CN107497958A - A kind of free-standing manipulator for punching automation transfer system - Google Patents
A kind of free-standing manipulator for punching automation transfer system Download PDFInfo
- Publication number
- CN107497958A CN107497958A CN201710790556.9A CN201710790556A CN107497958A CN 107497958 A CN107497958 A CN 107497958A CN 201710790556 A CN201710790556 A CN 201710790556A CN 107497958 A CN107497958 A CN 107497958A
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- armed
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- gripping device
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- upper fuselage
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- 238000004080 punching Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 123
- 241000252254 Catostomidae Species 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 21
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000047 product Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006011 modification reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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
- B21D43/04—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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention discloses a kind of free-standing manipulator for punching automation transfer system, belong to automatic stamping technical field, including Z axis servomotor, reductor, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air processor, timing belt pulley, long-armed, main machine body, middle workbench, body base, adjustment lower margin, sliding block, chute, material gripping device, material grabbing arm, contour support column and pusher cylinder；After material being caught by material gripping device, make platform movement into centre under the drive of X-axis servomotor, material is placed on middle workbench afterwards, then material is moved to by long-armed opposite side from middle workbench by the material gripping device of opposite side again, realize the mechanization movement of the material between stamping procedure, avoid the error that manual operation is brought and the personal safety accident of operating personnel occurs, improve the production efficiency of punch process.
Description
Technical field
The present invention relates to automatic stamping technical field, more particularly to a kind of independence for punching automation transfer system
Formula manipulator.
Background technology
Punch process is by means of the power of conventional or special pressing equipment, makes plate in mould directly by deformation force
And deformed, so as to obtain the production technology of the product parts of definite shape, size and performance.Punching press is depended on pressure machine and mould
Tool applies external force to sheet material, band, tubing and section bar etc., is allowed to produce plastic deformation or separation, so as to shape needed for obtaining and
The workpiece of size（Stamping parts）Forming and machining method.Punching press is Metal Forming（Or pressure processing）Main method it
One, also it is under the jurisdiction of material shaping engineering technology.Wherein, the vehicle body of automobile, chassis, fuel tank, radiator fin, the drum of boiler, appearance
The housing of device, motor, the iron core silicon-steel sheet etc. of electrical equipment are all punch process.Instrument and meter, household electrical appliance, bicycle, office
In the products such as machinery, household utensil, also there are a large amount of stamping parts.
In Punching Process, with sheet stock more punch presses of the part through blanking and the making of bending and molding multiple working procedure
To produce, in prior art between adjacent two procedures material transfer, the alignment of station needs manual operation to realize, especially
Semi-finished product station alignment work after finding blanking is directed at station with manual operations under drift, danger close, people easily occurs
Body security incident, and be difficult to be directed at station again using manual mode, productivity ratio is low.
The content of the invention
The present invention provides a kind of free-standing manipulator for punching automation transfer system, it is intended to realizes Machine automated
Adjacent two procedures between material transfer and station alignment, avoid error that manual operation brings and the people that operating personnel occurs
Body security incident, improve the production efficiency of punch process.
Concrete technical scheme provided by the invention is as follows：
The present invention provides a kind of free-standing manipulator for punching automation transfer system, including Z axis servomotor, deceleration
Machine, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air processor, timing belt pulley, long-armed, main frame
Body, middle workbench, body base, adjustment lower margin, sliding block, chute, material gripping device, material grabbing arm, contour support
Post and pusher cylinder；Wherein, the adjustment lower margin is arranged on the body base, and the main machine body is arranged on the body bottom
On seat, the air processor is arranged in the main machine body, and the middle workbench is arranged on the body base, institute
Fuselage is stated in the main machine body；The Z axis servomotor is arranged on the upper end of the upper fuselage, the reductor peace
Mounted in the upper end of the main machine body, the balance cylinder is arranged on the upper end of the upper fuselage, and the rod end joint shaft is arranged on
The front end of the upper fuselage, the X-axis servomotor is arranged on the front end of the upper fuselage, described long-armed to be arranged on the upper machine
The front end of body；The timing belt pulley is arranged on the long-armed middle part, the output shaft of the Z axis servomotor and described
The input axis connection of reductor, the output shaft of the X-axis servomotor are connected with the timing belt pulley using belt, the cunning
Groove is arranged on the front end face of the upper fuselage, and the sliding block is movably mounted in the chute, and the lower end of the sliding block is fixed
It is described it is long-armed on；The material grabbing arm be movably mounted to it is described it is long-armed on, the lower end of the material grabbing arm is set
It is equipped with the material gripping device；The middle workbench is provided with the contour support column and the pusher cylinder.
