CN106734705A - Decompressor and its manipulator - Google Patents
Decompressor and its manipulator Download PDFInfo
- Publication number
- CN106734705A CN106734705A CN201710005193.3A CN201710005193A CN106734705A CN 106734705 A CN106734705 A CN 106734705A CN 201710005193 A CN201710005193 A CN 201710005193A CN 106734705 A CN106734705 A CN 106734705A
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- China
- Prior art keywords
- manipulator
- pickup device
- punch press
- guide rail
- connecting shaft
- Prior art date
- Legal status (The legal status 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 status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000004080 punching Methods 0.000 claims abstract description 16
- 238000007599 discharging Methods 0.000 claims abstract description 10
- 238000004519 manufacturing process Methods 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000005266 casting Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- 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
-
- 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
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/10—Die sets; Pillar guides
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
Abstract
The invention discloses a kind of manipulator, for the feeding during the punching production of punch press and discharging, including：Drive mechanism, transmission mechanism, removal mechanism, delivery mechanism and frame；The drive mechanism first end is connected with the actuating unit of punch press, second end is connected with the first end of transmission mechanism, second end of the transmission mechanism is rotated with removal mechanism and delivery mechanism be connected respectively, and the transmission mechanism, removal mechanism and delivery mechanism are installed in the frame.The drive mechanism is directly connected with the actuating unit of punch press, without being additionally provided powerful servomotor, reduces the volume and weight of manipulator so that manipulator can be utilized in more occasions.And whole manipulator manufacturing process is simply, low cost lifts ram efficiency, meets the demand of large, medium and small all kinds of enterprises.The invention also discloses a kind of decompressor, the decompressor includes punch press and manipulator as described above.
Description
Technical field
The present invention relates to stamping technology field, more particularly, to a kind of decompressor and its manipulator.
Background technology
In modernization machinery production, the stamping parts loading and unloading by manipulator to punch press are the trend in punch process, are passed
The manipulator of system mainly has two major classes, and a class is rotary moving, and another kind of is multi-freedom joint formula.Rotary moving machinery
Each rotary shaft and shifting axle of hand are driven using high-power servomotor, and whole robot manipulator structure is larger, and not only equipment is heavy,
Need to could be also applicable in spacious place, space availability ratio is not high.And the requirement of multi-freedom joint formula Manipulator Accuracy is high, system
Make difficulty big, processing technology is numerous and diverse, involves great expense, it is impossible to popularize.
The content of the invention
Based on this, the invention reside in the defect for overcoming prior art, there is provided a kind of decompressor and its manipulator.
Its technical scheme is as follows：
A kind of manipulator, for the feeding during the punching production of punch press and discharging, including：Drive mechanism, driver
Structure, removal mechanism, delivery mechanism and frame；The drive mechanism first end is connected with the actuating unit of punch press, the second end with pass
The first end connection of motivation structure, the second end of the transmission mechanism rotates with removal mechanism and delivery mechanism be connected respectively, described
Transmission mechanism, removal mechanism and delivery mechanism are installed in the frame.The drive mechanism drives institute via transmission mechanism
State removal mechanism and delivery mechanism motion so that part to be punched sends into the stamping mold of punch press after removal mechanism and delivery mechanism
Inside carry out punching press.The drive mechanism is directly connected with the actuating unit of punch press, without being additionally provided powerful servomotor,
Reduce the volume and weight of manipulator so that manipulator can be utilized in more occasions.And whole manipulator manufacturing process is simply,
Low cost, lifts ram efficiency, meets the demand of large, medium and small all kinds of enterprises.
