CN107598000A - A kind of punching press loading and unloading manipulator - Google Patents
A kind of punching press loading and unloading manipulator Download PDFInfo
- Publication number
- CN107598000A CN107598000A CN201710954793.4A CN201710954793A CN107598000A CN 107598000 A CN107598000 A CN 107598000A CN 201710954793 A CN201710954793 A CN 201710954793A CN 107598000 A CN107598000 A CN 107598000A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- connection
- connecting plate
- waist
- punching press
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004080 punching Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 186
- 210000000707 wrist Anatomy 0.000 claims abstract description 38
- 230000003028 elevating effect Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 25
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 5
- 210000003464 cuspid Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 24
- 230000009471 action Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 230000007774 longterm Effects 0.000 abstract description 2
- 239000012636 effector Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000013486 operation strategy Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to manipulator design field, is related to a kind of punching press loading and unloading manipulator.Including base, elevating mechanism, waist mechanism, telescoping mechanism, wrist mechanism and grasping mechanism, elevating mechanism is fixed on base, and waist mechanism is connected with elevating mechanism, and telescoping mechanism is on waist mechanism；Wrist mechanism one end and telescoping mechanism slidable connection, the other end are connected with grasping mechanism；Waist mechanism can drive telescoping mechanism to rotate, and telescoping mechanism can drive wrist mechanism and grasping mechanism does stretching motion, and wrist mechanism can drive grasping mechanism to rotate.The grasping mechanism of the present invention realizes the motion of different angle by the rotation of the second double-acting cylinder driving wrist mechanism, vacuum cup is by the telescopic action of single-acting cylinder close to or away from workpiece, the rotation of wrist mechanism overcomes long-term dependence motor and its relevant device to meet that simple angle position requires, it is versatile, production efficiency is high, can be applied to the transport operation of all kinds of press machine loading and unloading.
Description
Technical field
The invention belongs to manipulator design field, more particularly, to a kind of punching press loading and unloading manipulator.
Background technology
Inner container of electric cooker punching press is extremely important production process in electric cooker production, and punch machining process process includes drawing
Stretch, trimming, crimp, rolling, flange, six production and processing processes of carving characters, per pass manufacturing procedure be required for it is corresponding artificial or
Manipulator is completed to carry work.At present, large enterprise's processing inner container of electric cooker progressively replaces artificial progress loading and unloading by manipulator
Operation, small business still use and are accomplished manually operation of feeding and discharging.With the increase of labour cost, production scale of enterprise adds
Greatly, the demand of punching press loading and unloading manipulator is caused to sharply increase.
Becoming more meticulous for punch machining process process causes using different press machines, it is necessary to design above and below various forms of
Expect manipulator.At present, four post stamping machines use rectangular coordinate manipulative, such as Chinese patent 201420281809.1, the machinery
Hand is a kind of long cantilever modularization loading and unloading right angle coordinate manipulator, although disclosure satisfy that processing technology requirement, module is effective
Stroke is long and limits the distance between two punch presses, and spatial volume is big, and functional reliability is poor；Open type punch press（Such as single-column stamping machine）
Using rotary type manipulator, such as Chinese patent 201410590491.X, wrist is turned using servomotor by encoder control
Dynamic angle, complex designing, and inapplicable four post stamping machines, poor universality.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of punching press loading and unloading manipulator, effectively overcome
Punching press loading and unloading manipulator is for single-column punch and the problem of four post punch press poor universalities, there is provided a kind of versatile, production
The of a relatively high punching press loading and unloading manipulator of efficiency.
To solve the above problems, technical scheme provided by the invention is：A kind of punching press loading and unloading manipulator, wherein, including
Base, elevating mechanism, waist mechanism, telescoping mechanism, wrist mechanism and grasping mechanism, described elevating mechanism are fixed on base
On, described waist mechanism is connected with elevating mechanism, and described telescoping mechanism is on waist mechanism；Described wrist mechanism one
End and telescoping mechanism slidable connection, the other end are connected with grasping mechanism；Described waist mechanism can drive telescoping mechanism to rotate,
Described telescoping mechanism can drive wrist mechanism and grasping mechanism does stretching motion, and described wrist mechanism can drive grasping mechanism
Rotate.