Optionally, the material grabbing arm includes left material grabbing arm and right material grabbing arm, the material are grabbed
Device is taken to include left material gripping device and right material gripping device, wherein, the left material grabbing arm is movably mounted to
The long-armed left-half, the right material grabbing arm are arranged on the long-armed right half part, the left material crawl
Device is arranged on the lower section of the left material grabbing arm, and the right material gripping device is arranged on the right material grabbing arm
Lower section.
Optionally, the material gripping device realizes the crawl of material by the way of negative pressure.
Optionally, the material gripping device includes 6 symmetrically arranged material suckers, and the material sucker uses negative pressure
Mode realize the crawl of material.
Optionally, the pusher cylinder is used to realize the movement of the contour support column in the Y-axis direction, the middle work
Make to be provided with contour support column described at least two height identical on platform.
Optionally, the balance cylinder includes left balance cylinder and right balance cylinder, wherein, the left balance cylinder installation
The left-half of fuselage on described, the right balance cylinder are arranged on the right half part of the upper fuselage, the left Balance Air
Cylinder and the right balance cylinder cooperate for adjusting the long-armed horizontality.
Optionally, the sliding block includes left slider and right sliding block, and the chute includes left chute and right rail, wherein, institute
The left-half that left chute is arranged on the upper fuselage is stated, the right rail is arranged on the right half part of the upper fuselage, described
Left slider is movably mounted in the left chute, and the right sliding block is movably mounted in the right rail, the left slider
Lower end be fixed on the long-armed left-half, the lower end of the right sliding block is fixed on the long-armed right half part.
Optionally, the free-standing manipulator includes 6 adjustment lower margins, wherein, 3 adjustment lower margins are arranged on
The left side of the body base, another 3 adjustment lower margins are arranged on the right side of the body base.
Optionally, the left material grabbing arm it is described it is long-armed on range be 1600mm, the right material is grabbed
Take arm it is described it is long-armed on range be 1600mm.
Beneficial effects of the present invention are as follows：
A kind of free-standing manipulator for punching automation transfer system of offer of the embodiment of the present invention, including Z axis servomotor,
It is reductor, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air processor, timing belt pulley, long-armed, main
Fuselage, middle workbench, body base, adjustment lower margin, sliding block, chute, material gripping device, material grabbing arm, contour branch
Dagger and pusher cylinder；After catching material by material gripping device, make platform into centre under the drive of X-axis servomotor
It is mobile, material is placed on middle workbench afterwards, then again by the material gripping device of opposite side by material from middle work
Make to be moved to long-armed opposite side on platform, realize movement of the material between long-armed both sides；And then realize Machine automated
Adjacent two procedures between material transfer and station alignment, realize the mechanization movement of material between stamping procedure, avoid
The error and the personal safety accident of generation operating personnel that manual operation is brought, improve the production efficiency of punch process.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of isometric side knot of free-standing manipulator for punching automation transfer system of the embodiment of the present invention
Structure schematic diagram；
Fig. 2 is a kind of front view structure signal of free-standing manipulator for punching automation transfer system of the embodiment of the present invention
Figure；
Fig. 3 is a kind of side view structure signal of free-standing manipulator for punching automation transfer system of the embodiment of the present invention
Figure；
Fig. 4 is the structural representation of the main machine body of the embodiment of the present invention；
Fig. 5 is the long-armed structural representation of the embodiment of the present invention；
Fig. 6 is the structural representation of the upper fuselage of the embodiment of the present invention；
Fig. 7 is the structural representation of the adjustment lower margin of the embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing, "
Four ", " 5th ", " the 6th ", " the 7th " and " the 8th " etc.（If there is）It is for distinguishing similar object, without for retouching
State specific order or precedence.It should be appreciated that the data so used can exchange in the appropriate case, to retouch here
The embodiments of the invention stated can for example be implemented with the order in addition to those for illustrating or describing herein.
