CN104785655A - Feeding and discharging mechanical arm and device for stamping process - Google Patents
Feeding and discharging mechanical arm and device for stamping process Download PDFInfo
- Publication number
- CN104785655A CN104785655A CN201510058680.7A CN201510058680A CN104785655A CN 104785655 A CN104785655 A CN 104785655A CN 201510058680 A CN201510058680 A CN 201510058680A CN 104785655 A CN104785655 A CN 104785655A
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- Prior art keywords
- mechanical arm
- loading
- mechanical
- unloading manipulator
- paw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/003—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a feeding and discharging mechanical arm and device for the stamping process. The feeding and discharging mechanical arm structurally comprises an electric control cabinet, a rack, a main rotating shaft, a fixing base, a vertical shaft, a first mechanical arm body, a second mechanical arm body, a first mechanical claw and a second mechanical claw. The included angle between the first mechanical arm body and the second mechanical arm body ranges from 90 degrees to 120 degrees, and the first mechanical arm body and the second mechanical arm body can move vertically along with the vertical shaft. The vertical shaft and the fixing base can rotate horizontally along with the main rotating shaft. The main rotating shaft, the vertical shaft, the first mechanical arm body and the second mechanical arm body are driven by different motors, and all the motors are electrically connected with the electric control cabinet. The feeding and discharging mechanical arm has the functions of taking and placing materials automatically and flexibly, is suitable for single-process stamping as well as whole-line multi-station stamping, solves the technical problems that existing equipment is low in applicability, low in working efficiency and likely to cause industrial accidents, and improves working efficiency, flexibility and safety.
Description
Technical field
The present invention relates to automated production equipment field, particularly relate to a kind of loading and unloading manipulator for stamping procedure and device.
Background technology
Current hardware stamping market is not specially adapted for the loading and unloading manipulator of single operation punching press, and existing loading and unloading manipulator is all applicable to whole line multistation, and is not suitable for single operation punching production.Existing is all the mode adopting artificial feeding, material loading, blowing when carrying out single operation punching press, this mode of production is, the generation that easily cause industrial accident high to the dependence of personnel not only, and production efficiency is low, production cost is high, the product percent of pass produced is also lower.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
The object of the present invention is to provide a kind of loading and unloading manipulator for stamping procedure and device, during to solve existing single operation punching production, the problem that artificial loading and unloading can not realize mechanization production can only be relied on.
Technical scheme of the present invention is as follows:
For a loading and unloading manipulator for stamping procedure, wherein, its structure comprises electric cabinet, frame, main rotating shaft, holder, vertical pivot, the first mechanical arm, the second mechanical arm, the first mechanical paw and the second mechanical paw;
First mechanical paw is fixed on one end of the first mechanical arm, and the second mechanical paw is fixed on one end of the second mechanical arm; The other end of described first mechanical arm and the other end of the second mechanical arm are separately fixed on vertical pivot, form the angle of 90-120 ° between the first mechanical arm and the second mechanical arm; First mechanical arm and the second mechanical arm can carry out vertical up-or-down movement with vertical pivot;
Described main rotating shaft is fixed in frame, and vertical pivot is fixed on main rotating shaft by described holder, and described vertical pivot and holder can horizontally rotate with described main rotating shaft;
Main rotating shaft, vertical pivot, the first mechanical paw and the second mechanical paw are driven by different motors respectively, and each motor is electrically connected with electric cabinet respectively.
The described loading and unloading manipulator for stamping procedure, wherein, described first mechanical arm and the second mechanical arm are set to telescopic arm, telescopic arm with for driving its motor carrying out stretching to be electrically connected, this motor is electrically connected with described electric cabinet.
The described loading and unloading manipulator for stamping procedure, wherein, first mechanical paw and the second mechanical paw be set to rotate paw, rotate paw with for driving its motor rotated and reductor to be electrically connected, this motor and reductor are electrically connected with described electric cabinet.
The described loading and unloading manipulator for stamping procedure, wherein, described electric cabinet is arranged at below frame; Described electric cabinet comprises control panel and control system module, and described control panel is electrically connected with control system module, and described control system module is electrically connected with above-mentioned motor; Described control system module adopts single-chip microcomputer and PLC.
