CN106607912A - Automatic loading and unloading manipulator and automatic loading and unloading notching press - Google Patents

Automatic loading and unloading manipulator and automatic loading and unloading notching press Download PDF

Info

Publication number
CN106607912A
CN106607912A CN201510702064.0A CN201510702064A CN106607912A CN 106607912 A CN106607912 A CN 106607912A CN 201510702064 A CN201510702064 A CN 201510702064A CN 106607912 A CN106607912 A CN 106607912A
Authority
CN
China
Prior art keywords
unloading
automatic loading
mechanical hand
pivoted arm
cylinder
Prior art date
Application number
CN201510702064.0A
Other languages
Chinese (zh)
Inventor
陈嫣妮
郑金莎
许成龙
马德文
陈鹏
陈揽月
Original Assignee
芜湖天鹏数控高速冲槽机制造有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 芜湖天鹏数控高速冲槽机制造有限公司 filed Critical 芜湖天鹏数控高速冲槽机制造有限公司
Priority to CN201510702064.0A priority Critical patent/CN106607912A/en
Publication of CN106607912A publication Critical patent/CN106607912A/en

Links

Abstract

The invention discloses an automatic loading and unloading manipulator. The automatic loading and unloading manipulator comprises a base and a turning arm arranged on the base; the front end of the turning arm is connected with a grabbing head; the base is provided with a servo motor 1 and a cylinder 1; the servo motor 1 is connected with the turning arm through a gear, and controls rotation of the turning arm; the cylinder 1 is mounted below the turning arm, and controls lifting of the turning arm; the turning arm is provided with a ball screw and a linear guide rail; and the grabbing head is provided with a grabbing disc and a tabletting disc. Meanwhile, the invention further discloses an automatic loading and unloading notching press; and the notching press can automatically finish loading and unloading, and is low in cost and high in efficiency.

