the present invention rolls over the apical side height that front material memory adopts stroke controlled cylinder adjustment clout, makes Three Degree Of Freedom robot perform end and can grab the front material of folding all the time.
(3) in the present invention, the two-freedom translation of Three Degree Of Freedom end effector of robot is by different driven by servomotor, and another free degree is by servomotor or pneumatic actuation.
(4) in the present invention, Three Degree Of Freedom end effector of robot is driven by active branched chain, and driven side chain coordinates the movement locus of active branched chain restriction actuator; Ensure that end effector has clear and definite movement locus and positional precision, and structure is simple on the whole, inertia is little to make apparatus of the present invention.
(5) in the present invention, the magnetic parts of electromagnet class installed by end effector, facilitate crawl and the placement of iron wire.
Material supply provided by the present invention and collecting mechanism, effectively improve the flexibility of mechanism, simplify parallel robot mechanism, improve the operating efficiency of bender, complete whole iron wire bending process, simultaneously to maintain the inertia of mechanism preferably little in Three Degree Of Freedom robot I, high speed, high acceleration, the feature of high position precision and repetitive positioning accuracy.
The present invention can effectively replace Easy manual's operation, overall structure is light, with low cost, be applicable to similarly in light-duty materiel machining process picking and placeing work, mechanism of Three Degree Of Freedom robot I in addition in the present invention not only converges to the power that two servomotors export in active branched chain, and also with the addition of a power at driven side chain, the effect that three side chains not only all play power also has the effect of structural constraint.Article three, all use parallelogram sturcutre in side chain, make end effector have the clear and definite characteristics of motion and positioning precision, the feed mechanism in the present invention adopts the controlled cylinder of stroke, raises in real time and waits to roll over material surface level, be convenient to the crawl of Three Degree Of Freedom robot end, effectively increase work efficiency.
Accompanying drawing illustrates:
Fig. 1 be apparatus of the present invention face structural representation;
Fig. 2 is the backsight structural representation of apparatus of the present invention;
Fig. 3 is the parallelogram sturcutre schematic diagram of the driving and driven side chain of Three Degree Of Freedom robot I in apparatus of the present invention;
Fig. 4 is the plan structure schematic diagram of Three Degree Of Freedom robot I in apparatus of the present invention;
Fig. 5 is line segment A, the line segment B of Three Degree Of Freedom robot I in apparatus of the present invention, line segment C, line segment D, line segment E position structural representation;
Fig. 6 is the parallelogram sturcutre schematic diagram of the first active branched chain of Three Degree Of Freedom robot I in apparatus of the present invention;
Fig. 7 is the parallelogram sturcutre schematic diagram of the second active branched chain of Three Degree Of Freedom robot I in apparatus of the present invention;
Fig. 8 is the parallelogram sturcutre schematic diagram of the driven side chain of Three Degree Of Freedom robot I in apparatus of the present invention;
Fig. 9 is the structural representation of material memory III and the rear material collector IV of folding before bender II in apparatus of the present invention, folding.
In figure: 1: the first master arm; Protect attitude connecting rod at 2: the first; 3: slave arm; 4: the second master arms; 5: forearm connecting rod; 6: side link; Protect attitude connecting rod at 7: the second; 8: moving platform; 9: the first drive units; 10: the second drive units; 11: vertically drive unit; 12: frame; 13: vertically drive unit installing plate; 14: mold; 15: bed die; 16: base; 17: cylinder; I: Three Degree Of Freedom robot; II: bender; III: material memory before folding; IV: material collector after folding.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, a kind of feeding for iron wire bender provided by the present invention and gathering-device to comprise before Three Degree Of Freedom robot I, bender II, folding material collector IV after material memory III and folding.Wherein Three Degree Of Freedom robot I is made up of frame 12, drive unit, movement branched chain and moving platform 8 that (described drive unit comprises the first drive unit 9, second drive unit 10, vertically drive unit 11; Described movement branched chain comprises the first active branched chain, the second active branched chain and driven side chain, and described active branched chain and described driven side chain interact and drive moving platform 8 translation; Bender comprises base 16, hydraulic system, mold 14 and bed die 15; Before folding, material memory comprises baffle plate, bottom surface and cylinder 17.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 9, before in the material loading of described iron wire bender and gathering-device, folding drawn by the end effector of Three Degree Of Freedom robot I in material memory III wait roll over iron wire, directly over translation to bender II bed die 15, be placed on bed die 15 surface, now the end effector of Three Degree Of Freedom robot I still holds iron wire.Described bender is by the effect of hydraulic system, mold 14 is depressed on the bed die 15 of placement iron wire, iron wire is made to become predetermined shape at the portion extrusion on bed die 15 surface, after completing pressing mold action, mold 14 lifting, iron wire after folding moves on on the rear material collector IV of folding by Three Degree Of Freedom robot I, puts down the iron wire rolled well, continue to move to the front material memory III upper surface feeding of folding, repeat action above.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, described first active branched chain comprises frame 12, first master arm 1, first and protects attitude connecting rod 2 and side link 6; Described first drive unit 9 is made up of motor and speed reducer, described first drive unit 9 is connected in described frame 12 by bolt, described first master arm 1 is connected by the reductor on key and described first drive unit 9, and cooperation center is center of rotation b
