CN107175299B - A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system - Google Patents
A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system Download PDFInfo
- Publication number
- CN107175299B CN107175299B CN201710385889.3A CN201710385889A CN107175299B CN 107175299 B CN107175299 B CN 107175299B CN 201710385889 A CN201710385889 A CN 201710385889A CN 107175299 B CN107175299 B CN 107175299B
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- China
- Prior art keywords
- motor
- groove
- threaded rod
- numerical control
- sprocket wheel
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- 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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Classifications
-
- 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
- B21D43/027—Combined feeding and 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- 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
Abstract
The invention discloses a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping systems, including mounting plate, the lower surface of the mounting plate is fixedly connected with the second thread barrel, the inside of second thread barrel is connected through a screw thread the second threaded rod, there is bottom plate in the lower end of second threaded rod by bearing block axis connection, the inside of the bottom plate is equipped with third groove, the lower end fixing sleeve of second threaded rod is connected to the first sprocket wheel, the middle inside of the third groove is equipped with third motor, third switch is connected in series in the third motor, there is movable axis by bearing block axis connection in the middle part of the inner top side of the third groove, the surface fixing sleeve of the movable axis is connected to the second sprocket wheel, the shaft of the third motor is fixedly connected with movable axis.The multijaw grasping system can be and easy to adjust quick according to the height of height adjustment the first gripper and the second gripper of lower mold, so as to increase the working efficiency of numerical control press.
Description
Technical field
The present invention relates to intelligent machine arm technical field, specially a kind of punching press loading and unloading numerical control machining center intelligent machine
Multijaw grasping system.
Background technique
Manipulator can be automatically performed several defined movements according to preselector, realize automatic clamping and the transport of object.
In punching production, it be applied not only on a press machine complete loading and unloading work, realize single plane automation, can also be used in by
On the flow production line of several press machines composition, the automatic transmitting of workpiece between each press machine is realized, it is raw to form automatic press
Producing line.Since manipulator can easily change working procedure, thus in the often middle smallclothes punching production of transformation product variety,
For realizing that production automation is more significant.
There is certain requirement to the lower die height of mold in punching machine mechanical arm, it is sometimes desirable to carry out to lower mold
Increase, reduce plate thickness to increase or decrease the height of lower die.But worker is in the increase for carrying out backing plate quantity to lower mold
Or reduction operation when, operate it is slower, the working efficiency of numerical control press greatly reduces.
Summary of the invention
The purpose of the present invention is to provide a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system, with
Solve the problems mentioned above in the background art.
To achieve the above object, the present invention provides the following technical solutions：A kind of punching press loading and unloading numerical control machining center intelligence
Mechanical multijaw grasping system, including mounting plate, the upper surface of the mounting plate are equipped with mechanical box, the upper surface of the mechanical box
Equipped with control cabinet, the front of the control cabinet is equipped with first switch, second switch and third and switchs, on the lower end of the mechanical box
Surface is equipped with stamping pedestal, and the inner upper end of the mechanical box is equipped with first motor, and the first motor is connected in series first
Switch, the shaft of the first motor are fixedly connected with the first threaded rod, and the inner top side of the mechanical box is fixedly connected limited
The inner side of circle of position cylinder, the limiting cylinder is equipped with limiting slot, and the internal slide of the limiting slot is connected with position limiting slide block, institute
It states to be fixed by the connecting rod in the middle part of the side of position limiting slide block and is connected with the first thread barrel, the inside of first thread barrel passes through spiral shell
Line connects the first threaded rod, and the lower end of first thread barrel is fixedly connected with fixed plate, and the side of the fixed plate, which is equipped with, to be slided
Slot, the internal slide of the sliding slot are connected with movable plate, and the both ends of the movable plate are respectively equipped with the first gripper and the second machine
The middle inside upper end of machinery claw, the sliding slot is equipped with the first groove, and the inside lower end of first groove is fixedly connected with fixation
The middle part rotation of axis, the fixing axle is socketed with first gear, and the inner side of first groove is equipped with the second motor, institute
It states the second motor and second switch is connected in series, the shaft of second motor is fixedly connected with second gear, the second gear
Lower end engage first gear, the upper surface middle part of the movable plate is equipped with the second groove, the internal slide of second groove
It is clamped first gear, the lower surface of the mounting plate is fixedly connected with the second thread barrel, and the inside of second thread barrel passes through
It is threadedly coupled the second threaded rod, there are bottom plate, the inside of the bottom plate in the lower end of second threaded rod by bearing block axis connection
Equipped with third groove, the lower end fixing sleeve of second threaded rod is connected to the first sprocket wheel, the middle inside peace of the third groove
Equipped with third motor, third switch is connected in series in the third motor, passes through bearing in the middle part of the inner top side of the third groove
Seat axis connection has movable axis, and the surface fixing sleeve of the movable axis is connected to the second sprocket wheel, and the shaft of the third motor is fixed to be connected
It takes over a job moving axis, the surface of first sprocket wheel and the second sprocket wheel is connected with chain.