Description

A kind of automatic loading and unloading mechanical hand and automatic loading and unloading notching press
Technical field
The present invention relates to a kind of notching press field, more particularly to a kind of automatic loading and unloading mechanical hand and automatic loading and unloading Material notching press.
Background technology
China's industry of motor production since last century the eighties are occurred in that just develop after domestic high speed slot-puncher compared with Hurry up, especially for the production in middle size motor and various new special motors, exploitation high speed slot-puncher is played Great function.At present the use of electrical machinery plant's high speed slot-puncher or unit manually operate feeding, discharging, work People's work degree is big and productivity ratio is also restrained.Recently as national science and technology progress, robot goes out It is existing, there are minority big business to start to introduce robot automatic charging on high speed slot-puncher.But robot is high Your price makes many motor manufacturing enterprises hang back, and especially medium-sized and small enterprises are powerless accomplishes.
The content of the invention
To solve above-mentioned technical problem, the invention provides a kind of automatic loading and unloading mechanical hand and automatic loading and unloading Notching press, can be raised labour efficiency with reaching with automatic loading and unloading, and can reduce the mesh of entreprise cost 's.
To reach above-mentioned purpose, technical scheme is as follows:
A kind of automatic loading and unloading mechanical hand, including base and the pivoted arm being arranged on base, the pivoted arm front end Material grasping head is connected with, servomotor one and cylinder one are provided with the base, the servomotor one passes through Gear is connected with the pivoted arm, controls the pivoted arm rotation, and the cylinder one is installed on the lower section of the pivoted arm, Control the pivoted arm lifting;The pivoted arm is provided with ball screw and line slideway;The material grasping head is provided with Material grasping disk and tabletting disk.
In such scheme, the material grasping disk is connected by gear with servomotor two, is controlled by servomotor two The rotation of material grasping disk processed, for the position of centering keyway;And be additionally provided with the material grasping disk vacuum generator and Vacuum cup one, to hold workpiece.
In such scheme, the tabletting disk is connected with cylinder two, and pressure is applied to tabletting disk by cylinder two, Push down workpiece.
In further technical scheme, the cylinder one and cylinder two are thin cylinder.
Further in technical scheme, the anglec of rotation of the pivoted arm is 360 °.
Further in technical scheme, the anglec of rotation of the material grasping disk is 60 °, just can be revolved counterclockwise Turn 30 °, the position of centering keyway.
The invention also discloses a kind of automatic loading and unloading notching press with above-mentioned automatic loading and unloading mechanical hand, institute Notching press is stated including main frame, mechanical hand, blank station and unloading station, the mechanical hand is installed on the master The side of machine, the blank station and unloading station are located at the base of mechanical hand as the center of circle, with machinery respectively The pivoted arm of handss is on the circumference of radius, the blank station is provided with lifting device.
In such scheme, the main frame includes indexing spindle and the slide block being arranged above the indexing spindle, Workpiece is placed on indexing spindle, slide block moves up and down and workpiece is punched.
In such scheme, the lifting device includes lifting arm and the vacuum cup positioned at the lifting arm front end Two, lifting arm can suck the workpiece on blank station, and be sent on the vacuum cup one of material grasping disk.
By above-mentioned technical proposal, the automatic loading and unloading mechanical hand that the present invention is provided belongs to fixed capstan head pattern, Can freely stretch and can rotate freely in the range of 360 °, and pivoted arm can rise, decline;The single armed machine Tool handss can automatic material taking, discharging, high degree of automation;The automatic loading and unloading notching press that the present invention is provided is at this The punching work of workpiece can be automatically performed under the assistance of mechanical hand, blank station arranges lifting device, is used for Self-feeding, mechanization degree is high.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to implementing Example or the accompanying drawing to be used needed for description of the prior art are briefly described.
Fig. 1 is a kind of top view of the automatic loading and unloading notching press disclosed in the embodiment of the present invention;
Fig. 2 is the front view of the automatic loading and unloading notching press disclosed in the embodiment of the present invention.
Wherein, 1, base;2nd, pivoted arm;3rd, material grasping head;4th, servomotor one;5th, cylinder one;6、 Ball screw;7th, line slideway;8th, material grasping disk;9th, tabletting disk;10th, servomotor two;11st, vacuum Generator;12nd, vacuum cup one;13rd, main frame;14th, mechanical hand;15th, blank station;16th, discharging Station;17th, lifting device;18th, lifting arm;19th, vacuum cup two;20th, workpiece.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly Chu, it is fully described by.
The invention provides a kind of automatic loading and unloading mechanical hand and automatic loading and unloading notching press, such as Fig. 1 and Fig. 2 Shown structure, the robot manipulator structure is simple, low cost, high degree of automation.
Automatic loading and unloading mechanical hand as depicted in figs. 1 and 2, including base 1 and be arranged on base 1 Pivoted arm 2, the front end of pivoted arm 2 is connected with material grasping head 3, and servomotor 1 and cylinder 1 are provided with base 1, Servomotor 1 is connected by gear with pivoted arm 2, and control pivoted arm 2 rotates in the range of 360 °;Cylinder one 5 lower sections for being installed on pivoted arm 2, control pivoted arm 2 is lifted;Pivoted arm 2 is provided with ball screw 6 and line slideway 7, pivoted arm 2 can stretch, for adjusting the locus at the center of workpiece 20 and mechanical hand 14.
Material grasping head 3 is provided with material grasping disk 8 and tabletting disk 9;Material grasping disk 8 is by gear and servomotor 2 10 It is connected, material grasping disk 8 is controlled by servomotor 2 10 and is rotated in the range of positive and negative 30 °, for centering keyway Position;And vacuum generator 11 and vacuum cup 1 are additionally provided with material grasping disk 8, to hold workpiece 20.Tabletting disk 9 is connected with the (not shown) of cylinder two, and pressure is applied to tabletting disk 9 by cylinder two, Push down workpiece 20.
In this programme, cylinder 1 and cylinder two are thin cylinder.
The invention also discloses a kind of automatic loading and unloading notching press with above-mentioned automatic loading and unloading mechanical hand, punching Scouring machine includes main frame 13, mechanical hand 14, blank station 15 and unloading station 16, and mechanical hand 14 is installed on master The side of machine 13, blank station 15 and unloading station 16 are located at respectively with the base 1 of mechanical hand 14 as circle On the heart, the circumference with the pivoted arm 2 of mechanical hand 14 as radius, main frame 13 includes indexing spindle and is arranged at point Slide block above degree main shaft, places workpiece 20 on indexing spindle, slide block moves up and down and workpiece 20 is punched; Blank station 15 is provided with lifting device 17, and lifting device 17 includes lifting arm 18 and positioned at lifting arm 18 The vacuum cup 2 19 of front end, lifting arm 18 can suck the workpiece 20 on blank station 15, and be sent to On the vacuum cup 1 of material grasping disk 8.
The course of work of the present invention is as follows:
The first step:The silicon steel sheet of workpiece 20 has been attached on indexing spindle, the material grasping head 3 of single arm robot 14 Tabletting disk 9 is pushed down silicon steel sheet and is fastened, and inductive switch transmits signals to main frame 13, while vacuum cup 1 Die and leave silicon steel sheet, material grasping head 3 rises 10mm, main frame 13 is started working (punching).
Second step:The punching of main frame 13 terminates, and slide block is parked in top dead-centre, and the pivoted arm 2 of mechanical hand 14 declines 10mm, The ventilation of vacuum cup 1 of material grasping head 3 is held silicon steel sheet, is taken out under the core-pulling mechanism of main shaft, and silicon steel sheet is disengaged Determine core print, then the pivoted arm 2 of mechanical hand 14 rises 10mm, then turn W1 angles to unloading to set direction Material station 16, pivoted arm 2 declines the centering spindle that 10mm makes the borehole jack loading and unloading material station 16 of silicon steel sheet;Grab simultaneously Vacuum cup 1 on charging tray 8 is died, and silicon steel sheet is enclosed within the centering spindle of unloading station 16 from hanging down.
3rd step:The pivoted arm 2 of mechanical hand 14 rises 10mm, then turns W2 angles to set direction, while Material grasping disk 8 is also extended or retraction makes the center of material grasping disk 8 be directed at the centering spindle of blank station 15, then turns Arm 2 declines 10mm makes the vacuum cup 1 on material grasping disk 8 be in holding fix.
4th step:The lifting device 17 of blank station 15 receives instruction, and lifting arm 18 drops to its vacuum and inhales Disk 2 19 is attached to the upper plane of blank heap, and vacuum cup 2 19 starts ventilation and sucks silicon steel sheet, then lifts Arm 18 is sent to silicon steel sheet on the vacuum cup 1 of material grasping disk 8.(this send, termination process silicon steel sheet all exists Slide in centering spindle and rise), then the vacuum cup 2 19 of lifting device 17 is died and continuously rises to original Position (peak), while the pivoted arm 2 of mechanical hand 14 rises 10mm, makes silicon steel sheet depart from centering spindle.
5th step:The pivoted arm 2 of mechanical hand 14 to the direction for returning turns W2+W1 angles to the (high-speed punching of main frame 13 Scouring machine) indexing spindle (in centering spindle), pivoted arm 2 decline 10mm by the borehole jack of silicon steel sheet in indexing spindle Centering spindle on, the tabletting disk 9 of subsequent material grasping head 3 declines, and pushes down silicon steel sheet.If now positioning key does not have Alignment, does not go under silicon steel sheet, and the servomotor 2 10 on material grasping disk 8 works, and can make silicon steel sheet left/right rotation 30 °, cause keyway to be aligned, and press off the switch of the instruction main frame 13 determined on core disk, pivoted arm 2 rises 10mm, Vacuum cup 1 leaves silicon steel sheet.Main frame 13 is received and start after instruction punching to a piece of punching is fixed, is shut down (slide block is parked in top dead-centre), completes a cycle of operation.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using this Invention.Various modifications to these embodiments will be apparent for those skilled in the art, Generic principles defined herein can without departing from the spirit or scope of the present invention, at other Realize in embodiment.Therefore, the present invention is not intended to be limited to the embodiments shown herein, but will Meet the most wide scope consistent with principles disclosed herein and features of novelty.