The described loading and unloading manipulator for stamping procedure, wherein, the angle between the first mechanical arm and the second mechanical arm is 90 ° or 120 °.
For a loading and unloading manipulator device for stamping procedure, wherein, its structure comprises feeding platform and the loading and unloading manipulator for stamping procedure described above, and described feeding platform is equipped with the side in the described loading and unloading manipulator for stamping procedure.
The described loading and unloading manipulator device for stamping procedure, wherein, described feeding platform comprise upper flitch for carrying workpiece, for drive the worm-and-wheel gear of described upper flitch lifting, for drive worm-and-wheel gear to move motor, to detect the double sheet testing agency whether workpiece is individual for point double sheet mechanism that double sheet or multiple workpiece separated and being used for; Described upper flitch is arranged at the top of described worm-and-wheel gear, and described point of double sheet organization establishes is in the unloading position of described upper flitch, and described double sheet testing agency is arranged in described point double sheet mechanism; This motor is electrically connected with worm-and-wheel gear and electric cabinet respectively.
A kind of loading and unloading manipulator device for stamping procedure, wherein, its structure comprises positioner on line, switching mechanism, detent mechanism and the loading and unloading manipulator for stamping procedure described above, and on described line, positioner, switching mechanism and detent mechanism are equipped with the described side for the loading and unloading manipulator of stamping procedure; Described switching mechanism is arranged on line between detent mechanism and detent mechanism and loading and unloading manipulator, and described feeding platform is disposed adjacent with the described loading and unloading manipulator for stamping procedure.
The loading and unloading manipulator that the present invention is used for stamping procedure can realize charging simultaneously and discharging, and can the location of workpiece complicated and changeable be adapted to, realize the flexible function such as feeding, blowing automatically, the scene that dress space is less can be adapted to, both be applicable to single operation punching press and be also applicable to whole line multiple site punching, well overcome existing equipment and be suitable for single, that operating efficiency lowly and easily causes industrial accident technical problem, improve the efficiency of operation and flexibility and security.
Accompanying drawing explanation
Fig. 1 is the structural representation for the loading and unloading manipulator device of stamping procedure in the present invention.
Fig. 2 is for the view (1) in the loading and unloading manipulator device operation of stamping procedure in the present invention.
Fig. 3 is for the view (2) in the loading and unloading manipulator device operation of stamping procedure in the present invention.
Fig. 4 is for the view (3) in the loading and unloading manipulator device operation of stamping procedure in the present invention.
Fig. 5 is the structural representation for another embodiment of loading and unloading manipulator device of stamping procedure in the present invention.
Detailed description of the invention
For making object of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.
A kind of loading and unloading manipulator for stamping procedure provided by the present invention, as shown in Figure 1, the described loading and unloading manipulator for stamping procedure is arranged between feeding platform and pressing equipment, and its structure comprises:
Electric cabinet 3, frame 1, main rotating shaft 4, holder 2, vertical pivot 5, the first mechanical arm 7, second mechanical arm 6, first mechanical paw 71 and the second mechanical paw 61;
First mechanical paw 71 is fixed on one end of the first mechanical arm 7, and the second mechanical paw 61 is fixed on one end of the second mechanical arm 6; The other end of described first mechanical arm 7 and the other end of the second mechanical arm 6 are separately fixed on vertical pivot 5, form the angle of 90-120 ° between the first mechanical arm 7 and the second mechanical arm 6; First mechanical arm 7 and the second mechanical arm 6 can carry out vertical up-or-down movement with vertical pivot 5;
Described main rotating shaft 4 is fixed in frame 1, and vertical pivot 5 is fixed on main rotating shaft 4 by described holder 2, and described vertical pivot 5 and holder 2 can horizontally rotate with described main rotating shaft 4;
Main rotating shaft 4, vertical pivot 5, first mechanical paw 71 and the second mechanical paw 61 are driven by different motors respectively, and each motor is electrically connected with electric cabinet 3 respectively.