Wherein in one embodiment, the transmission mechanism includes that the first crank, first connecting rod, the first rocking bar, first connect
Spindle, clutch shaft bearing component, the first connection handle, head rod and the second crank；First crank, first connecting rod, first
Rocking bar, the first connecting shaft and clutch shaft bearing component rotate connection successively, and the clutch shaft bearing component is fixed with frame；It is described
First connection handle one end is sheathed in the first connecting shaft, and the other end is rotated with the first end of head rod and is connected, and described first
Second end of connecting rod rotates with the second crank and is connected.The first crank handle turns first connecting rod, the first rocking bar and the first connection
Axle is rotated, and the clutch shaft bearing component fixes the first connecting shaft, makes itself and ground level, and rotatable, first connection
Axle drives the first connection handle to rotate, and the first connection handle of the rotation drives head rod to move up and down so as to drive the second song
Handle in the vertical direction lower swing.
Wherein in one embodiment, the removal mechanism includes the second connection handle, second bearing component, the second connecting shaft
With pickup device；Second connection handle, the second connecting shaft, pickup device are sequentially connected, second connection handle also with the second crank
Connection is rotated, the second bearing assembly set is fixed in the second connecting shaft and with frame.The second bearing component is to
Two connecting shafts are spacing, it is moved in vertical direction in the process of running, and without swinging, second crank is in side vertically
Second connection handle and its second connecting shaft and pickup device is driven to move up and down to swinging up and down, when pickup device is moved downward
When, part to be punched is obtained, when pickup device is moved upwards, the part to be punched is transferred to related delivery mechanism, then via giving
Part mechanism is by the stamping mold of part to be punched feeding punch press.
Wherein in one embodiment, the delivery mechanism includes the 3rd connecting shaft, 3rd bearing component, the second connection
Bar, the 3rd connecting rod, guide rail pole, guide rail sleeve and feeding pickup device；The guide rail sleeve slip cap described is led on the guide rail pole
Rail set is fixed with frame；One end of 3rd connecting shaft is connected with the second crank, and the 3rd connecting shaft other end, second connect
Extension bar, the 3rd connecting rod, guide rail pole rotate connection successively, and the 3rd bearing assembly set is located in the 3rd connecting shaft and and frame
It is fixed；The other end of the guide rail pole is connected with feeding pickup device.The 3rd bearing component is carried out to the 3rd connecting shaft
Support and spacing, make its holding level and can rotate, the 3rd connecting shaft drives second connecting rod, the 3rd connecting rod
Moved with guide rail pole, the level height of guide rail pole is fixed by the guide rail sleeve, and can be front and rear by the drive of the 3rd connecting rod
Mobile, so as to drive the feeding pickup device being connected with guide rail pole to move forward and backward, the part to be punched is transmitted via pickup device
To feeding pickup device, feeding pickup device is moved forward and is passed in the stamping mold of punch press, completes feeding.Also, work as and send
While part to be punched is delivered to stamping mold by material pickup device, the good stamping parts of punching press in stamping mold is obtained, feeding takes
When part device is moved rearwards by, stamping parts is taken out of punch press, complete discharging.
Wherein in one embodiment, the clutch shaft bearing component, second bearing component and 3rd bearing component include axle
Hold and bearing block, the bearing is on bearing block.
Wherein in one embodiment, the pickup device includes magnetic suction bar.Drawn by magnetic suction bar to be punched
Part, it is adaptable to variously-shaped different part to be punched and without in addition make pickup device.
Wherein in one embodiment, the feeding pickup device includes magnetic suction plate, the upper table of the magnetic suction plate
Face and lower surface are equipped with magnetic element.Part to be punched is transferred to pickup device the lower section of magnetic suction plate, and by magnetic suction
The lower surface absorption of plate, is sent in the stamping mold of punch press.The stamping mold includes upper die and lower die, described to be punched
Part is admitted to punching press in lower mould, and the stamping parts being stamped is attached to the upper mould of stamping mold due to instantaneous adhesion
On, when in the lower mould of the part to be punched feeding that the magnetic suction plate adsorbs its lower surface, the stamping parts on upper mould falls,
Adsorbed by the magnetic element of the magnetic suction plate upper surface, when the feeding pickup device is moved rearwards by backhaul, by stamping parts
Take punch press out of and complete discharging.