Claims (9)

1. a kind of automatic loading and unloading mechanical hand, including base and the pivoted arm being arranged on base, before the pivoted arm End is connected with material grasping head, it is characterised in that servomotor one and cylinder one are provided with the base, described Servomotor one is connected by gear with the pivoted arm, controls the pivoted arm rotation, and the cylinder one is installed on The lower section of the pivoted arm, controls the pivoted arm lifting;The pivoted arm is provided with ball screw and line slideway; The material grasping head is provided with material grasping disk and tabletting disk.
2. a kind of automatic loading and unloading mechanical hand according to claim 1, it is characterised in that the material grasping Disk is connected by gear with servomotor two, and is additionally provided with vacuum generator and vacuum cup on the material grasping disk One.
3. a kind of automatic loading and unloading mechanical hand according to claim 1, it is characterised in that the tabletting Disk is connected with cylinder two.
4. a kind of automatic loading and unloading mechanical hand according to claim 1 or 3, it is characterised in that described Cylinder one and cylinder two are thin cylinder.
5. a kind of automatic loading and unloading mechanical hand according to claim 1, it is characterised in that the pivoted arm The anglec of rotation be 360 °.
6. a kind of automatic loading and unloading mechanical hand according to claim 2, it is characterised in that the material grasping The anglec of rotation of disk is 60 °.
7. the automatic loading and unloading punching of a kind of automatic loading and unloading mechanical hand with described in any one of claim 1-6 Scouring machine, it is characterised in that the notching press includes main frame, mechanical hand, blank station and unloading station, institute The side that mechanical hand is installed on the main frame is stated, the blank station and unloading station are located at mechanical hand respectively Base be the center of circle, on the circumference with the pivoted arm of mechanical hand as radius, the blank station is provided with lifting dress Put.
8. a kind of automatic loading and unloading notching press according to claim 7, it is characterised in that the main frame Including indexing spindle and the slide block being arranged above the indexing spindle.
9. a kind of automatic loading and unloading notching press according to claim 7, it is characterised in that the lifting Device includes lifting arm and the vacuum cup two positioned at the lifting arm front end.
CN201510702064.0A 2015-10-26 2015-10-26 Automatic loading and unloading manipulator and automatic loading and unloading notching press CN106607912A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510702064.0A CN106607912A (en) 2015-10-26 2015-10-26 Automatic loading and unloading manipulator and automatic loading and unloading notching press