The operation principle of the described loading and unloading manipulator for stamping procedure is, main rotating shaft 4 drives holder 2 and vertical pivot 5, first mechanical arm 7 that is fixed on holder 2 and the second mechanical arm 6 rotate, and the top the first mechanical paw 71 being placed in feeding platform 9 simultaneously the second mechanical paw 61 is placed in above the mould of pressing equipment; Vertical pivot 5 drives the first mechanical arm 7 and the first mechanical arm 7 to move downward, the first mechanical paw 71 capture workpiece to be processed on feeding platform 9 simultaneously the second mechanical paw 61 capture the workpiece that pressing equipment mould processes; Vertical pivot 5 drives the first mechanical arm 7 and the first mechanical arm 7 to move upward, main rotating shaft 4 drives holder 2 and vertical pivot 5, first mechanical arm 7 be fixed on holder 2 and the second mechanical arm 6 to rotate again, and above the mould the first mechanical paw 71 being placed in pressing equipment, the second mechanical paw 61 is placed in the top of rewinding position simultaneously; Vertical pivot 5 drives the first mechanical arm 7 and the first mechanical arm 7 to move downward, and the while that the workpiece to be processed of crawl being placed on pressing equipment mould by the first mechanical paw 71, the workpiece processed is placed on rewinding position by the second mechanical paw 61.Wherein, the anglec of rotation of the angle between described first mechanical arm 7 and the second mechanical arm 6, distance that vertical pivot 5 moves up and down and main rotating shaft 4 regulates according to needs of production, carries out controlled motion by electric cabinet 3.Adopt the loading and unloading manipulator for stamping procedure of said structure, the same of workpiece can be realized enter to go out together, be applicable to the transfer manipulator of single operation punching press and line punching press, can enhance productivity, reduce operating personnel, a people can operate multiple stage pressing equipment simultaneously, avoids the generation of industrial accident, and the stability strengthening product is strong.
Further, described first mechanical arm 7 and the second mechanical arm 6 are set to telescopic arm structure, by motor or pneumatic as driving power.Described first mechanical arm 7 and the second mechanical arm 6 can stretch according to different feedings and discharge position, and concrete stroke makes according to actual production demand, with the function of the feeding and blowing that realize different distance.Further, first mechanical paw 71 and the second mechanical paw 61 are set to rotate paw, can rotate around its own rotation axis, rotating paw adopts motor and reductor as driving, can stop any position in 0-180 ° of angle, positioning precision height repetitive positioning accuracy is within 0.05mm.Rotating paw adopts suction or folder to embrace a crawl form, simple and practical, easy to maintenance.
Preferably, described electric cabinet 3 is arranged at below frame 1, and be used in the loading and unloading manipulator compact conformation of stamping procedure, floor space is little, and operation degree of flexibility is strong.Described electric cabinet 3 comprises control panel 10 and control system module, and described control panel 10 is electrically connected with control system module, and described control system module is electrically connected with the motor related in this loading and unloading manipulator.Described control system module adopts single-chip microcomputer and PLC two kinds of control modes, program adopts program package can adapt to the rapid translating of different size tablet, simple to operate.
Adopt the loading and unloading manipulator for stamping procedure provided by the present invention, have the following advantages: (1) can enhance productivity, reduce operating personnel, a people can operate multiple stage pressing equipment simultaneously, avoid the generation of industrial accident, the stability strengthening product is strong; (2) the loading and unloading manipulator entirety for stamping procedure can realize 0-180 ° of swing, and compact conformation simplifies practicality, and mechanical arm can carry out operation in little space, has both been applicable to single operation punching press and has also been applicable to whole line multiple site punching; (3) mechanical arm is set to telescopic arm, can stretch according to different feedings and discharge position, the rotation that mechanical paw also can carry out according to the different putting position of workpiece, can adapt to various different handware punching press requirement, structure is simple, and installation and adjustment is convenient.
A kind of loading and unloading manipulator device for stamping procedure is also provided in the present invention, as shown in Figure 1, its structure comprises feeding platform 9 and the described loading and unloading manipulator for stamping procedure, and described feeding platform 9 is disposed adjacent with the described loading and unloading manipulator for stamping procedure.
