CN107159803A - Pressing robot automatic loading and unloading system - Google Patents
Pressing robot automatic loading and unloading system Download PDFInfo
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- CN107159803A CN107159803A CN201710370369.5A CN201710370369A CN107159803A CN 107159803 A CN107159803 A CN 107159803A CN 201710370369 A CN201710370369 A CN 201710370369A CN 107159803 A CN107159803 A CN 107159803A
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- Prior art keywords
- chute
- lifting
- automatic
- longitudinal
- motor
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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
-
- 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
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Abstract
The present invention relates to pressing robot automatic loading and unloading system, including at least one stamping machine, automatic charging device, automatic blanking device and computer automatic control system, automatic charging device includes swivel feeding mechanism and feeding manipulator device, computer automatic control system includes integrated chip, digital-control circuit, display screen and control panel, and stamping machine, swivel feeding mechanism, feeding manipulator device and automatic blanking device realize automatic charging by computer automatic control system, stamping and automatic blanking.The present invention is as a result of said structure form, and processing is quick and accurate, and machining accuracy is uniform, improves production efficiency, reduces manpower production cost, and avoids human hand loading and unloading, improves production security.
Description
Technical field
The present invention relates to the mechanical apparatus field of punch process, specifically a kind of pressing robot automatic loading and unloading system.
Background technology
In factory process, for some thin wall metalworks, such as thin-wall stainless steel part, it is necessary to be extruded using punch press machine each
The product of different structure shape is planted, and existing press machine is generally all to use human hand feeding and blanking, operating efficiency is not high,
Manpower expense also account for sizable cost, moreover, and using human hand feeding and blanking, imprudence also has hand and may pressed
The potential safety hazard arrived.
The content of the invention
It is an object of the invention to improve operating efficiency, safe operation, saving there is provided one kind with deficiency regarding to the issue above
The pressing robot automatic loading and unloading system of labour cost.
The purpose of the present invention is achieved through the following technical solutions：
Pressing robot automatic loading and unloading system, including at least one stamping machine, automatic charging device, automatic blanking device and
Computer automatic control system, the automatic charging device includes swivel feeding mechanism and feeding manipulator device, and the computer is certainly
Autocontrol system includes integrated chip, digital-control circuit, display screen and control panel, the stamping machine, swivel feeding mechanism, feeding
Robot device and automatic blanking device realize automatic charging by computer automatic control system, it is stamping and automatic under
Material.
Further, the stamping machine includes hydraulic drawing press, punching stamping machine and moulding punching machine, the feeding machinery
Arm device includes being arranged on feeding mechanical arm device between swivel feeding mechanism and hydraulic drawing press, is arranged on stretching and punching machine
The first material transfer robot device between punching stamping machine and be arranged between punching stamping machine and moulding punching machine
Two material transfer robot devices, are provided with the first material transfer robot device, punching stamping machine between stretching and punching machine and punching stamping machine
The second material transfer robot device, the first material transfer robot device and the second material transfer robot device are provided between moulding punching machine
Using six axis robot, the six axis robot includes axle pedestal, first order axle link arm, first order axle horn, second level axle
Sucker that link arm, second level axle horn, wrist link arm, axle wrist, axle wrist end are provided with, six servomotors, harmonic waves
Decelerator, synchronous pulley, plc or microcontroller.
Further, the swivel feeding mechanism include feeding support, be arranged on feeding support servo hoisting mechanism,
Horizontal rotation positioner, the material disc and multiple material cages on material disc for being arranged on horizontal rotation positioner top,
It is described horizontal rotation positioner include be arranged on the motor shell block on feeding support, the motor in motor shell block and with electricity
The rotating shaft of machine output shaft connection, material disc is arranged in rotating shaft, and material cage is evenly distributed on material disc top periphery.