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510702064.0A CN106607912A (en) 2015-10-26 2015-10-26 Automatic loading and unloading manipulator and automatic loading and unloading notching press

Publications (1)

Publication Number Publication Date
CN106607912A true CN106607912A (en) 2017-05-03

Family

ID=58613646

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510702064.0A CN106607912A (en) 2015-10-26 2015-10-26 Automatic loading and unloading manipulator and automatic loading and unloading notching press

Country Status (1)

Country Link
CN (1) CN106607912A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108787988A (en) * 2018-07-04 2018-11-13 安徽六方重联机械股份有限公司 A kind of automatic feeder equipment of hot forging casting die
CN108907063A (en) * 2018-07-02 2018-11-30 安徽飞翔电器有限公司 Forging machine tool loading and unloading industrial robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203830505U (en) * 2014-05-14 2014-09-17 芜湖天鹏数控高速冲槽机制造有限公司 High-speed notching press
CN203991881U (en) * 2014-07-31 2014-12-10 东莞市鸿企机械有限公司 A kind of full-automatic punch
CN204220833U (en) * 2014-09-18 2015-03-25 合肥金海康五金机械制造有限公司 A kind of deep-draw pressing mold reclaimer robot
CN104550523A (en) * 2015-01-07 2015-04-29 瑞安市杭瑞自动化科技有限公司 Single-punch automatic production line
CN104785655A (en) * 2014-12-03 2015-07-22 佛山市艾乐博机器人科技有限公司 Feeding and discharging mechanical arm and device for stamping process

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203830505U (en) * 2014-05-14 2014-09-17 芜湖天鹏数控高速冲槽机制造有限公司 High-speed notching press
CN203991881U (en) * 2014-07-31 2014-12-10 东莞市鸿企机械有限公司 A kind of full-automatic punch
CN204220833U (en) * 2014-09-18 2015-03-25 合肥金海康五金机械制造有限公司 A kind of deep-draw pressing mold reclaimer robot
CN104785655A (en) * 2014-12-03 2015-07-22 佛山市艾乐博机器人科技有限公司 Feeding and discharging mechanical arm and device for stamping process
CN104550523A (en) * 2015-01-07 2015-04-29 瑞安市杭瑞自动化科技有限公司 Single-punch automatic production line

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108907063A (en) * 2018-07-02 2018-11-30 安徽飞翔电器有限公司 Forging machine tool loading and unloading industrial robot
CN108907063B (en) * 2018-07-02 2020-04-07 安徽飞翔电器有限公司 Material loading and unloading industrial robot of forging press
CN108787988A (en) * 2018-07-04 2018-11-13 安徽六方重联机械股份有限公司 A kind of automatic feeder equipment of hot forging casting die

Similar Documents

Publication Publication Date Title
CN204565765U (en) Tubing automatic punching equipment
CN105328548B (en) A kind of automatic flash removed machine of many station
CN201950516U (en) Rotation interchangeable clamp
CN101633023A (en) Multistation material transmission manipulator
CN203045450U (en) Full-automatic grinding machine
CN201940858U (en) Automatic feeding and discharging device for numerical control gear chamfering machine
CN204686536U (en) The vertical paw device of truss manipulator double
CN103962901A (en) Fully-automatic grinder
CN203765290U (en) Automatic rotary table multi-station drilling tapping machine
CN205968182U (en) Pressure meter connector automatic processing equipment
CN206493310U (en) Both arms loading and unloading manipulator
CN205763105U (en) A kind of apparatus for bending by sheet metal bending
CN104772687A (en) Rotary type multi-station crystal grinding and polishing all-in-one machine
CN205845767U (en) A kind of shift knob kludge with Transport disc
CN203156351U (en) Bolt latch sleeve leaf spring riveting machine
CN104002124B (en) A kind of self-feeding pressing machine
CN106624943B (en) Double-pole library machining center
CN205060766U (en) Automatic feeding device
CN103121053A (en) Horizontal bending machine
CN201807740U (en) Slender shaft part automatic processing equipment
CN106826336A (en) Cut repair apparatus in a kind of sheet material side
CN104175162A (en) Mechanical arm used for automatic feeding and discharging and automatic feeding and discharging method
CN206028396U (en) Full -automatic bender that panel beating was used
CN203817866U (en) Automatic material-feeding device for shaping machine tool
CN206544053U (en) Loading and unloading manipulator Digit Control Machine Tool

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20170503

RJ01 Rejection of invention patent application after publication