Described feeding platform 9 comprise upper flitch for carrying workpiece, for drive the worm-and-wheel gear of described upper flitch lifting, for drive worm-and-wheel gear to move motor, to detect the double sheet testing agency whether workpiece is individual for point double sheet mechanism 8 that double sheet or multiple workpiece separated and being used for; Described upper flitch is arranged at the top of described worm-and-wheel gear, and described point of double sheet mechanism 8 is arranged at the unloading position of described upper flitch, and described double sheet testing agency is arranged in described point double sheet mechanism 8; Motor is electrically connected with worm-and-wheel gear and electric cabinet 3 respectively.In order to ensure that mechanical paw can grab workpiece, workpiece on upper flitch and must maintaining a certain distance between mechanical paw, after workpiece is captured by mechanical paw, systems axiol-ogy is excessive to the vertical range of workpiece and mechanical paw, worm-and-wheel gear promotes flitch under the control of electric cabinet 3, in making to maintain a certain distance between the workpiece on flitch and mechanical paw.The lifting of upper flitch adopts worm-and-wheel gear, and hoisting velocity can reach 100mm/s, and lifting weight can reach 3 tons.Workpiece stamping in material feeding process due to the reasons such as extruding, greasy dirt, moisture easily cause double sheet or multiple bond, described point of double sheet mechanism 8 can separate double sheet or multiple workpiece, avoids double sheet or multiple workpiece enter mould, causes the damage of mould.Described point of double sheet mechanism 8 is also provided with double sheet detection system, the workpiece that point double sheet mechanism 8 is separated is detected, guarantee to avoid double sheet or multiple tablets send mould to, play double insurance effect.Described feeding platform 9 can be divided into single station, station or multistation, can adapt to the tablet of difformity different size.Double and multistation feeding platform 9 can realize uninterrupted material loading, save the material loading time, improve production efficiency, and list/double feeding platform 9 makes according to production requirement.
This is used in the loading and unloading manipulator device embodiment scheme of stamping procedure, and the angle between the first mechanical arm 7 and the second mechanical arm 6 is 90 °, and its operation principle is as follows:
As shown in Figure 2, be manually placed on upper flitch by workpiece to be processed, systems axiol-ogy is to there being material, and upper flitch is risen to certain position by worm-and-wheel gear, and workpiece is said good-bye by a point double sheet mechanism 8, and detects through double sheet detection system, ensures individual workpiece;
The main rotating shaft 4 of loading and unloading manipulator drives holder 2 and vertical pivot 5, first mechanical arm 7 that is fixed on holder 2 and the second mechanical arm 6 rotate 45 °, the top first mechanical paw 71 being placed in feeding platform 9 unloading position simultaneously the second mechanical paw 61 is placed in above the mould of pressing equipment, as shown in Figure 3;
Vertical pivot 5 drives the first mechanical arm 7 and the second mechanical arm 6 to move downward, the first mechanical paw 71 capture workpiece to be processed on feeding platform 9 simultaneously the second mechanical paw 61 capture the workpiece that pressing equipment mould processes;
Vertical pivot 5 drives the first mechanical arm 7 and the second mechanical arm 6 to move upward, main rotating shaft 4 drives holder 2 and vertical pivot 5, first mechanical arm 7 that is fixed on holder 2 and the second mechanical arm 6 half-twist again, above the mould first mechanical paw 71 being placed in pressing equipment, the second mechanical paw 61 is placed in the top of rewinding position simultaneously, as shown in Figure 4;
Vertical pivot 5 drives the first mechanical arm 7 and the second mechanical arm 6 to move downward, and the while that the workpiece to be processed of crawl being placed on pressing equipment mould by the first mechanical paw 71, the workpiece processed is placed on rewinding position by the second mechanical paw 61;
Main rotating shaft 4 drives holder 2 again and vertical pivot 5, first mechanical arm 7 that is fixed on holder 2 and the second mechanical arm 6 back rotate 45 °, and get back to original position, pressing equipment carries out press work to workpiece.