Further, installed on the servo hoisting mechanism includes being arranged on feeding support perpendicular support, perpendicular support
Guide rail, the servomotor for being arranged on perpendicular frame upper, the screw mandrel being connected with servomotor output end, the liter being connected with screw mandrel bottom
Drop platform and it is arranged on lifting platform outer end and parallel to the lifting pin of perpendicular support, the lifting platform is provided with nut, lifting platform and set
There is nut to coordinate with screw mandrel, lifting platform is arranged on guide rail, lifting platform glides in the presence of servomotor and along on guide rail
It is dynamic, the bottom of material cage and corresponding material disc position provided with perforation, the top alignment material disc of lifting pin and material cage
The perforation that bottom is provided with, when tablet insufficient height sucker working depth, the top of lifting pin is passed through and the bottom of material cage is set
Some perforation simultaneously withstand the tablet bottom in material cage, in the presence of servomotor, and lifting pin rises the upward jacking of tablet
The height and position required to regulation.
Further, the material cage includes annular base plate and erects the branched railing being fixed in annular base plate, railing
Bottom is provided with fixed plate, and the railing is fixed in annular base plate by key screw fixed plate and surrounds receiving and stack shape tablet
Material cage.
Further, the railing includes three, and inversed taper platform is processed on railing top, and inversed taper platform causes material cage top to receive
Mouthful position narrows, and inversed taper platform is used to block by the tablet below suction piece during work, it is to avoid following tablet and the tablet one inhaled
Rise and take material cage out of.
Further, the automatic blanking device includes blanking support and three axle blankings being arranged on blanking support dress
Put, the three axles blanking device includes being provided with cross lead screw in the horizontal concrete chute being located on blanking support, the horizontal concrete chute, horizontal
Cross motor is provided with to chute one end, the cross motor output end is connected with the cross lead screw, set on the horizontal concrete chute
There is the horizontal dolly that transversely chute is moved left and right, the horizontal dolly bottom is provided with the transverse shifting spiral shell coordinated with cross lead screw
Cap, the cross motor drives cross lead screw to rotate under the control of automatic control system, and cross lead screw promotes transverse shifting spiral shell
Cap move laterally so that horizontal dolly transversely chute is moved left and right；
It is provided with the horizontal dolly at the top of lifting chute, lifting chute and is provided with lifting motor, provided with lifting in lifting chute
Screw mandrel, the output end of the lifting motor is connected with the elevating screw, and the lifting chute is provided with along on lifting chute
Longitudinal dolly of lower movement, longitudinal dolly is provided with the lifting moving nut coordinated with lifting chute, and the lifting motor exists
Under the control of automatic control system, elevating screw is driven to rotate, elevating screw promotes lifting moving nut to move up and down, so that
Longitudinal dolly is set to be moved up and down along lifting chute；
Longitudinal dolly is provided with longitudinal chute, and longitudinal runner rear end, which is provided with motor, longitudinal chute, is provided with screw mandrel, the electricity
Machine output end is connected with screw mandrel, and longitudinal chute is provided with the mechanical arm longitudinally moved back and forth along longitudinal chute, the manipulator
Arm rear end be provided with longitudinal chute coordinate vertically move nut, the motor under the control of automatic control system, drive silk
Bar is rotated, and screw mandrel promotion vertically moves nut and vertically moved, so that mechanical arm is moved forward and backward along longitudinal chute, the machine
Tool arm end is provided with sucker.
Further, the lifting chute also includes longitudinal chute stabilising arrangement, and longitudinal chute stabilising arrangement includes
Two vertical arrays and the spring being parallel to each other, the lower end of the spring are connected with lifting chute left lower, the upper end of spring
It is connected with chain, the chain that the chain is provided with from the left side of lifting chute across the top of lifting chute and with lifting chute top
Wheel coordinate, further around to lifting chute on the right side of and be connected with longitudinal chute.
The present invention by the running parameter to computer automatic control system in use, set, and feeding manipulator is filled
The running parameter put is set, and feeding manipulator device can be caused to complete feeding, feeding, material transfer, blanking each process, rushed simultaneously
Press also completes corresponding press work, and self-feeding, automatic blanking are also each operated automatically by program.