In addition, term " comprising " and " having " and their any deformation, it is intended that cover it is non-exclusive include, example
Such as, process, method, system, product or the equipment for containing series of steps or unit are not necessarily limited to those clearly listed
Step or unit, but may include not list clearly or for intrinsic other of these processes, method, product or equipment
Step or unit.
The transfer of material and station alignment, the mistake for avoiding manual operation from bringing between Machine automated adjacent two procedures
Difference and the personal safety accident that operating personnel occurs, the embodiment of the present invention provide a kind of for the only of punching automation transfer system
Vertical mechanical hand, including Z axis servomotor, reductor, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air
Processing unit, timing belt pulley, long-armed, main machine body, middle workbench, body base, adjustment lower margin, sliding block, chute, material are grabbed
Take device, material grabbing arm, contour support column and pusher cylinder；Wherein, adjust lower margin to be arranged on body base, main machine body
On body base, air processor is arranged in main machine body, and middle workbench is arranged on body base, upper fuselage
In main machine body；Z axis servomotor is arranged on the upper end of upper fuselage, and reductor is arranged on the upper end of main machine body, Balance Air
Cylinder is arranged on the upper end of upper fuselage, and rod end joint shaft is arranged on the front end of upper fuselage, and X-axis servomotor is arranged on upper fuselage
Front end, it is long-armed installed in the front end of upper fuselage；Timing belt pulley is arranged on long-armed middle part, and timing belt pulley and X-axis are watched
The output shaft for taking motor is connected using belt, and chute is arranged on the front end face of fuselage, and sliding block is movably mounted in chute, sliding
The lower end of block is fixed on long-armed；Material grabbing arm is movably mounted on long-armed, and the lower end of material grabbing arm is provided with
Material gripping device；Middle workbench is provided with contour support column and pusher cylinder.
The free-standing manipulator for punching automation transfer system of the embodiment of the present invention, is grabbed by material gripping device
Firmly after material, make platform movement into centre under the drive of X-axis servomotor, material be placed on middle workbench afterwards,
Then material is moved to by long-armed opposite side from middle workbench by the material gripping device of opposite side again, realizes material
Movement between long-armed both sides；And then realize the transfer of material and station pair between Machine automated adjacent two procedures
Standard, the mechanization movement of the material between stamping procedure is realized, avoid error and occur operating personnel's that manual operation is brought
Personal safety accident, improve the production efficiency of punch process.
A kind of free-standing machine for punching automation transfer system below in conjunction with Fig. 1 ~ Fig. 7 to the embodiment of the present invention
Tool hand is described in detail.
It is provided in an embodiment of the present invention a kind of for the only of punching automation transfer system with reference to shown in figure 1, Fig. 2 and Fig. 3
Vertical mechanical hand includes Z axis servomotor 101, reductor 102, balance cylinder 103, upper fuselage 104, rod end joint shaft 105, X
Axle servomotor 106, air processor 107, timing belt pulley 108, long-armed 109, main machine body 110, middle workbench 111,
It is body base 112, adjustment lower margin 113, sliding block 114, chute 115, material gripping device 116, material grabbing arm 117, contour
Support column 118 and pusher cylinder 119.
Wherein, with reference to shown in figure 1 and Fig. 3, adjustment lower margin 113 is arranged on body base 112, specifically, adjustment lower margin
113 are used to the free-standing manipulator of the embodiment of the present invention being fixed on ground.With reference to shown in figure 7, adjustment lower margin 113 includes adjusting
Site preparation sole 1131 and fixed vertical plate 1132, wherein, fixed vertical plate 1132 is fixed on the side of body base 112, adjustment
Ground sole 1131 is fixed on ground.Further, with reference to shown in figure 7, it is provided with fixed vertical plate 1132 solid for installing
Determine the first vertical through hole of bolt, be provided with adjustment ground sole 1131 and lead to for the second vertical opening of mounting foot bolt
Hole；Because the length of the first vertical through hole is more than the diameter of fixing bolt, the length of the second vertical opening through hole is more than lower margin spiral shell
The diameter of bolt, therefore adjustment lower margin 113 can be according to the installation site and setting height(from bottom) of body base 112 and the level of ground
Property from the adjustment carried out, consolidating between the free-standing manipulator and ground of the embodiment of the present invention can be realized according to various situations
It is fixed.