Wherein in one embodiment, also including stamping parts pallet, the stamping parts pallet is located at pickup device lower section.It is described
Part to be punched is positioned on stamping parts pallet, is drawn for the pickup device.
Wherein in one embodiment, the stamping parts pallet is provided with stretching structure and sensor, the sensor with
Stretching structure is connected.The stretching structure on stamping parts pallet is controlled using sensor, improves or reduce the stamping parts
The height of pallet, it is ensured that part to be punched can smoothly be obtained by pickup device.
The present invention also provides a kind of decompressor, including punch press and manipulator, and the manipulator is above-mentioned any one reality
The manipulator described in example is applied, the manipulator is located at the punch press side.
Wherein in one embodiment, the punch press includes stamping mold, and the stamping mold is provided with to be punched under keeping off
First pin of part, the punch press is provided with keeping off the second pin of stamping parts near the side of manipulator.When feeding pickup device
When part to be punched is sent into stamping mold, by the part to be punched under the first gear pole spacing in stamping mold, it is set accurately to fall
Enter in mould, also, when feeding pickup device by stamping parts takes punch press out of when, by under the second gear pole spacing of punch press side
Stamping parts, makes it fall into finished bag.
The beneficial effects of the present invention are：
The drive mechanism is directly connected with the actuating unit of punch press, without being additionally provided powerful servomotor, subtracts
The small volume and weight of manipulator so that manipulator can be utilized in more occasions.And whole manipulator manufacturing process is simply, makes
Valency is low, lifts ram efficiency, meets the demand of large, medium and small all kinds of enterprises.
Part to be punched is drawn by magnetic suction bar, it is adaptable to variously-shaped different part to be punched and without make in addition
Pickup device.Part to be punched is transferred to pickup device the lower section of magnetic suction plate, and is adsorbed by the lower surface of magnetic suction plate, by it
Send into the stamping mold of punch press.The stamping mold includes upper die and lower die, and the part to be punched is admitted to punching press in lower mould,
And the stamping parts being stamped is attached on the upper mould of stamping mold due to instantaneous adhesion, when the magnetic suction plate will
When in the lower mould of part to be punched feeding of its lower surface absorption, the stamping parts on upper mould falls, by the magnetic suction plate upper table
The magnetic element absorption in face, when the feeding pickup device is moved rearwards by backhaul, takes stamping parts out of punch press and completes discharging.When sending
When part to be punched is sent into stamping mold by material pickup device, by the part to be punched under the first gear pole spacing in stamping mold, make
It is accurately fallen into mould, also, when feeding pickup device by stamping parts takes punch press out of when, by the second gear in punch press side
Stamping parts under pole spacing, makes it fall into finished bag.
Brief description of the drawings
Fig. 1 is the structural representation of decompressor of the invention and its manipulator；
Fig. 2 is the side view of manipulator of the invention.
Description of reference numerals：
10th, drive mechanism；20th, transmission mechanism；21st, the first crank；22nd, first connecting rod；23rd, the first rocking bar；24th, first connects
Spindle；25th, clutch shaft bearing component；26th, the first connection handle；27th, head rod；28th, the second crank；30th, removal mechanism；31、
Second connection handle；32nd, second bearing component；33rd, the second connecting shaft；34th, pickup device；40th, delivery mechanism；41st, the 3rd connecting shaft；
42nd, 3rd bearing component；43rd, the second connecting rod；44th, the 3rd connecting rod；45th, guide rail pole；46th, guide rail sleeve；47th, feeding pickup
Device；50th, frame；60th, punch press；61st, stamping mold；611st, upper mould；612nd, lower mould；62nd, the first pin；63rd, the second pin；70、
Stamping parts pallet；80th, part to be punched；90th, stamping parts.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and specific embodiment party
Formula, is described in further detail to the present invention.It should be appreciated that specific embodiment described herein is only used to solve
The present invention is released, protection scope of the present invention is not limited.