The present invention is facilitated friction feeding, is improved feeding efficiency using swivel feeding mechanism.
Servo hoisting mechanism of the present invention can in time in jacking material cage tablet to defined suction piece working depth, supply
Feeding piece process is completed to the first material transfer robot device, the time is saved, improves feeding efficiency.
Material basket structure of the present invention is simple and practical, and the annular base plate of conveniently replaced different bores is placed not with meeting
With the tablet of diameter.Inversed taper platform is processed on railing top, and inversed taper platform causes material cage top closing in position to narrow, it is to avoid material below
Piece and the tablet inhaled take material cage out of together, improve the accuracy of feeding.
Automatic blanking device of the present invention uses three axle blanking devices, quickly and accurately to completing stretching, punching press and shaping work
The workpiece blanking of sequence, improves production efficiency.
The present invention is using feeding mechanical arm device, first and second material transfer robot device so that stretching, punching press and shaping work
Sequence full automation, it is not necessary to which human hand is operated, both improves production efficiency, the danger for also avoiding human hand operation from occurring
Danger.
To sum up, the present invention is as a result of said structure form, and processing is quick and accurate, and machining accuracy is uniform, improves
Production efficiency, reduces manpower production cost, and avoids human hand loading and unloading, improves production security.
The present invention is further illustrated below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the structural representation of pressing robot automatic loading and unloading system of the present invention；
Fig. 2 is the structural representation of six axis robot of the present invention；
Fig. 3 is the structural representation at the visual angle of the present invention；
Fig. 4 is the structural representation of swivel feeding mechanism of the present invention；
Fig. 5 is the vertical view partial structural diagram of material disc of the present invention, annular base plate and fixed plate；
Fig. 6 is the structural representation of automatic blanking device of the present invention.
Embodiment
As shown in figures 1 to 6, the present invention is pressing robot automatic loading and unloading system, including at least one stamping machine, automatic
Feeding device 2, automatic blanking device 3 and computer automatic control system, automatic charging device 2 include swivel feeding mechanism and upper
Expect robot device, the computer automatic control system includes integrated chip, digital-control circuit, display screen and control panel, described
Stamping machine, swivel feeding mechanism, feeding manipulator device and automatic blanking device 3 are realized automatic by computer automatic control system
Feeding, stamping and automatic blanking.
As shown in Figure 1, 2, stamping machine includes hydraulic drawing press 11, punching stamping machine 12 and moulding punching machine 13, feeder
Tool arm device includes being arranged on feeding mechanical arm device 40 between swivel feeding mechanism and hydraulic drawing press 11, is arranged on stretching
The first material transfer robot device 41 between stamping machine 11 and punching stamping machine 12 and it is arranged on punching stamping machine 12 and shaping
The second material transfer robot device 42 between stamping machine 13, the first material transfer robot device 41 and the second material transfer robot device 42
Using six axis robot, six axis robot includes axle pedestal 61, first order axle link arm 62, first order axle horn 63, the second level
Sucker 68 that axle link arm 64, second level axle horn 65, wrist link arm 66, axle wrist 67, the end of axle wrist 67 are provided with, six
Servomotor, harmonic speed reducer, synchronous pulley, plc or microcontroller.