Example, with reference to shown in figure 1 and Fig. 3, the free-standing manipulator of the embodiment of the present invention includes 6 adjustment lower margins 113,
Wherein, 3 adjustment lower margins 113 are arranged on the left side of body base 112, and another 3 adjustment lower margin 113 is arranged on body base
112 right side.Specifically, with reference to shown in figure 1 and Fig. 3, wherein 3 adjustment lower margins 113 and other 3 adjustment lower margin 113 divide
It is not symmetrically installed on the left side and right side of body base 112, and adjusts lower margin 113 respectively in body base 112
Left side and right side on be equidistantly symmetrical arranged.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 4, main machine body 110 is arranged on body base 112, air processor 107
In main machine body 110, middle workbench 111 is arranged on body base 112, and upper fuselage 104 is arranged on main machine body 110
On.Specifically, with reference to shown in figure 1, main machine body 110 is used and is bolted on body base 112, with reference to shown in figure 1 and Fig. 2,
Air processor 107 is fixed on the side of main machine body 107, wherein, air processor 107 be used for filter enter air pump and
The moisture and dust granules in air inside separate machine hand.With reference to shown in figure 1, middle workbench 111 is fixed using bolt
On body base 112.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 6, Z axis servomotor 101 is arranged on the upper end of upper fuselage 104, reductor
102 are arranged on the upper end of main machine body 110, and balance cylinder 103 is arranged on the upper end of upper fuselage 104, and rod end joint shaft 105 is arranged on
The front end of upper fuselage 104, X-axis servomotor 106 are arranged on the front end of upper fuselage 104, and long-armed 109 are arranged on upper fuselage 104
Front end.Wherein, Z axis servomotor 101 is used to adjust the height on long-armed 109 vertical direction, and X-axis servomotor 106 is used to adjust
Material grabbing arm is saved along the displacement in long-armed X-direction；Reductor 102 is a reduction gear box, for realizing X-axis servo electricity
Rotational speed regulation between machine 106 and timing belt pulley.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 6, balance cylinder 103 includes left balance cylinder and right balance cylinder, wherein,
Left balance cylinder is arranged on the left-half of upper fuselage 104, and right balance cylinder is arranged on the right half part of upper fuselage 104, Zuo Ping
Weighing apparatus cylinder and right balance cylinder cooperate for adjust long-armed 109 horizontality, i.e., left balance cylinder be used for adjust long-armed 109
Left-half height, right balance cylinder be used for adjust long-armed 109 right half part height, pass through left balance cylinder and the right side
Balance cylinder mutual cooperation can ensure the horizontality of long-armed 109 upper surface.
With reference to shown in figure 1, Fig. 2 and Fig. 3, timing belt pulley 108 is arranged on long-armed 109 middle part, Z axis servomotor
101 output shaft is connected with the input shaft of reductor 102, the output shaft and timing belt pulley 108 of X-axis servomotor 106 it
Between connected using belt, chute 115 is arranged on the front end face of fuselage 104, and sliding block 114 is movably mounted in chute 115, sliding
The lower end of block 114 is fixed on long-armed 109, wherein, sliding block 114 and chute 115 cooperate.