By the continuous circulation of above-mentioned steps, the action of feeding, blowing simultaneously continuously can be realized.Angle in the present embodiment scheme between two mechanical arms is 90 degree, can ensure workpiece on C type lathe same enter with go out, be the loading and unloading mode that on C type lathe, work pieces process is the fastest like this.
Also be provided for the another embodiment of the loading and unloading manipulator device of stamping procedure in the present invention, the main distinction of itself and a upper embodiment is that the angle between two mechanical arms is 120 °.
As shown in Figure 5, its structure mainly comprises positioner 11 ' on line, switching mechanism 12 ', detent mechanism 13 ' and described loading and unloading manipulator, on described line, positioner 11 ', switching mechanism 12 ' and detent mechanism 13 ' are equipped with the side in frame 1 '; Described switching mechanism 12 ' is arranged on line between detent mechanism 11 ' and detent mechanism 13 '.
This loading and unloading manipulator device being used for stamping procedure is under the control of electric cabinet 3 ', and its operation principle is as follows:
After on described line, workpiece on conveyer belt adjustment is had good positioning by positioner 11 ', switching mechanism 12 ' grabbing workpiece is also transferred on detent mechanism 13 ';
The main rotating shaft 4 ' of loading and unloading manipulator drives holder 2 ' and vertical pivot 5 ', the first mechanical arm 7 ' and the second mechanical arm 6 ' be fixed on holder 2 ' rotates 60 °, and the while of the first mechanical paw 71 ' being placed in the top of detent mechanism 13 ', the second mechanical paw 61 ' is placed in above the mould of pressing equipment;
Vertical pivot 5 ' drives the first mechanical arm 7 ' and the second mechanical arm 6 ' to move downward, and the workpiece to be processed on the first mechanical paw 71 ' crawl detent mechanism 13 ' simultaneously the second mechanical paw 61 ' captures the workpiece that pressing equipment mould processes;
Vertical pivot 5 ' drives the first mechanical arm 7 ' and the second mechanical arm 6 ' to move upward, main rotating shaft 4 ' drives holder 2 ' again and is fixed on vertical pivot 5 ', the first mechanical arm 7 ' and the second mechanical arm 6 ' on holder 2 ' and rotates 120 °, and above the mould the first mechanical paw 71 ' being placed in pressing equipment, the second mechanical paw 61 ' is placed in the top of rewinding position simultaneously;
Vertical pivot 5 ' drives the first mechanical arm 7 ' and the second mechanical arm 6 ' to move downward, and the while that the workpiece to be processed of crawl being placed on pressing equipment mould by the first mechanical paw 71 ', the workpiece processed is placed on rewinding position by the second mechanical paw 61 ';
Main rotating shaft 4 ' drive again 2 ' and vertical pivot 5 ', the first mechanical arm 7 ' and the second mechanical arm 6 ' be fixed on holder 2 ' back rotate 60 °, get back to original position, pressing equipment carries out press work to workpiece.
Should be understood that; application of the present invention is not limited to above-mentioned citing; for those of ordinary skills; can be improved according to the above description or be converted; such as; to the change of the change of some kinds of drive in the present invention, power resources, parts or replacement etc., all these improve and conversion all should belong to the protection domain of claims of the present invention.
Claims (9)
1. for a loading and unloading manipulator for stamping procedure, it is characterized in that, its structure comprises electric cabinet, frame, main rotating shaft, holder, vertical pivot, the first mechanical arm, the second mechanical arm, the first mechanical paw and the second mechanical paw;
First mechanical paw is fixed on one end of the first mechanical arm, and the second mechanical paw is fixed on one end of the second mechanical arm; The other end of described first mechanical arm and the other end of the second mechanical arm are separately fixed on vertical pivot, form the angle of 90-120 ° between the first mechanical arm and the second mechanical arm; First mechanical arm and the second mechanical arm can carry out vertical up-or-down movement with vertical pivot;
Described main rotating shaft is fixed in frame, and vertical pivot is fixed on main rotating shaft by described holder, and described vertical pivot and holder can horizontally rotate with described main rotating shaft;
Main rotating shaft, vertical pivot, the first mechanical paw and the second mechanical paw are driven by different motors respectively, and each motor is electrically connected with electric cabinet respectively.