As shown in Fig. 1,3,4,5, swivel feeding mechanism includes feeding support 21, the servo being arranged on feeding support 21 and carried
Mechanism is risen, positioner is horizontally rotated, is arranged on the material disc 22 on horizontal rotation positioner top and on material disc 22
Multiple material cages 23, horizontal rotation positioner includes being arranged on motor shell block 20 on feeding support 21, installed in motor shell block
Motor in 20 and the rotating shaft being connected with motor output shaft, material disc 22 are arranged in rotating shaft, and material cage 23 is evenly distributed on thing
The top periphery of charging tray 22.Installed on perpendicular support 24 that servo hoisting mechanism includes being arranged on feeding support 21, perpendicular support 24
Guide rail 25, the servomotor 26 for being arranged on the perpendicular top of support 24, the screw mandrel 29 being connected with the output end of servomotor 26 and screw mandrel 29
The lifting platform 27 of bottom connection and it is arranged on the outer end of lifting platform 27 and parallel to the lifting pin 28 of perpendicular support 24, is set on lifting platform 27
There is nut, lifting platform 27 coordinates provided with nut with screw mandrel 29, lifting platform 27 is arranged on guide rail 25, lifting platform 27 is in servo electricity
Slided up and down in the presence of machine 26 and along guide rail 25, the bottom of material cage 23 and the position of corresponding material disc 22 are provided with and worn
The perforation that hole, the top alignment material disc 22 of lifting pin 28 and the bottom of material cage 23 are provided with, when the insufficient height sucker work of tablet 5
When making height, perforation that the bottoms of the top of lifting pin 28 through 22 and material cage 23 is provided with simultaneously withstands the tablet in material cage 23
5 bottoms, in the presence of servomotor 26, lifting pin 28 rises to the upward jacking of tablet 5 height and position of regulation requirement.Thing
Material cage 23 includes annular base plate 231 and erects the branched railing 232 being fixed in annular base plate 231, and the bottom of railing 232 is provided with solid
Fixed board 233, the railing 232 is fixed in annular base plate 231 by key screw fixed plate 233 and surrounds receiving and stack shape tablet
5 material cage 23.Railing 232 includes three, and inversed taper platform 234 is processed on the top of railing 232, and inversed taper platform 234 causes material cage 23
Top closing in position narrows, and inversed taper platform 234 is used to block by the tablet 5 below suction piece 5 during work, it is to avoid the He of tablet 5 below
The tablet 5 inhaled takes material cage 23 out of together.
As a shown in Figure 6, automatic blanking device 3 includes blanking support 31 and three axle blankings being arranged on blanking support 31
Device, the three axles blanking device is included in the horizontal concrete chute 32 being located on blanking support 31, the horizontal concrete chute 32 provided with horizontal stroke
To screw mandrel 33, the one end of horizontal concrete chute 32 is provided with cross motor 34, and the output end of cross motor 34 connects with the cross lead screw 33
Connect, the horizontal concrete chute 32 provided with horizontal dolly that transversely chute 32 is moved left and right, the horizontal dolly bottom be provided with
The transverse shifting nut that cross lead screw 33 coordinates, the cross motor 34 drives transverse wire under the control of automatic control system
Bar 33 is rotated, and cross lead screw 33 promotes transverse shifting nut to move laterally so that the transversely shifting of chute 32 or so of horizontal dolly
It is dynamic.
As a shown in Figure 6, lifting chute 35 is installed, the top of lifting chute 35 is provided with lifting motor 36 on horizontal dolly,
Lift and elevating screw is provided with chute 35, the output end of the lifting motor 36 is connected with the elevating screw, the lifting is slided
Groove 35 is provided with the longitudinal dolly moved up and down along lifting chute 35, and longitudinal dolly is provided with what is coordinated with lifting chute 35
Lifting moving nut, the lifting motor 36 drives elevating screw to rotate under the control of automatic control system, and elevating screw is pushed away
Dynamic lifting moving nut moves up and down, so that longitudinal dolly is moved up and down along lifting chute 35.
As a shown in Figure 6, longitudinal dolly is provided with longitudinal chute 37, and longitudinal rear end of chute 37 is provided with motor, longitudinal chute
Screw mandrel is provided with 37, the motor output end is connected with screw mandrel, longitudinal chute 37 is provided with along longitudinal longitudinal direction of chute 37 to move back
Dynamic mechanical arm 38, the rear end of mechanical arm 38 be provided with longitudinal chute 37 coordinate vertically move nut, the motor
Under the control of automatic control system, screw mandrel is driven to rotate, screw mandrel promotion vertically moves nut and vertically moved, so that mechanical
Arm is moved forward and backward along longitudinal chute 37, and the end of mechanical arm 38 is provided with sucker.