With reference to shown in figure 1, Fig. 2 and Fig. 3, sliding block 114 includes left slider and right sliding block, and chute 115 includes left chute and the right side
Chute, wherein, left chute is arranged on the left-half of fuselage 104, and right rail is arranged on the right half part of fuselage 104, left
Sliding block is movably mounted in left chute, and right sliding block is movably mounted in right rail, and the lower end of left slider is fixed on long-armed 109
Left-half, the lower end of right sliding block is fixed on long-armed 109 right half part.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 5, material grabbing arm 117 is movably mounted on long-armed 109, and material is grabbed
The lower end of arm 117 is taken to be provided with material gripping device 116；Contour support column 118 and pusher are provided with middle workbench 111
Cylinder 119.Wherein, material grabbing arm 117 can move along long-armed 109 left and right directions, and material gripping device 116 is using negative
The mode of pressure realizes the crawl of material；Pusher cylinder 119 is used to realize the movement of contour support column 118 in the Y-axis direction, middle
The high support column 118 such as at least two height identical is provided with workbench 111, i.e., contour support column 118 can be in pusher cylinder
Moved in the Y-axis direction with middle workbench 111 under 119 drive.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Fig. 5, material grabbing arm 117 includes left material grabbing arm and right material is grabbed
Arm is taken, material gripping device 116 includes left material gripping device and right material gripping device, wherein, left material grabbing arm
Long-armed 109 left-half is movably mounted to, right material grabbing arm is arranged on long-armed 109 right half part, and left material is grabbed
Device is taken to be arranged on the lower section of left material grabbing arm, right material gripping device is arranged on the lower section of right material grabbing arm.
Specifically, with reference to shown in figure 1, Fig. 2 and Fig. 3,6 materials are symmetrically arranged with each material gripping device 116
Sucker, wherein, each material sucker realizes the crawl of material by the way of negative pressure, and 6 material suckers can be simultaneously
Work.
Specifically, range of the left material grabbing arm on long-armed 109 is 1600mm, right material grabbing arm is in length
Range on arm 109 is 1600mm.
The embodiment of the present invention provides a kind of free-standing manipulator for punching automation transfer system, including Z axis servo
Motor, reductor, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air processor, timing belt pulley, length
Arm, main machine body, middle workbench, body base, adjustment lower margin, sliding block, chute, material gripping device, material grabbing arm, etc.
High support column and pusher cylinder；After catching material by material gripping device, under the drive of X-axis servomotor into centre
Make platform movement, material be placed on middle workbench afterwards, then again by the material gripping device of opposite side by material therefrom
Between be moved to long-armed opposite side on workbench, realize movement of the material between long-armed both sides；And then realize machine certainly
The transfer of material and station alignment between the adjacent two procedures of dynamicization, realize the mechanization movement of the material between stamping procedure,
Avoid the error that manual operation is brought and the personal safety accident of operating personnel occurs, improve the production efficiency of punch process.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
- A kind of 1. free-standing manipulator for punching automation transfer system, it is characterised in that the mechanical handbag of the stand alone type Include Z axis servomotor, reductor, balance cylinder, upper fuselage, rod end joint shaft, X-axis servomotor, air processor, synchronization Belt pulley, long-armed, main machine body, middle workbench, body base, adjustment lower margin, sliding block, chute, material gripping device, material are grabbed Take arm, contour support column and pusher cylinder；Wherein, the adjustment lower margin is arranged on the body base, the main machine body On the body base, the air processor is arranged in the main machine body, and the middle workbench is arranged on On the body base, the upper fuselage is arranged in the main machine body；The Z axis servomotor is arranged on the upper fuselage Upper end, the reductor are arranged on the upper end of the main machine body, and the balance cylinder is arranged on the upper end of the upper fuselage, described Rod end joint shaft is arranged on the front end of the upper fuselage, and the X-axis servomotor is arranged on the front end of the upper fuselage, the length Arm is arranged on the front end of the upper fuselage；The timing belt pulley is arranged on the long-armed middle part, the Z axis servo electricity The input axis connection of the output shaft of machine and the reductor, output shaft and the timing belt pulley of the X-axis servomotor are adopted Connected with belt, the chute is arranged on the front end face of the upper fuselage, and the sliding block is movably mounted in the chute, institute State sliding block lower end be fixed on it is described it is long-armed on；The material grabbing arm be movably mounted to it is described it is long-armed on, the material The lower end of grabbing arm is provided with the material gripping device；The middle workbench is provided with the contour support column and described Pusher cylinder.
- 2. free-standing manipulator according to claim 1, it is characterised in that the material grabbing arm is grabbed including left material Arm and right material grabbing arm are taken, the material gripping device includes left material gripping device and right material gripping device, its In, the left material grabbing arm is movably mounted to the long-armed left-half, and the right material grabbing arm is arranged on The long-armed right half part, the left material gripping device are arranged on the lower section of the left material grabbing arm, the right thing Expect that grabbing device is arranged on the lower section of the right material grabbing arm.