A kind of manipulator as depicted in figs. 1 and 2, for the feeding during the punching production of punch press and discharging, including：
Drive mechanism 10, transmission mechanism 20, removal mechanism 30, delivery mechanism 40 and frame 50；The first end of the drive mechanism 10 and punching
The actuating unit connection of bed 60, the second end is connected with the first end of transmission mechanism 20, the second end difference of the transmission mechanism 20
Rotated with removal mechanism 30 and delivery mechanism 40 and be connected, the transmission mechanism 20, removal mechanism 30 and delivery mechanism 40 are respectively mounted
In the frame 50.The drive mechanism 10 drives the removal mechanism 30 and delivery mechanism 40 to transport via transmission mechanism 20
It is dynamic so that part to be punched is sent into the stamping mold 61 of punch press 60 after removal mechanism 30 and delivery mechanism 40 and carries out punching press.Institute
State actuating unit of the drive mechanism 10 directly with punch press 60 to be connected, without being additionally provided powerful servomotor, reduce machine
The volume and weight of tool hand so that manipulator can be utilized in more occasions.And whole manipulator manufacturing process is simply, low cost,
Lifting ram efficiency, meets the demand of large, medium and small all kinds of enterprises.
The transmission mechanism 20 includes the first crank 21, first connecting rod 22, the first rocking bar 23, the first connecting shaft 24, first
Bearing assembly 25, the first connection handle 26, the crank 28 of head rod 27 and second；First crank 21, first connecting rod 22,
One rocking bar 23, the first connecting shaft 24 and clutch shaft bearing component 25 rotate connection, and the clutch shaft bearing component 25 and frame successively
50 fix；Described one end of first connection handle 26 is sheathed in the first connecting shaft 24, the first end of the other end and head rod 27
Connection is rotated, the second end of the head rod 27 rotates with the second crank 28 and is connected.First crank 21 drives first
Connecting rod 22, the first rocking bar 23 and the first connecting shaft 24 are rotated, and the clutch shaft bearing component 25 fixes the first connecting shaft 24, makes it
With ground level, and rotatable, first connecting shaft 24 drives the first connection handle 26 to rotate, the first connection handle of the rotation
26 drive head rods 27 are moved up and down so as to drive the in the vertical direction lower swing of the second crank 28.
The removal mechanism 30 includes the second connection handle 31, second bearing component 32, the second connecting shaft 33 and pickup device 34；
Second connection handle 31, the second connecting shaft 33, pickup device 34 are sequentially connected, second connection handle 33 also with the second crank 28
Connection is rotated, the second bearing component 32 is sheathed in the second connecting shaft 33 and is fixed with frame 50.The second bearing group
32 pairs of the second connecting shafts 33 of part are spacing, it is moved in vertical direction in the process of running, without swinging, the present embodiment
In, the quantity of the second bearing component 32 is 2, and spacer sleeve is in second connecting shaft 33, it is ensured that limit effect.It is described
The in the vertical direction lower swing of second crank 28 is driven on the connecting shaft 33 of the second connection handle 31 and its second and pickup device 34
Lower motion, when pickup device 34 is moved downward, obtains part 80 to be punched, when pickup device 34 is moved upwards, will be described to be punched
Part 80 is transferred to related delivery mechanism 40, then part to be punched 80 is sent into the stamping mold 61 of punch press 60 via delivery mechanism 40
It is interior.