Preferably, the limiting slot is equal with the quantity of position limiting slide block, and is at least 2.
Preferably, the inside bottom of second groove is equipped with tooth socket, and first gear is engaged in the inside of tooth socket.
Preferably, the quantity of second threaded rod is 4, and is evenly distributed on the upper surface quadrangle of bottom plate.
Preferably, first sprocket wheel and the second sprocket wheel are located at same level.
Compared with prior art, the beneficial effects of the invention are as follows：The punching press loading and unloading numerical control machining center intelligent machine
Tool multijaw grasping system is rotated by third switch control third motor, and third motor pushing mounting plate is mobile, so as to root
According to the height of height adjustment the first gripper and the second gripper of lower mold, and it is easy to adjust quick, so as to increase number
Control the working efficiency of punching machine.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of entirety of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system of the present invention
Structural schematic diagram；
Fig. 2 is a kind of entirety of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system of the present invention
Structure left view structural representation；
Fig. 3 is a kind of entirety of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system of the present invention
Structure present invention looks up structural representation；
Fig. 4 is a kind of limit of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system of the present invention
Cylinder schematic cross-sectional view；
Fig. 5 is a kind of activity of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system of the present invention
Plate overlooking structure diagram.
Division label is as follows in attached drawing：1, mounting plate, 2, mechanical box, 3, control cabinet, 4, first switch, 5, second switch,
6, third switchs, 7, stamping pedestal, 8, first motor, the 9, first threaded rod, 10, limiting cylinder, 11, limiting slot, 12, limit cunning
Block, the 13, first thread barrel, 14, fixed plate, 15, sliding slot, 16, movable plate, the 17, first gripper, the 18, second gripper, 19,
First groove, 20, fixing axle, 21, first gear, the 22, second motor, 23, second gear, the 24, second groove, the 25, second spiral shell
Line cylinder, the 26, second threaded rod, 27, bottom plate, 28, third groove, the 29, first sprocket wheel, 30, third motor, 31, movable axis, 32,
Second sprocket wheel, 33, chain, 34, tooth socket.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution：A kind of punching press loading and unloading numerical control machining center intelligent machine
Multijaw grasping system, including mounting plate 1, the upper surface of mounting plate 1 are equipped with mechanical box 2, and the upper surface of mechanical box 2 is equipped with control
The front of case 3, control cabinet 3 is equipped with first switch 4, second switch 5 and third switch 6, first switch 4, second switch 5 and third
Switch 6 is forward-reverse switch, and model HY2-15, the lower end upper surface of mechanical box 2 are equipped with stamping pedestal 7, mechanical box 2
Inner upper end is equipped with first motor 8, and first switch 4 is connected in series in first motor 8, and the shaft of first motor 8 is fixedly connected with
First threaded rod 9, the inner top side of mechanical box 2 are fixedly connected with limiting cylinder 10, and the inner side of limiting cylinder 10 is equipped with limit
Position slot 11, the internal slide of limiting slot 11 are connected with position limiting slide block 12, and limiting slot 11 is equal with the quantity of position limiting slide block 12, and
It at least 2, is matched by limiting slot 11 and position limiting slide block 12, can be avoided and the first thread barrel 13 and the first threaded rod occur
9 the case where rotating together, were fixed by the connecting rod in the middle part of the side of position limiting slide block 12 and are connected with the first thread barrel 13, the first screw thread
The inside of cylinder 13 is connected through a screw thread the first threaded rod 9, and the lower end of the first thread barrel 13 is fixedly connected with fixed plate 14, fixed plate
14 side is equipped with sliding slot 15, and the internal slide of sliding slot 15 is connected with movable plate 16, and the both ends of movable plate 16 are respectively equipped with first
Gripper 17 and the second gripper 18, the middle inside upper end of sliding slot 15 are equipped with the first groove 19, under the inside of the first groove 19
End is fixedly connected with fixing axle 20, and the middle part rotation of fixing axle 20 is socketed with first gear 21, the inner side of the first groove 19
Second motor 22 is installed, second switch 5 is connected in series in the second motor 22, and the shaft of the second motor 22 is fixedly connected with the second tooth
First gear 21 is engaged in wheel 23, the lower end of second gear 23, and the upper surface middle part of movable plate 16 is equipped with the second groove 24, and second is recessed
The internal slide of slot 24 is clamped first gear 21, and the inside bottom of the second groove 24 is equipped with tooth socket 34, and the inside of tooth socket 34 is engaged