In the present invention, loading and unloading manipulator provided by the invention is fixedly installed on to the middle of two press machines,
Its elevating mechanism drives other mechanisms to carry out lifting action by waist mechanism, realizes the function of manipulator vertical shift；Waist
Mechanism driving telescoping mechanism, wrist mechanism and grasping mechanism carry out revolution action, realize the function that manipulator different directions rotate；
Telescoping mechanism drives wrist mechanism and grasping mechanism to carry out expanding-contracting action, realizes the function that manipulator moves horizontally；Wrist turns round
Mechanism is provided with the second connecting plate, and drives grasping mechanism to carry out revolution action by the second connecting plate II, realizes end effector
That is the change of vacuum cup different operating angle；Grasping mechanism is provided with single-acting cylinder, passes through the Telescopic of single-acting cylinder
Driving end effector is the movement of vacuum cup, and quick crawl or release work can be reached under the collective effect of above mechanism
Purpose of the part to setting position.
Further, described elevating mechanism includes more support columns, the first double-acting cylinder；The first described double acting
Cylinder includes cylinder body and cylinder piston rod, and described cylinder body is fixed on base, and described cylinder piston rod one end connects with cylinder body
Connect, the other end is connected with waist mechanism；Described support column includes upper prop, buffer spring and lower prop from top to down；Described is upper
Post is fixedly connected with waist mechanism, and described buffer spring one end is connected with upper prop, and the other end is connected with lower prop, described lower prop
The other end be fixedly connected with base；The first described double-acting cylinder is laterally provided with more support columns.First double-acting cylinder
Telescopic action driving waist mechanism seat elevating movement, using buffer spring elasticity can effectively mitigate whole mechanism itself
Inertia force, and then mitigate the endurance of the first double-acting cylinder.
Further, described waist mechanism includes framework, outer barrel, servomotor, little gear, gear wheel and transmission
Axle, described base of frame are connected with elevating mechanism, and described servomotor is located at the top of framework；Described outer barrel one end with
Frame roof is connected, and the other end is connected with telescoping mechanism；Described little gear and gear wheel are laterally located in framework, and described watches
The output shaft for taking motor is connected with little gear, and described gear wheel is fixed on power transmission shaft, and described gear wheel and little gear are nibbled
Close connection；Vertically in framework and overcoat, described power transmission shaft one end is fixedly connected described power transmission shaft with telescoping mechanism.It is logical
Cross servomotor and drive pinion rotation, little gear engages with gear wheel, so as to drive bull gear drive, gear wheel and power transmission shaft
It is fixedly connected, and then drives drive axis, power transmission shaft is fixedly connected with telescoping mechanism, therefore, can be by controlling power transmission shaft to turn
Dynamic angle controls the rotation of telescoping mechanism.
Further, described waist mechanism also includes the first angular contact ball bearing, the second angular contact ball bearing, described
Power transmission shaft is connected by the first angular contact ball bearing, the second angular contact ball bearing with outer barrel.
Further, described telescoping mechanism includes cross beam frame, support frame, reductor, shaft coupling, support base, axle of usheing to seat
Hold, ball screw and feed screw nut's seat, slide unit；Described cross beam frame is connected with waist mechanism, and described support frame is fixed on
One end of cross beam frame, described reductor is on support frame, and described reductor is connected by shaft coupling with ball screw, institute
The both ends for the ball screw stated are connected by rolling bearing units with support base, and described support base is fixed on cross beam frame；It is described
Slide unit be connected with feed screw nut's seat, described feed screw nut's seat and ball screw are connected；Described cross beam frame is provided with
Raised guide rail, described slide unit are provided with the groove being connected with guide rail, and described slide unit passes through groove and guide rail and horizontal stroke
Roof beam structure is slidably connected.Preferably, guide plate is also fixed with cross beam frame, outer barrel is fixedly connected with guide plate, power transmission shaft and horizontal stroke
Roof beam structure is fixedly connected；Guide plate is set, cross beam frame horizontal direction play can be limited.As preferable, the length value of slide unit is more than
The length value of feed screw nut's seat, is easily installed.
In the present invention, reductor drives ball screw to rotate by shaft coupling, and ball screw is connected with slide unit, so as to real
Existing slide unit moves reciprocatingly along the guide rail on cross beam frame.
Further, described wrist mechanism includes linking arm, the second double-acting cylinder, the first connecting plate, the second connection
Plate；Described linking arm one end is connected with slide unit, and the second described double-acting cylinder includes cylinder body and cylinder piston rod, described
Cylinder body is fixed on linking arm, and described cylinder piston rod one end is connected with cylinder body, and the other end and the first connecting plate pass through
A connection piece is rotatablely connected, and the other end of the first described connecting plate is connected by the second connector with the second connecting plate, described
The second connector be rotatably connected with the first connecting plate, be fixedly connected with the second connecting plate；The one of the second described connecting plate
End is rotatablely connected by the 3rd connector and the one end of linking arm away from slide unit.