- 3. free-standing manipulator according to claim 1, it is characterised in that the material gripping device uses the side of negative pressure Formula realizes the crawl of material.
- 4. free-standing manipulator according to claim 3, it is characterised in that the material gripping device includes 6 symmetrically The material sucker of setting, the material sucker realize the crawl of material by the way of negative pressure.
- 5. free-standing manipulator according to claim 1, it is characterised in that the pusher cylinder is described contour for realizing The movement of support column in the Y-axis direction, contour support described at least two height identical is provided with the middle workbench Post.
- 6. free-standing manipulator according to claim 1, it is characterised in that the balance cylinder include left balance cylinder and Right balance cylinder, wherein, the left balance cylinder is arranged on the left-half of the upper fuselage, and the right balance cylinder is arranged on The right half part of the upper fuselage, the left balance cylinder and the right balance cylinder cooperate described long-armed for adjusting Horizontality.
- 7. free-standing manipulator according to claim 1, it is characterised in that the sliding block includes left slider and right sliding block, The chute includes left chute and right rail, wherein, the left chute is arranged on the left-half of the upper fuselage, the right cunning Groove is arranged on the right half part of the upper fuselage, and the left slider is movably mounted in the left chute, and the right sliding block can Mobile to be arranged in the right rail, the lower end of the left slider is fixed on the long-armed left-half, the right sliding block Lower end is fixed on the long-armed right half part.
- 8. free-standing manipulator according to claim 1, it is characterised in that the free-standing manipulator is included described in 6 Lower margin is adjusted, wherein, 3 adjustment lower margins are arranged on the left side of the body base, another 3 adjustment lower margin installations In the right side of the body base.
- 9. free-standing manipulator according to claim 2, it is characterised in that the left material grabbing arm is described long-armed On range be 1600mm, the right material grabbing arm it is described it is long-armed on range be 1600mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790556.9A CN107497958A (en) | 2017-09-05 | 2017-09-05 | A kind of free-standing manipulator for punching automation transfer system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790556.9A CN107497958A (en) | 2017-09-05 | 2017-09-05 | A kind of free-standing manipulator for punching automation transfer system |
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| CN107497958A true CN107497958A (en) | 2017-12-22 |
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| CN201710790556.9A Pending CN107497958A (en) | 2017-09-05 | 2017-09-05 | A kind of free-standing manipulator for punching automation transfer system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405101A (en) * | 2019-08-27 | 2019-11-05 | 冠鸿光电科技(武汉)有限公司 | A kind of manipulator line punch assembly of stamping equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202367750U (en) * | 2011-12-16 | 2012-08-08 | 苏州青林自动化设备有限公司 | Full-automatic manipulator capable of delivering independently |
| CN203526380U (en) * | 2013-09-18 | 2014-04-09 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices |
| CN203779491U (en) * | 2014-01-14 | 2014-08-20 | 东莞市井田自动化设备有限公司 | Independent type transmission mechanical hand equipment |
| CN205236842U (en) * | 2015-11-11 | 2016-05-18 | 广东捷瞬机器人有限公司 | Stand alone type line manipulator |
-
2017
- 2017-09-05 CN CN201710790556.9A patent/CN107497958A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202367750U (en) * | 2011-12-16 | 2012-08-08 | 苏州青林自动化设备有限公司 | Full-automatic manipulator capable of delivering independently |
| CN203526380U (en) * | 2013-09-18 | 2014-04-09 | 东莞市井田自动化设备有限公司 | Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices |
| CN203779491U (en) * | 2014-01-14 | 2014-08-20 | 东莞市井田自动化设备有限公司 | Independent type transmission mechanical hand equipment |
| CN205236842U (en) * | 2015-11-11 | 2016-05-18 | 广东捷瞬机器人有限公司 | Stand alone type line manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405101A (en) * | 2019-08-27 | 2019-11-05 | 冠鸿光电科技(武汉)有限公司 | A kind of manipulator line punch assembly of stamping equipment |
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Application publication date: 20171222 |