First gear 21 controls the rotation of the second motor 22 by second switch 5, and the second motor 22 drives second gear 23 to rotate, and second
Gear 23 drives first gear 21 to rotate, and first gear 21 pushes movable plate 16 mobile by tooth socket 34, so as to control the
One gripper 17 and the second gripper 18 work, and the lower surface of mounting plate 1 is fixedly connected with the second thread barrel 25, the second spiral shell
The inside of line cylinder 25 is connected through a screw thread the second threaded rod 26, and the quantity of the second threaded rod 26 is 4, and is evenly distributed on bottom plate
27 upper surface quadrangle, can support the balance of mechanical box 2, avoid the occurrence of the case where mechanical box 2 tilts, the second threaded rod 26
There is bottom plate 27 in lower end by bearing block axis connection, and the inside of bottom plate 27 is equipped with third groove 28, and the lower end of the second threaded rod 26 is solid
Surely it is socketed with the first sprocket wheel 29, the middle inside of third groove 28 is equipped with third motor 30, first motor 8, the second motor 22
Model with third motor 30 is M560-402B, brake motor, the first gripper of control 17 that can be stable and the second machinery
The mobile position of pawl 18, third motor 30 are connected in series third switch 6, pass through bearing block in the middle part of the inner top side of third groove 28
Axis connection has movable axis 31, and the surface fixing sleeve of movable axis 31 is connected to the second sprocket wheel 32, and the shaft of third motor 30 is fixedly connected
The surface of movable axis 31, the first sprocket wheel 29 and the second sprocket wheel 32 is connected with chain 33, and the first sprocket wheel 29 is located at the second sprocket wheel 32
Same level avoids the occurrence of the case where chain 33 is detached from the first sprocket wheel 29 and the second sprocket wheel 32.
The present invention is in the specific implementation：When in use, it controls third motor 30 by third switch 6 to rotate, third motor
30 drive the rotation of the second sprocket wheel 32, and the second sprocket wheel 32 drives chain 33 to rotate, and chain 33 drives the rotation of the first sprocket wheel 29, the first chain
Wheel 29 drives the rotation of the second threaded rod 26, and the second threaded rod 26 pushes the second thread barrel 25 mobile by screw thread, the second thread barrel
25 push mounting plate 1 mobile, so as to according to the height of height adjustment the first gripper 17 of lower mold and the second gripper 18
Then degree is rotated by the second motor of rotating forward switch control 22 of second switch 5, the second motor 22 drives 23 turns of second gear
Dynamic, second gear 23 drives first gear 21 to rotate, and first gear 21 pushes movable plate 16 mobile by tooth socket 34, in the second machine
When machinery claw 18 is moved to the surface of stamping pedestal 7, second switch 5 is closed, opens the rotating forward switch control first of first switch 4
Motor 8 rotates, and first motor 8 drives the rotation of the first threaded rod 9, and the first threaded rod 9 pushes the first thread barrel 13 to move by screw thread
Dynamic, the first thread barrel 13 drives fixed plate 14 and movable plate 16 mobile, so that the first gripper 17 catches the stamping of a link,
Second gripper 18 catches the stamping of 7 upper surface of stamping pedestal, then controls first motor 8 by the reversal switch of first switch 4
Then rotation passes through the reversal switch control of second switch 5 so as to drive the first gripper 17 and the second gripper 18 to reset
The rotation of the second motor 22 is made, the second motor 22 drives movable plate 16 mobile, is being moved to stamping pedestal 7 just in the first gripper 17
When top, second switch 5 is closed, first motor 8 is controlled by first switch 4 and is rotated, so that rushing of catching of the first gripper 17
Part is placed on the upper surface of stamping pedestal 7, and next link that the stamping that the second gripper 18 is caught is placed on stamping continues to rush
Part.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system, including mounting plate (1), feature exists
In：The upper surface of the mounting plate (1) is equipped with mechanical box (2), and the upper surface of the mechanical box (2) is equipped with control cabinet (3), institute
The front for stating control cabinet (3) is equipped with first switch (4), second switch (5) and third switch (6), the lower end of the mechanical box (2)
Upper surface is equipped with stamping pedestal (7), and the inner upper end of the mechanical box (2) is equipped with first motor (8), the first motor
(8) first switch (4) are connected in series, the shaft of the first motor (8) is fixedly connected with the first threaded rod (9)；
The inner top side of the mechanical box (2) is fixedly connected with limiting cylinder (10), the inner side of the limiting cylinder (10)
Equipped with limiting slot (11), the internal slide of the limiting slot (11) is connected with position limiting slide block (12), the position limiting slide block (12)
It is fixed by the connecting rod and is connected with the first thread barrel (13) in the middle part of side, the inside of first thread barrel (13) is connected by screw thread