Preferably, the first described connecting plate includes the first short slab and the second short slab, the first described short slab and second short
Plate is in 60 ° ~ 120 ° connections.
In the present invention, under static initial, the linking arm of the second connecting plate and horizontal direction is clockwise into certain
Acute angle, angle can set according to the rotational angle of wrist mechanism；Second double-acting cylinder passes through cylinder piston cylinder driving the
One connecting plate does stretching motion, due to the first connecting plate be by two pieces of plate integrated formed structures at an angle to each other, so as to
Drive the second connecting plate to be rotated around linking arm under certain angle scope, realize the rotation of grasping mechanism.
Preferably, the second described double-acting cylinder, the first connecting plate are arranged on the edge side of linking arm, and located at second
The side for the clockwise angle that connecting plate is formed with linking arm.Be advantageous to increase the rotational angle of the second connecting plate, and can complete
The setting of more perspective action, makes manipulator operation strategies wider.
Further, between described the first connector and the first connecting plate, between the second connector and the first connecting plate,
Self-aligning thrust roller bearing is equipped between 3rd connector and linking arm and the second connecting plate.
Further, described grasping mechanism includes head rod, the second connecting rod, single-acting cylinder and multiple
Vacuum cup；Described single-acting cylinder includes cylinder body and cylinder piston rod；Described head rod one end is connected with second
Plate is fixedly connected, and the other end is fixedly connected with the cylinder body of single-acting cylinder；Described cylinder piston rod one end is connected with cylinder body, separately
One end is fixedly connected with the second connecting rod, and described vacuum cup is connected with the second connecting rod and/or cylinder piston rod connection.It is logical
The flexible reciprocating motion of the cylinder piston rod of single-acting cylinder is crossed, the second connecting rod stretching motion is driven, realizes vacuum cup not
With the grasping movement of position, the remote or motion close to workpiece is realized.
Preferably, buffer body is additionally provided with described vacuum cup, described vacuum cup is connected by buffer body and second
Extension bar and/or cylinder piston rod connection.Buffer body is set to slow down impact of the vacuum cup when grabbing workpiece contacts with workpiece
Power, so as to reduce the damage to vacuum cup.
Preferably, described servomotor is additionally provided with absolute value encoder；Realize the feedback to waist mechanism position.
Preferably, it is all provided with limited location at the first described double-acting cylinder, the second double-acting cylinder and single-acting cylinder
Switch, the cylinder piston rod of the first double-acting cylinder, the second double-acting cylinder and single-acting cylinder is controlled by limit switch
Distance of stretch out and draw back, and then realize the grasping movement of diverse location.
Further, be additionally provided with controller, described controller respectively with elevating mechanism, waist mechanism, telescoping mechanism, wrist
Portion mechanism and grasping mechanism connection, the motion of each mechanism can be controlled according to production requirement by controller, is realized accurate
Grasping movement.
Compared with prior art, beneficial effect is：A kind of loading and unloading manipulator provided by the invention, grasping mechanism pass through
Two double-acting cylinders drive the rotation of wrist mechanism and realize the motion of different angle, and vacuum cup is stretched by single-acting cylinder
Contracting is acted on close to or away from workpiece, is avoided the impact with press machine, is common to single-column punch and four post punch presses, its wrist
The rotation of mechanism overcomes long-term dependence motor and its relevant device to meet that simple angle position requires, wrist mechanism simplifies
The complexity and rotational angle of design disclosure satisfy that requirement of the manipulator for press machine loading and unloading, versatile, production
Efficiency is of a relatively high, can be applied to the transport operation of all kinds of press machine loading and unloading.
Brief description of the drawings
Fig. 1 and Fig. 2 is overall structure diagram of the present invention.
Fig. 3 is sectional view of the present invention.
Fig. 4 is first state schematic diagram of the present invention.
Fig. 5 is the second view of the invention.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and its explanation may be omitted and will be understood by accompanying drawing.Being given for example only property of position relationship described in accompanying drawing
Explanation, it is impossible to be interpreted as the limitation to this patent.