1; Described first master arm 1 adopts turning joint to be connected with between described side link 6, and hinge centres is c
1; Described first protects attitude connecting rod 2 all adopts turning joint to be connected with between described frame 12 and described side link 6, and hinge centres is respectively as a, d, the long b of bar of described first master arm 1
1c
1to protect the long ad of bar of attitude connecting rod 2 equal with described first; The central point b of attitude connecting rod 2 chain connection central point a and the first drive unit 9 protected by described frame 12 upper spider 12 and described first
1length ab
1, ab
1for the straightway A (the straightway A see in Fig. 5, Fig. 6) in described frame 12; The chain connection central point c of described side link 6 and described first master arm 1 on described side link 6
1the length c of the chain connection central point d of attitude connecting rod 2 is protected with described side link 6 and first
1d, c
1d is the straightway B (the straightway B see in Fig. 5, Fig. 6) on described side link 6; The length ab of the straightway A in described frame 12
1with the length c of the straightway B on described side link 6
1d is equal; Described like this frame 12, first master arm 1, side link 6, first are protected attitude connecting rod 2 and are formed the first active branched chain parallelogram ab
1c
1d.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 7, described second active branched chain comprises the first master arm 1, second master arm 4, slave arm 3 and forearm connecting rod 5; Described second drive unit 10 is made up of motor and speed reducer, described second drive unit 10 is connected in described frame 12 by bolt, described second master arm 4 is connected by the reductor on key and described second drive unit 10, and cooperation center is center of rotation b
1; Described second master arm 4 adopts turning joint to be connected with between described forearm connecting rod 5, and hinge centres is e; Adopt turning joint to be connected between described forearm connecting rod 5 with described slave arm 3, hinge centres is f; Adopt turning joint to be connected between described slave arm 3 with described first master arm 1, hinge centres is c
2; The long c of bar of described first master arm 1
2b
2equal with the long ef of bar of described forearm connecting rod 5, the chain connection central point f of described slave arm 3 and described forearm the connecting rod 5 and chain connection central point c of described slave arm 3 and described first master arm 1 on described slave arm 3
2length fc
2, fc
2for the straightway C (the straightway C see in Fig. 5, Fig. 7) on described slave arm 3; The length fc of the straightway C on described slave arm 3
2with the long b of bar of described second master arm 4
2e is equal; Described like this second master arm 4, forearm connecting rod 5, slave arm 3, first master arm 1 form the second active branched chain parallelogram efc
2b
2structure.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 8, described driven side chain protects attitude connecting rod 7 and vertical drive unit installing plate 13 by slave arm 3, side link 6, second; Described vertical drive unit 11 is arranged on described vertical drive unit installing plate 13; Adopt turning joint to be connected between described slave arm 3 with described vertical drive unit installing plate 13, hinge centres is h; Vertical drive unit installing plate 13 and described second is protected between attitude connecting rod 7 and is adopted turning joint to be connected, and hinge centres is g; Described second protects attitude connecting rod 7 adopts turning joint to be connected with between described side link 6, and hinge centres is j; The chain connection central point c of described slave arm 3 and described first master arm 1 on described slave arm 3
1with the length c of described slave arm 3 and described vertical drive unit installing plate 13 chain connection central point h
1h, c
1h is the straightway D (the straightway D see in Fig. 5, Fig. 8) on described slave arm 3; The length c of the straightway D on described slave arm 3
1the long gj of bar that h and described second protects attitude connecting rod 7 is equal; On described side link 6, described side link 6 and described second protects the chain connection central point j of attitude the connecting rod 7 and chain connection central point c of described side link 6 and described first master arm 1
1length c
1j, c
1j is the straightway E (the straightway E see in Fig. 5, Fig. 8) on described side link 6; On described vertical drive unit installing plate 13, described vertical drive unit installing plate 13 and described second protects the chain connection central point g of attitude the connecting rod 7 and chain connection central point g length gh of described vertical drive unit installing plate 13 and described slave arm 3; The length c of the straightway E on described side link 6
1j is equal with the length gh on described vertical drive unit installing plate 13; Described so vertical drive unit installing plate 13, slave arm 3, side link 6, second protect the parallelogram ghc that attitude connecting rod 7 forms driven side chain
1j structure.