The delivery mechanism 40 includes the 3rd connecting shaft 41,3rd bearing component 42, the second connecting rod 43, the 3rd connecting rod
44th, guide rail pole 45, guide rail sleeve 46 and feeding pickup device 47；The slip cap of the guide rail sleeve 46 described is led on the guide rail pole 45
Rail set 46 is fixed with frame 50；One end of 3rd connecting shaft 42 is connected with the second crank 28, and the 3rd connecting shaft 42 is another
One end, the second connecting rod 43, the 3rd connecting rod 44, guide rail pole 45 rotate connection successively, and the 3rd bearing component 42 is sheathed on
Fixed in 3rd connecting shaft 41 and with frame 50；In the present embodiment, the quantity of the 3rd bearing component 42 is 2, and is symmetrically set
The both sides of the second crank 28 are placed in, with force balance, it is ensured that will not block because of discontinuity in the running of the second crank 28
Extremely cause robotic failure.The other end of the guide rail pole 45 is connected with feeding pickup device 47.The 3rd bearing component 42 pairs
3rd connecting shaft 41 support and spacing, is made its holding level and can be rotated, and the 3rd connecting shaft 41 drives institute
State the second connecting rod 43, the 3rd connecting rod 44 and guide rail pole 45 to move, the level height of guide rail pole 45 is consolidated by the guide rail sleeve 46
It is fixed, and can be moved forward and backward by the drive of the 3rd connecting rod 44, so as to drive the feeding pickup device 47 being connected with guide rail pole 45
Movable, in the present embodiment, the quantity of the guide rail sleeve 46 is 2, and spacer sleeve is located on guide rail pole 45, in other embodiment
In, the quantity of the guide rail sleeve 46 can suitably be increased or decreased, to ensure limit effect according to the length of guide rail pole 45.It is described
After part to be punched 80 is passed to feeding pickup device 47 via pickup device 34, feeding pickup device 47 is moved forward and is passed to punching
In the stamping mold 61 of bed 60, feeding is completed.Also, when part to be punched 80 is delivered to the same of stamping mold 61 by feeding pickup device 47
When, good stamping parts 90 of punching press in stamping mold 61 are obtained, when feeding pickup device 47 is moved rearwards by backhaul, by stamping parts
90 take punch press 60 out of, complete discharging.
The clutch shaft bearing component 25, second bearing component 32 and 3rd bearing component 42 include bearing and bearing block, institute
Bearing is stated to be located on bearing block.
The pickup device 34 includes magnetic suction bar.Part 80 to be punched is drawn by magnetic suction bar, it is adaptable to various shapes
The different part to be punched 80 of shape and without making pickup device 34 in addition.
The feeding pickup device 47 includes magnetic suction plate, and the upper and lower surface of the magnetic suction plate is equipped with magnetic
Property element, in the present embodiment, the magnetic element is high magnetic steel, and the high magnetic steel is welded in the upper surface of the magnetic suction plate
On lower surface.Part to be punched 80 is transferred to pickup device 34 lower section of magnetic suction plate, and by the lower surface of magnetic suction plate
Absorption, is sent in the stamping mold 61 of punch press 60.The stamping mold 61 includes upper mould 611 and lower mould 612, described to wait to rush
Casting die 80 is admitted to punching press in lower mould 612, and the stamping parts 90 being stamped is attached to stamping die due to instantaneous adhesion
On the upper mould 611 of tool 61, when the magnetic suction plate sends into lower mould 612 part to be punched 80 that its lower surface is adsorbed, on
Stamping parts 90 on mould 611 falls, and is adsorbed by the magnetic element of the magnetic suction plate upper surface, the feeding pickup device 47
When being moved rearwards by backhaul, take stamping parts 90 out of punch press 60 and complete discharging.
In one embodiment, the manipulator also includes the stamping parts pallet supporting with pickup device 34 and part to be punched 80
70, the stamping parts pallet 70 is located at the lower section of pickup device 34.The part to be punched 80 is positioned on stamping parts pallet 70, for described
Pickup device 34 is drawn.In the present embodiment, the part to be punched 80 is designed as post for annular shape, therefore the stamping parts pallet 70
Shape, the part to be punched 80 is sheathed on the stamping parts pallet 70 of the column, in other embodiments, the stamping parts pallet
70 can design according to the concrete shape of part to be punched 80.Stretching structure and sensor are additionally provided with the stamping parts pallet 70,
The stretching structure and sensor are connected, and the stretching structure on stamping parts pallet 70 is controlled using sensor, improve or
Reduce the height of the stamping parts pallet 70, it is ensured that part to be punched 80 can smoothly be obtained by pickup device 24.