As shown in fig. 6, lifting chute 35 also includes longitudinal chute stabilising arrangement, longitudinal chute stabilising arrangement includes two
Bar vertical array and the spring being parallel to each other, the lower end of the spring are connected with the lifting left lower of chute 35, the upper end of spring
Chain 39 is connected with, chain 39 is set from the left side of lifting chute 35 across the top of lifting chute 35 and with the top of lifting chute 35
Some sprocket wheels coordinates, further around being connected to the right side of lifting chute 35 and with longitudinal chute 37.
The mechanical structure of six common axis joint robots, six servomotors directly pass through harmonic speed reducer, timing belt
The rotation of six joint shafts of driving such as wheel.Various pipelines are arranged in mechanical arm space, the drives line of such as six motors, encoder
Line, brake cable, tracheae, sensor etc..The control system of six axis robot typically uses plc or microcontroller etc..Six axle machines
Tool hand has the six axle frees degree, is suitable for the work of substantially any track or angle, can freely program, and completes full-automatic work
Make, improve production efficiency, can control error rate；Functional characteristic, operation is very easy, flexible fast between achievable different workpieces
Victory is changed, instead of manpower completion work.Feeding manipulator device of the present invention selects the light-duty axle machines of multi-joint six of Japan Kawasaki
Bed robot mechanical arm（RS series）, pass through the appropriate end for robotic asssembly arm instrument（For example, handgrip, sucker）, machine
Product efficiently and accurately can be moved to another position by device people from a position.Kawasaki robot software can be used for certainly
The SERVO CONTROL end of dynamic quick change frock and arm frock.Allow operator to manage and protect interacting for process with machine, such as customize man-machine
Interface, and customized operator safety solution.Can also may be used by better simply square frame step program style
With by being more programmed rich in complete Kawasaki AS programming languages used in the solution of logic.RS010L is such as selected, is born
Carry 10 kg, the mm of horizontal stretching distance 1925；The mm of vertical stretching distance 3,478；± 0.06 mm of repeatability；Maximal rate 13,
100 mm/s.The punch process of finding can be met.
First hydraulic press of the present invention is stretched to product, and second 45t punch press is punched out to product, the 3rd
45t punch presses are molded to product.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (8)
1. pressing robot automatic loading and unloading system, it is characterised in that：Including at least one stamping machine, automatic charging device（2）、
Automatic blanking device（3）And computer automatic control system, the automatic charging device（2）Including swivel feeding mechanism and feeding
Robot device, the computer automatic control system includes integrated chip, digital-control circuit, display screen and control panel, the punching
Press, swivel feeding mechanism, feeding manipulator device and automatic blanking device（3）Realized by computer automatic control system automatic
Feeding, stamping and automatic blanking.
2. the pressing robot automatic loading and unloading system according to right wants 1, it is characterised in that：It is described
Stamping machine includes hydraulic drawing press（11）, punching stamping machine（12）And moulding punching machine（13）, the feeding manipulator dress
Put including being arranged on swivel feeding mechanism and hydraulic drawing press（11）Between feeding mechanical arm device（40）, be arranged on stretching punching
Press（11）With punching stamping machine（12）Between the first material transfer robot device（41）And it is arranged on punching stamping machine（12）
And moulding punching machine（13）Between the second material transfer robot device（42）, the first material transfer robot device（41）With second
Material transfer robot device（42）Using six axis robot, the six axis robot includes axle pedestal（61）, first order axle link arm
（62）, first order axle horn（63）, second level axle link arm（64）, second level axle horn（65）, wrist link arm（66）, axle hand
Wrist（67）, axle wrist（67）The sucker that end is provided with（68）, six servomotor, harmonic speed reducer, synchronous pulley, plc or micro-
Controller.