As shown in Figure 5, Figure 6, described frame 12, first master arm 1, side link 6, first are protected attitude connecting rod 2 and are formed the first active branched chain parallelogram ab
1c
1d structure.As shown in Figure 5, Figure 7, described second master arm 4, forearm connecting rod 5, slave arm 3, first master arm 1 form the second active branched chain parallelogram efc
2b
2structure.As shown in Figure 5, Figure 8, described vertical drive unit installing plate 13, slave arm 3, side link 6, second are protected attitude connecting rod 7 and are formed driven side chain parallelogram ghc
1j structure.Because moving platform 8 is horizontally disposed under the constraint of active branched chain and driven side chain, and there is one group of different straight line and be all parallel to frame 12 in it, makes moving platform 8 be parallel to frame 12 all the time, and then make end effector realize horizontal movement.
As shown in Fig. 3, Fig. 4, Fig. 5, described first active branched chain is arranged in described frame 12 by described first drive unit 9, and described first active branched chain is connected with described driven side chain by described side link 6; Described second active branched chain is arranged in described frame 12 by described second drive unit 10, and described second active branched chain is connected with described driven side chain by described slave arm 3; Described driven side chain is connected with described moving platform 8 by described vertical drive unit installing plate 13; Described first active branched chain is connected by the first common master arm 1 with described driven side chain; Described moving platform 8 is arranged on below described vertical drive unit 11.As shown in Fig. 3, Fig. 4, Fig. 5, described first active branched chain and described second active branched chain have the first common master arm 1, and described first active branched chain and described second active branched chain are by the first common master arm 1 interlaced arrangement; Described driven side chain and described first active branched chain have common side link 6, and described driven side chain and described second active branched chain have common slave arm 3; Described moving platform 8 is arranged on below described vertical drive unit 11.
As shown in Figure 3, Figure 4, described frame 12 is provided with the first drive unit 9, second drive unit 10, described first drive unit 9 and described second drive unit 10 arranged concentric; Second master arm 4 of the first master arm 1, second active branched chain of described first active branched chain drives rotation by described first drive unit 9, second drive unit 10 respectively; Described vertical drive unit 11 is located in described first active branched chain, and described moving platform 8 is driven by described vertical drive unit 11 and moves up and down; Described first drive unit 9, second drive unit 10 adopts servomotor-reducer structure; Described vertical drive unit 11 adopts servomotor-reducer structure or adopts pneumatic means.Certainly, in the specific implementation, adopt other any one can realize same movement function version be all fine as type of drive.In order to reach same object, torque motor can also be adopted to drive, for connected master arm provides a rotational freedom.Under certain application feature, also can adopt the type of drive of linear electric motors, for connected master arm provides an one-movement-freedom-degree.Certainly, in the specific implementation, adopt other any one can realize same movement function version be all fine as type of drive.
Claims (4)
1., for feeding and the gathering-device of iron wire bender, it is characterized in that this device comprises Three Degree Of Freedom robot (I), bender (II), the front material memory (III) of folding and the rear material collector (IV) of folding; Frame (12) in described Three Degree Of Freedom robot (I) is arranged vertically with the material loading front end face of described bender (II), before described folding, material memory (III) is fixed on base (16) side of described bender (II), before described folding, the opening surface of material memory (III) upward, and before described folding, the bottom surface of material memory (III) is fixed on the cylinder (17) of described bender (II) side.