2. the loading and unloading manipulator for stamping procedure according to claim 1, it is characterized in that, described first mechanical arm and the second mechanical arm are set to telescopic arm, telescopic arm with for driving its motor carrying out stretching to be electrically connected, this motor is electrically connected with described electric cabinet.
3. the loading and unloading manipulator for stamping procedure according to claim 2, it is characterized in that, first mechanical paw and the second mechanical paw are set to rotate paw, rotate paw with for driving its motor rotated and reductor to be electrically connected, this motor and reductor are electrically connected with described electric cabinet.
4. the loading and unloading manipulator for stamping procedure according to claim 1, it is characterized in that, first mechanical paw and the second mechanical paw are set to rotate paw, rotate paw with for driving its motor rotated and reductor to be electrically connected, this motor and reductor are electrically connected with described electric cabinet.
5., according to the arbitrary described loading and unloading manipulator for stamping procedure of claim 1-4, it is characterized in that, described electric cabinet is arranged at below frame; Described electric cabinet comprises control panel and control system module, and described control panel is electrically connected with control system module, and described control system module is electrically connected with above-mentioned motor; Described control system module adopts single-chip microcomputer and PLC.
6. the loading and unloading manipulator for stamping procedure according to claim 5, is characterized in that, the angle between the first mechanical arm and the second mechanical arm is 90 ° or 120 °.
7. the loading and unloading manipulator device for stamping procedure, it is characterized in that, its structure comprise feeding platform and as arbitrary in claim 1-6 as described in for the loading and unloading manipulator of stamping procedure, described feeding platform is equipped with the side in the described loading and unloading manipulator for stamping procedure.
8. the loading and unloading manipulator device for stamping procedure according to claim 7, it is characterized in that, described feeding platform comprise upper flitch for carrying workpiece, for drive the worm-and-wheel gear of described upper flitch lifting, for drive worm-and-wheel gear to move motor, to detect the double sheet testing agency whether workpiece is individual for point double sheet mechanism that double sheet or multiple workpiece separated and being used for; Described upper flitch is arranged at the top of described worm-and-wheel gear, and described point of double sheet organization establishes is in the unloading position of described upper flitch, and described double sheet testing agency is arranged in described point double sheet mechanism; This motor is electrically connected with worm-and-wheel gear and electric cabinet respectively.
9. the loading and unloading manipulator device for stamping procedure, it is characterized in that, its structure comprise positioner on line, switching mechanism, detent mechanism and as arbitrary in claim 1-6 as described in for the loading and unloading manipulator of stamping procedure, on described line, positioner, switching mechanism and detent mechanism are equipped with the described side for the loading and unloading manipulator of stamping procedure; Described switching mechanism is arranged on line between detent mechanism and detent mechanism and loading and unloading manipulator, and described feeding platform is disposed adjacent with the described loading and unloading manipulator for stamping procedure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510058680.7A CN104785655A (en) | 2014-12-03 | 2015-02-04 | Feeding and discharging mechanical arm and device for stamping process |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014107248120 | 2014-12-03 | ||
| CN201410724812 | 2014-12-03 | ||
| CN201510058680.7A CN104785655A (en) | 2014-12-03 | 2015-02-04 | Feeding and discharging mechanical arm and device for stamping process |
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| CN104785655A true CN104785655A (en) | 2015-07-22 |
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| CN201510058680.7A Pending CN104785655A (en) | 2014-12-03 | 2015-02-04 | Feeding and discharging mechanical arm and device for stamping process |
| CN201520079928.3U Active CN204711031U (en) | 2014-12-03 | 2015-02-04 | A kind of loading and unloading manipulator for stamping procedure and device |
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| CN110549261A (en) * | 2019-09-30 | 2019-12-10 | 郑州市弘毅机械有限公司 | Automatic unloading mechanism for formed grinding wheel |
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