3. the pressing robot automatic loading and unloading system according to right wants 1, it is characterised in that：Swivel feeding mechanism bag
Include feeding support（21）, be arranged on feeding support（21）On servo hoisting mechanism, horizontally rotate positioner, be arranged on level rotation
The material disc on transition bit machine top（22）And installed in material disc（22）On multiple material cages（23）, the horizontal rotation displacement
Machine includes being arranged on feeding support（21）On motor shell block（20）, installed in motor shell block（20）Interior motor and defeated with motor
The rotating shaft of shaft connection, material disc（22）In rotating shaft, material cage（23）It is evenly distributed on material disc（22）Top periphery.
4. the pressing robot automatic loading and unloading system according to right wants 3, it is characterised in that：The servo hoisting mechanism bag
Include installed in feeding support（21）On perpendicular support（24）, perpendicular support（24）The guide rail of upper installation（25）, be arranged on perpendicular support
（24）The servomotor on top（26）With servomotor（26）The screw mandrel of output end connection（29）With screw mandrel（29）Bottom is connected
Lifting platform（27）And it is arranged on lifting platform（27）Outer end and parallel to perpendicular support（24）Lifting pin（28）, the lifting platform
（27）It is provided with nut, lifting platform（27）It is provided with nut and screw mandrel（29）Coordinate, lifting platform（27）Installed in guide rail（25）On,
Lifting platform（27）In servomotor（26）In the presence of and along guide rail（25）Slide up and down, material cage（23）Bottom and right
The material disc answered（22）Position is provided with perforation, lifting pin（28）Top alignment material disc（22）With material cage（23）Bottom set
Some perforation, work as tablet（5）During insufficient height sucker working depth, lifting pin（28）Top pass through（22）With material cage（23）
The perforation that is provided with of bottom and withstand material cage（23）In tablet（5）Bottom, in servomotor（26）In the presence of, lifting pin
（28）Tablet（5）Upward jacking rises to the height and position of regulation requirement.
5. the pressing robot automatic loading and unloading system according to right wants 1, it is characterised in that：The material cage（23）Including
Annular base plate（231）And setting is fixed on annular base plate（231）On branched railing（232）, railing（232）Bottom is provided with fixation
Plate（233）, the railing（232）Pass through key screw fixed plate（233）It is fixed on annular base plate（231）Above surround receiving and stack
Shape tablet（5）Material cage（23）.
6. the pressing robot automatic loading and unloading system according to right wants 5, it is characterised in that：The railing（232）Including
Three, railing（232）It is processed into inversed taper platform in top（234）, inversed taper platform（234）So that material cage（23）Top closing in position narrows,
Inversed taper platform during work（234）For blocking by suction piece（5）Following tablet（5）, it is to avoid tablet below（5）With the material inhaled
Piece（5）Take material cage out of together（23）.
7. the pressing robot automatic loading and unloading system according to right wants 1, it is characterised in that：The automatic blanking device
（3）Including blanking support（31）And it is arranged on blanking support（31）On three axle blanking devices, the three axles blanking device includes
It is located at blanking support（31）On horizontal concrete chute（32）, the horizontal concrete chute（32）It is interior to be provided with cross lead screw（33）, horizontal concrete chute
（32）One end is provided with cross motor（34）, the cross motor（34）Output end and the cross lead screw（33）Connection, the horizontal stroke
To chute（32）Provided with transversely chute（32）The horizontal dolly moved left and right, the horizontal dolly bottom is provided with and transverse wire
Bar（33）The transverse shifting nut of cooperation, the cross motor（34）Under the control of automatic control system, cross lead screw is driven
（33）Rotate, cross lead screw（33）Transverse shifting nut is promoted to move laterally so that horizontal dolly transversely chute（32）It is left
Move right；
Lifting chute is installed on the horizontal dolly（35）, lift chute（35）Top is provided with lifting motor（36）, lifting cunning
Groove（35）It is interior to be provided with elevating screw, the lifting motor（36）Output end be connected with the elevating screw, the lifting chute
（35）It is provided with along lifting chute（35）The longitudinal dolly moved up and down, longitudinal dolly is provided with and lifting chute（35）Match somebody with somebody
The lifting moving nut of conjunction, the lifting motor（36）Under the control of automatic control system, elevating screw is driven to rotate, lifting
Screw mandrel promotes lifting moving nut to move up and down, so that longitudinal dolly edge lifting chute（35）Move up and down；
Longitudinal dolly is provided with longitudinal chute（37）, longitudinal chute（37）Rear end is provided with motor, longitudinal chute（37）Inside set
There is screw mandrel, the motor output end is connected with screw mandrel, longitudinal chute（37）It is provided with along longitudinal chute（37）Longitudinal direction moves back and forth
Mechanical arm（38）, the mechanical arm（38）Rear end is provided with and longitudinal chute（37）What is coordinated vertically moves nut, described
Motor drives screw mandrel to rotate under the control of automatic control system, and screw mandrel promotion vertically moves nut and vertically moved, so that
The longitudinal chute in mechanical arm edge（37）It is movable, the mechanical arm（38）End is provided with sucker.