2. a kind of feeding for iron wire bender according to claim 1 and gathering-device, is characterized in that described Three Degree Of Freedom robot (I) comprises frame (12), moving platform (8), the first active branched chain, the second active branched chain, driven side chain, the first drive unit (9), the second drive unit (10) and vertical drive unit (11); Described first drive unit (9), the second drive unit (10) are arranged in described frame (12), described first drive unit (9) and the second drive unit (10) arranged concentric, described vertical drive unit (11) is connected on vertical drive unit installing plate (13), described moving platform (8) is connected in the clutch end on described vertical drive unit (11), and described moving platform (8) is moved up and down by the drive of described vertical drive unit (11); Described first active branched chain comprises frame (12), the first master arm (1), first protects attitude connecting rod (2) and side link (6); Described first master arm (1) adopts turning joint to be connected with between described side link (6), described first two ends protecting attitude connecting rod (2) adopt turning joint to be connected with described frame (12) and described side link (6) respectively, and described frame (12), the first master arm (1), first protect attitude connecting rod (2), side link (6) is connected to form parallelogram sturcutre by kinematic pair; Described second active branched chain comprises the first master arm (1), the second master arm (4), slave arm (3) and forearm connecting rod (5); Turning joint is adopted to be connected between described second master arm (4) with described forearm connecting rod (5), turning joint is adopted to connect between the described slave arm of described forearm connecting rod (5) (3), adopt turning joint to be connected between described slave arm (3) with described first master arm (1), described first master arm (1), the second master arm (4), slave arm (3), forearm connecting rod (5) are connected to form parallelogram sturcutre by kinematic pair; Described driven side chain comprises vertical drive unit installing plate (13), slave arm (3), side link (6) and second guarantor's attitude connecting rod (7); Turning joint is adopted to be connected between described slave arm (3) with described vertical drive unit installing plate (13), described vertical drive unit installing plate (13) and described second is protected between attitude connecting rod (7) and is adopted turning joint to be connected, described second protects attitude connecting rod (7) adopts turning joint to be connected with between described side link (6), and described vertical drive unit installing plate (13), slave arm (3), side link (6), second are protected attitude connecting rod (7) and be connected to form parallelogram sturcutre by kinematic pair; Described first active branched chain and described second active branched chain have common described first master arm (1), described driven side chain and described first active branched chain have common described side link (6), and described driven side chain and described second active branched chain have common described slave arm (3); First master arm (1) of described first active branched chain, second master arm (4) of the second active branched chain are driven by described first drive unit (9), the second drive unit (10) respectively and rotate, described first drive unit (9), the second drive unit (10) adopt servomotor-reducer structure, and described vertical drive unit (11) adopts servomotor-reducer structure or adopts pneumatic means.
3. a kind of feeding for iron wire bender according to claim 1 and gathering-device, is characterized in that described bender (II) comprises hydraulic system, base (16), mold (14) and bed die (15); Mold (14) described in described HYDRAULIC CONTROL SYSTEM is regular to be depressed on described bed die (15), described mold (14) is arranged on the piston rod of described hydraulic system, described bed die (15) is arranged on described base (16), the vertical direction vis-a-vis of described mold (14) and described bed die (15), described bender (II) can pass through described mold (14), the iron wire be placed in the middle of mould is bent into predetermined shape by bed die (15) extruding.
4. a kind of feeding for iron wire bender according to claim 1 and gathering-device, before it is characterized in that described folding, material memory (III) comprises baffle plate, bottom surface and cylinder (17); Before multiple folding, iron wire is by the bottom surface of block pattern row pattern in baffle plate after manual sorting, iron wire piles up the end effector crawl that height should be suitable for described Three Degree Of Freedom robot (I), when iron wire insufficient height, described bottom surface cylinder (17) can will remain iron wire lifting by upward vertical movement, ensures that the end effector of described Three Degree Of Freedom robot (I) effectively can grab the front iron wire of folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510128675.9A CN104668405A (en) | 2015-03-23 | 2015-03-23 | Feeding and collecting device for iron wire bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510128675.9A CN104668405A (en) | 2015-03-23 | 2015-03-23 | Feeding and collecting device for iron wire bending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104668405A true CN104668405A (en) | 2015-06-03 |
Family
ID=53304284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510128675.9A Pending CN104668405A (en) | 2015-03-23 | 2015-03-23 | Feeding and collecting device for iron wire bending machine |
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| Country | Link |
|---|---|
| CN (1) | CN104668405A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN105598318A (en) * | 2016-03-10 | 2016-05-25 | 长葛市全鑫工程机械制造有限公司 | Automatic output reinforcing steel bar bending machine |
| CN105921558A (en) * | 2016-05-20 | 2016-09-07 | 上海发那科机器人有限公司 | Robot servo bending system |
-
2015
- 2015-03-23 CN CN201510128675.9A patent/CN104668405A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415392A (en) * | 2015-12-10 | 2016-03-23 | 深圳市海科瑞科技有限公司 | Wide-range grabbing under-actuated multi-adaptive manipulator |
| CN105598318A (en) * | 2016-03-10 | 2016-05-25 | 长葛市全鑫工程机械制造有限公司 | Automatic output reinforcing steel bar bending machine |
| CN105921558A (en) * | 2016-05-20 | 2016-09-07 | 上海发那科机器人有限公司 | Robot servo bending system |
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Application publication date: 20150603 |