The present invention also provides a kind of decompressor, including punch press 60 and manipulator, the manipulator for it is above-mentioned any one
Manipulator described in embodiment, the manipulator is located at the side of the punch press 60.
The punch press 60 includes stamping mold 61, and the stamping mold 61 includes upper mould 611 and lower mould 612, the punching press
Mould 61 is provided with the first pin 62 of part to be punched 80 under gear, and the punch press 60 is provided with gear near the side of manipulator and has rushed
Second pin 63 of casting die 90.In the present embodiment, first pin 62 is arranged at the lower mould 612 away from manipulator side
Edge, and the quantity of the first pin 62 is 2, is arranged at intervals at edge of the lower mould 612 away from manipulator side.When feeding takes
When part to be punched 80 is sent into stamping mold 61 by part device 47, under being kept off by the first pin 62 on the lower mould 612 of stamping mold 61
The part to be punched, the lower mould 612 for making it accurately fall into stamping mold 61.Also, second pin 63 is arranged at punch press 60
The position of the position of side process for needed for when the feeding pickup device 47 is moved rearwards by backhaul, when feeding pickup device 47 will have been rushed
When casting die 90 takes punch press 60 out of, by being kept off in second pin 63 of the side of punch press 60 under stamping parts 90, it is fallen into finished bag
In.Also, in other embodiments, also slope can be set near the side of manipulator in punch press 60, the slope is located at second
The lower section of pin 63, the finished bag is located at the minimum point on the slope, after stamping parts 90 keeps off lower by the second pin 63, falls
On the slope, and along slope slip into the finished bag, realize that discharging is full-automatic.Because of manipulator and the actuating unit of punch press 60
Connection, not only manipulator does not need any independent power source in itself, and causes that the whole of decompressor send part, punching press, pickup
Process links up completely, is not required to any non-cutting time, and ram efficiency is greatly promoted.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of manipulator, for the feeding during the punching production of punch press and discharging, it is characterised in that including：Driving machine
Structure (10), transmission mechanism (20), removal mechanism (30), delivery mechanism (40) and frame (50)；The drive mechanism (10) first
End is connected with the actuating unit of punch press (60), and the second end is connected with the first end of transmission mechanism (20), the transmission mechanism (20)
The second end rotated with removal mechanism (30) and delivery mechanism (40) be connected respectively, the transmission mechanism (20), removal mechanism
(30) it is installed in the frame (50) with delivery mechanism (40).
2. manipulator according to claim 1, it is characterised in that the transmission mechanism (20) including the first crank (21),
First connecting rod (22), the first rocking bar (23), the first connecting shaft (24), clutch shaft bearing component (25), the first connection handle (26), first
Connecting rod (27) and the second crank (28)；First crank (21), first connecting rod (22), the first rocking bar (23), the first connection
Axle (24) and clutch shaft bearing component (25) rotate connection successively, and the clutch shaft bearing component (25) is fixed with frame (50)；Institute
State the first connection handle (26) one end to be sheathed in the first connecting shaft (24), the other end is rotated with the first end of head rod (27)
Connection, the second end of the head rod (27) rotates with the second crank (28) and is connected.
3. manipulator according to claim 2, it is characterised in that the removal mechanism (30) includes the second connection handle
(31), second bearing component (32), the second connecting shaft (33) and pickup device (34)；Second connection handle (31), the second connection
Axle (33), pickup device (34) are sequentially connected, and second connection handle (33) also rotates with the second crank (28) and is connected, and described second
Bearing assembly (32) is sheathed in the second connecting shaft (33) and fixed with frame (50).