As shown in figure 1, a kind of punching press loading and unloading manipulator, wherein, including base 1, elevating mechanism 2, waist mechanism 3, stretch
Contracting mechanism 4, wrist mechanism 5 and grasping mechanism 6, elevating mechanism 2 are fixed on base 1, and waist mechanism 3 connects with elevating mechanism 2
Connect, telescoping mechanism 4 is on waist mechanism 3；The one end of wrist mechanism 5 and the slidable connection of telescoping mechanism 4, the other end and gripper
Structure 6 connects；Waist mechanism 3 can drive telescoping mechanism 4 to rotate, and telescoping mechanism 4 can drive wrist mechanism 5 and grasping mechanism 6 to do and stretch
Contracting motion, wrist mechanism 5 can drive grasping mechanism 6 to rotate.In the present invention, loading and unloading manipulator provided by the invention is fixed
The middle of two press machines is arranged at, its elevating mechanism 2 drives other mechanisms to carry out lifting action by waist mechanism 3,
Realize the function of manipulator vertical shift；Waist mechanism 3 drives telescoping mechanism 4, wrist mechanism 5 and grasping mechanism 6 to be turned round
Action, realize the function that manipulator different directions rotate；Telescoping mechanism 4 drives wrist mechanism 5 and grasping mechanism 6 to carry out flexible move
Make, realize the function that manipulator moves horizontally；Wrist slew gear is provided with the second connecting plate 54, and passes through the second connecting plate 54 II
Drive grasping mechanism 6 to carry out revolution action, realize the end effector i.e. change of the different operating angle of vacuum cup 64；Gripper
Structure 6 is provided with single-acting cylinder 63, and the shifting that end effector is vacuum cup 64 is driven by the Telescopic of single-acting cylinder 63
It is dynamic, quick crawl or release workpiece can be reached under the collective effect of above mechanism to the purpose of setting position.
As shown in Figure 2 and Figure 3, elevating mechanism 2 includes more support columns 21, the first double-acting cylinder 22；First double acting gas
Cylinder 22 includes cylinder body and cylinder piston rod, and cylinder body is fixed on base 1, and cylinder piston rod one end is connected with cylinder body, the other end with
Waist mechanism 3 connects；Support column 21 includes upper prop 211, buffer spring 212 and lower prop 213 from top to down；Upper prop 211 and waist
Mechanism 3 is fixedly connected, and the one end of buffer spring 212 is connected with upper prop 211, and the other end is connected with lower prop 213, lower prop 213 it is another
End is fixedly connected with base 1；First double-acting cylinder 22 is laterally provided with more support columns.The flexible work of first double-acting cylinder 22
With driving 3 elevating movements of waist mechanism, it can effectively mitigate the whole mechanism inertia of itself using the elasticity of buffer spring 212
Power, and then mitigate the endurance of the first double-acting cylinder 22.
In addition, waist mechanism 3 includes framework 31, outer barrel 32, servomotor 33, little gear 34, gear wheel 35 and transmission
Axle 36, the bottom of framework 31 are connected with elevating mechanism 2, and servomotor 33 is located at the top of framework 31；The one end of outer barrel 32 and framework 31
Top is connected, and the other end is connected with telescoping mechanism 4；Little gear 34 and gear wheel 35 are laterally located in framework 31, servomotor 33
Output shaft be connected with little gear 34, gear wheel 35 is fixed on power transmission shaft 36, gear wheel 35 and little gear 34 engagement connection；Pass
Vertically in framework 31 and overcoat, the one end of power transmission shaft 36 is fixedly connected moving axis 36 with telescoping mechanism 4.Pass through the band of servomotor 33
Dynamic little gear 34 rotates, and little gear 34 engages with gear wheel 35, so as to drive gear wheel 35 to rotate, gear wheel 35 and power transmission shaft 36
It is fixedly connected, and then drives power transmission shaft 36 to rotate, power transmission shaft 36 is fixedly connected with telescoping mechanism 4, therefore, can be driven by controlling
The angle that axle 36 rotates controls the rotation of telescoping mechanism 4.
In certain embodiments, waist mechanism 3 also includes the first angular contact ball bearing 37, the second angular contact ball bearing 38,
Power transmission shaft 36 is connected by the first angular contact ball bearing 37, the second angular contact ball bearing 38 with outer barrel 32.