It connects the first threaded rod (9), the lower end of first thread barrel (13) is fixedly connected with fixed plate (14), the fixed plate (14)
Side is equipped with sliding slot (15), and the internal slide of the sliding slot (15) is connected with movable plate (16), the both ends of the movable plate (16)
It is respectively equipped with the first gripper (17) and the second gripper (18)；
The middle inside upper end of the sliding slot (15) is equipped with the first groove (19), and the inside lower end of first groove (19) is fixed
It is connected with fixing axle (20), the middle part rotation of the fixing axle (20) is socketed with first gear (21), first groove (19)
Inner side be equipped with the second motor (22), second switch (5) are connected in series in second motor (22), second motor
(22) shaft is fixedly connected with second gear (23), and first gear (21) are engaged in the lower end of the second gear (23), described
The upper surface middle part of movable plate (16) is equipped with the second groove (24), and the internal slide of second groove (24) is clamped first gear
(21)；
The lower surface of the mounting plate (1) is fixedly connected with the second thread barrel (25), and the inside of second thread barrel (25) is logical
It crosses and is threadedly coupled the second threaded rod (26), the lower end of second threaded rod (26) has bottom plate (27) by bearing block axis connection,
The inside of the bottom plate (27) is equipped with third groove (28), and the lower end fixing sleeve of second threaded rod (26) is connected to the first sprocket wheel
(29), the middle inside of the third groove (28) is equipped with third motor (30), and the third motor (30) is connected in series the
There are movable axis (31), the activity in the inner top side middle part of three switches (6), the third groove (28) by bearing block axis connection
The surface fixing sleeve of axis (31) is connected to the second sprocket wheel (32), and the shaft of the third motor (30) is fixedly connected with movable axis (31),
The surface of first sprocket wheel (29) and the second sprocket wheel (32) is connected with chain (33).
2. a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system according to claim 1, special
Sign is：The limiting slot (11) is equal with the quantity of position limiting slide block (12), and is at least 2.
3. a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system according to claim 1, special
Sign is：The inside bottom of second groove (24) is equipped with tooth socket (34), and first gear (21) are engaged in the inside of tooth socket (34).
4. a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system according to claim 1, special
Sign is：The quantity of second threaded rod (26) is 4, and is evenly distributed on the upper surface quadrangle of bottom plate (27).
5. a kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system according to claim 1, special
Sign is：First sprocket wheel (29) and the second sprocket wheel (32) are located at same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385889.3A CN107175299B (en) | 2017-05-26 | 2017-05-26 | A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385889.3A CN107175299B (en) | 2017-05-26 | 2017-05-26 | A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107175299A CN107175299A (en) | 2017-09-19 |
| CN107175299B true CN107175299B (en) | 2018-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710385889.3A Active CN107175299B (en) | 2017-05-26 | 2017-05-26 | A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system |
Country Status (1)
| Country | Link |
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| CN (1) | CN107175299B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58176031A (en) * | 1982-04-08 | 1983-10-15 | Aida Eng Ltd | Carrying device of blank material or the like |
| JPH10249771A (en) * | 1997-03-05 | 1998-09-22 | Kanto Auto Works Ltd | Work carrying device for press machine |
| CN102371316B (en) * | 2010-08-12 | 2013-07-03 | 昆山威创精密机械有限公司 | Carrying device for products |
| CN102950590A (en) * | 2012-10-18 | 2013-03-06 | 江苏省（扬州）数控机床研究院 | Two-axis manipulator for press line and working process of two-axis manipulator |
| CN204449084U (en) * | 2015-01-29 | 2015-07-08 | 莱恩精机(深圳)有限公司 | The split type industrial robot of Quadratic Finite Element |
| CN105251902A (en) * | 2015-11-11 | 2016-01-20 | 广东捷瞬机器人有限公司 | Independent type line connecting mechanical hand |
| CN205732657U (en) * | 2016-05-17 | 2016-11-30 | 佛山市中机一超机器人科技有限公司 | A kind of parallel-moving type stamping mechanical arm being provided with liftable intermediate station |
| CN206779326U (en) * | 2017-05-26 | 2017-12-22 | 清远初曲智能科技有限公司 | A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system |
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2017
- 2017-05-26 CN CN201710385889.3A patent/CN107175299B/en active Active
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Effective date of registration: 20230105 Address after: 519000 North Area D, Building 2, Longshan Avenue, Longshan Industrial Zone, Doumen Town, Doumen District, Zhuhai City, Guangdong Province Patentee after: Yanzuo ronghua mould (Zhuhai) Co.,Ltd. Address before: 511500 Tian'an Zhigu Exhibition Service Center 159, No. 18 Chuangxing Avenue, Science and Technology Innovation Park, Qingyuan High-tech Industrial Development Zone, Guangdong Province Patentee before: QINGYUAN CHUQU INTELLIGENT TECHNOLOGY Co.,Ltd. |