4. manipulator according to claim 2, it is characterised in that the delivery mechanism (40) includes the 3rd connecting shaft
(41), 3rd bearing component (42), the second connecting rod (43), the 3rd connecting rod (44), guide rail pole (45), guide rail sleeve (46) and send
Material pickup device (47)；Guide rail sleeve (46) slip cap is on guide rail pole (45), and the guide rail sleeve (46) and frame (50)
It is fixed；One end of 3rd connecting shaft (42) is connected with the second crank (28), the 3rd connecting shaft (42) other end and
Two connecting rods (43), the 3rd connecting rod (44), one end of guide rail pole (45) rotate connection, the 3rd bearing component (42) successively
It is sheathed in the 3rd connecting shaft (41) and fixed with frame (50)；The other end of the guide rail pole (45) and feeding pickup device (47)
Connection.
5. manipulator according to claim 3, it is characterised in that the pickup device (34) includes magnetic suction bar.
6. manipulator according to claim 4, it is characterised in that the feeding pickup device (47) includes magnetic suction plate,
The upper and lower surface of the magnetic suction plate is equipped with magnetic element.
7. the manipulator according to claim 3 or 5, it is characterised in that also including stamping parts pallet (70), the stamping parts
Pallet (70) is located at pickup device (34) lower section.
8. manipulator according to claim 7, it is characterised in that the stamping parts pallet (70) be provided with stretching structure and
Sensor, the sensor is connected with stretching structure.
9. a kind of decompressor, including punch press (60) and manipulator, it is characterised in that the manipulator is appointed for claim 1-8
Manipulator described in one, the manipulator is located at the punch press (60) side.
10. decompressor according to claim 9, it is characterised in that the punch press (60) including stamping mold, the punching
Compression mould is provided with first pin (62) of part to be punched under gear, and the punch press (60) is provided with keeping off near the side of manipulator
Second pin (63) of stamping parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005193.3A CN106734705B (en) | 2017-01-04 | 2017-01-04 | Stamping device and its manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005193.3A CN106734705B (en) | 2017-01-04 | 2017-01-04 | Stamping device and its manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106734705A true CN106734705A (en) | 2017-05-31 |
| CN106734705B CN106734705B (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710005193.3A Active CN106734705B (en) | 2017-01-04 | 2017-01-04 | Stamping device and its manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186103A (en) * | 2017-06-22 | 2017-09-22 | 洪梦洋 | Planing tool blade automatic machining device and its processing technology |
| CN107321869A (en) * | 2017-06-22 | 2017-11-07 | 洪梦洋 | Planing tool blade automatic blanking collating unit |
| CN110935813A (en) * | 2019-11-14 | 2020-03-31 | 嘉善永溢达精密五金有限公司 | Automatic punching machine and punching method |
| CN111085621A (en) * | 2019-12-31 | 2020-05-01 | 南京智必达自动化科技有限公司 | Manipulator feeding system |
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| US3511425A (en) * | 1967-01-06 | 1970-05-12 | Hunter Douglas International | Device for correcting the stepwise supply of strip material |
| SU450624A1 (en) * | 1972-04-27 | 1974-11-25 | Предприятие П/Я Г-4012 | Device to presses for feeding and removing piece blanks |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186103A (en) * | 2017-06-22 | 2017-09-22 | 洪梦洋 | Planing tool blade automatic machining device and its processing technology |
| CN107321869A (en) * | 2017-06-22 | 2017-11-07 | 洪梦洋 | Planing tool blade automatic blanking collating unit |
| CN107186103B (en) * | 2017-06-22 | 2018-12-18 | 京山新瑞达通用机器有限公司 | Planing tool blade automatic machining device and its processing technology |
| CN110935813A (en) * | 2019-11-14 | 2020-03-31 | 嘉善永溢达精密五金有限公司 | Automatic punching machine and punching method |
| CN111085621A (en) * | 2019-12-31 | 2020-05-01 | 南京智必达自动化科技有限公司 | Manipulator feeding system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106734705B (en) | 2019-06-25 |
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