8. pressing robot automatic loading and unloading system according to claim 7, it is characterised in that：The lifting chute（35）Also
Including longitudinal chute stabilising arrangement, longitudinal chute stabilising arrangement includes two vertical arrays and the spring being parallel to each other, institute
State lower end and the lifting chute of spring（35）Left lower is connected, and the upper end of spring is connected with chain（39）, the chain（39）
From lifting chute（35）Left side across lifting chute（35）Top and with lifting chute（35）The sprocket wheel that top is provided with coordinates,
Further around to lifting chute（35）Right side and with longitudinal chute（37）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370369.5A CN107159803A (en) | 2017-05-23 | 2017-05-23 | Pressing robot automatic loading and unloading system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370369.5A CN107159803A (en) | 2017-05-23 | 2017-05-23 | Pressing robot automatic loading and unloading system |
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| CN107159803A true CN107159803A (en) | 2017-09-15 |
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| CN201710370369.5A Pending CN107159803A (en) | 2017-05-23 | 2017-05-23 | Pressing robot automatic loading and unloading system |
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| CN109967905A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of trailer automatic butt welding system |
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| CN109773022A (en) * | 2018-12-25 | 2019-05-21 | 芜湖卓越空调零部件有限公司 | Air conditioner compressed machine base assembly line |
| CN109773021A (en) * | 2018-12-25 | 2019-05-21 | 芜湖卓越空调零部件有限公司 | Compressor of air conditioner upper cover assembly line |
| CN109794559A (en) * | 2018-12-25 | 2019-05-24 | 芜湖卓越空调零部件有限公司 | The feeding assembly line of compressor of air conditioner upper cover |
| CN109676271A (en) * | 2019-02-13 | 2019-04-26 | 扬州博恩德机电科技有限公司 | It is a kind of can the laser cutting machine that is adjusted with position of automatic charging |
| CN110153306A (en) * | 2019-05-31 | 2019-08-23 | 重庆海尔热水器有限公司 | Automatic fetching device |
| CN110479891A (en) * | 2019-09-24 | 2019-11-22 | 佛山市中机一超机器人科技有限公司 | A kind of punching machine machining center |
| CN110614327A (en) * | 2019-10-21 | 2019-12-27 | 广东协铖微电子科技有限公司 | Automatic forming and splitting machine for packaging sheet materials |
| CN111014446A (en) * | 2019-12-31 | 2020-04-17 | 大昌汽车部件股份有限公司 | Full-automatic production device for stamping and stretching |
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| CN112296163A (en) * | 2020-09-21 | 2021-02-02 | 东莞领杰金属精密制造科技有限公司 | Copper part thin wall fine punching equipment |
| CN112139380A (en) * | 2020-09-30 | 2020-12-29 | 蓝巨人(深圳)机器人技术有限公司 | Punch press adopting six-axis manipulator to automatically feed and discharge |
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