Specifically, telescoping mechanism 4 includes cross beam frame 41, support frame 42, reductor 43, shaft coupling 44, support base 45, usherd to seat
Bearing 46, ball screw 47 and feed screw nut's seat 48, slide unit 49；Cross beam frame 41 is connected with waist mechanism 3, and support frame 42 is fixed
In one end of cross beam frame 41, on support frame 42, reductor 43 is connected reductor 43 by shaft coupling 44 with ball screw 47,
The both ends of ball screw 47 are connected by rolling bearing units 46 with support base 45, and support base 45 is fixed on cross beam frame 41；Slide unit
49 are connected with feed screw nut's seat 48, and feed screw nut's seat 48 is connected with ball screw 47；Cross beam frame 41 is provided with raised lead
Rail, slide unit 49 are provided with the groove being connected with guide rail, and slide unit 49 is slidably connected by groove and guide rail with cross beam frame 41.It is excellent
Selection of land, guide plate is also fixed with cross beam frame 41, outer barrel 32 is fixedly connected with guide plate, and power transmission shaft 36 is fixed with cross beam frame 41
Connection；Guide plate is set, the horizontal direction play of cross beam frame 41 can be limited.As preferable, the length value of slide unit 49 is more than screw mandrel
The length value of nut seat 48, is easily installed.In the present invention, reductor 43 drives ball screw 47 to rotate by shaft coupling 44,
Ball screw 47 is connected with slide unit 49, so as to realize that slide unit 49 moves reciprocatingly along the guide rail on cross beam frame 41.
Wherein, wrist mechanism 5 includes linking arm 51, the second double-acting cylinder 52, the first connecting plate 53, the second connecting plate
54；The one end of linking arm 51 is connected with slide unit 49, and the second double-acting cylinder 52 includes cylinder body and cylinder piston rod, and cylinder body is fixed at
On linking arm 51, cylinder piston rod one end is connected with cylinder body, and the other end and the first connecting plate 53 are rotated by the first connector and connected
Connect, the other end of the first connecting plate 53 is connected by the second connector with the second connecting plate 54, and the second connector is connected with first
Plate 53 is rotatably connected, and is fixedly connected with the second connecting plate 54；One end of second connecting plate 54 is by the 3rd connector with being connected
One end rotation connection of the arm 51 away from slide unit 49.
In certain embodiments, the first connecting plate 53 includes the first short slab and the second short slab, the first short slab and the second short slab
In 90 ° of connections.
In the present invention, under static initial, the linking arm 51 of the second connecting plate 54 and horizontal direction clockwise into
Certain acute angle, angle can be set according to the rotational angle of wrist mechanism 5；Second double-acting cylinder 52 passes through cylinder piston cylinder
The first connecting plate 53 is driven to do stretching motion, because the first connecting plate 53 is to be integrally formed knot by two blocks of plates at an angle to each other
Structure, so as to drive the second connecting plate 54 to be rotated around linking arm 51 under certain angle scope, realize turning for grasping mechanism 6
It is dynamic.
In certain embodiments, as shown in Figure 4, Figure 5, the second double-acting cylinder 52, the first connecting plate 53 are arranged on connection
The edge side of arm 51, and the side of the clockwise angle formed located at the second connecting plate 54 with linking arm 51.Be advantageous to increase
The rotational angle of two connecting plates 54, and the setting of more perspective action can be completed, make manipulator operation strategies wider.First connection
Between part and the first connecting plate 53, between the second connector and the first connecting plate 53, the 3rd connector and linking arm 51 and
Self-aligning thrust roller bearing 55 is equipped between two connecting plates 54.
Specifically, grasping mechanism 6 includes head rod 61, the second connecting rod 62, single-acting cylinder 63 and multiple true
Suction disk 64；Single-acting cylinder 63 includes cylinder body and cylinder piston rod；The one end of head rod 61 is fixed with the second connecting plate 54
Connection, the other end are fixedly connected with the cylinder body of single-acting cylinder 63；Cylinder piston rod one end is connected with cylinder body, the other end and second
Connecting rod 62 is fixedly connected, and vacuum cup 64 is connected with the second connecting rod 62 and/or cylinder piston rod connection.Pass through single-acting gas
The flexible reciprocating motion of the cylinder piston rod of cylinder 63, the stretching motion of the second connecting rod 62 is driven, realizes 64 different positions of vacuum cup
The grasping movement put, realize the remote or motion close to workpiece.Buffer body 65 is additionally provided with vacuum cup 64, vacuum cup 64 is logical
Buffer body 65 is crossed to be connected with the second connecting rod 62 and/or cylinder piston rod.Set buffer body 65 to slow down vacuum cup 64 grabbing
Impulsive force when taking the workpiece to be contacted with workpiece, so as to reduce the damage to vacuum cup 64.
In certain embodiments, servomotor 33 is additionally provided with absolute value encoder；Realize to the anti-of the position of waist mechanism 3
Feedback.Limit switches are all provided with first double-acting cylinder 22, the second double-acting cylinder 52 and single-acting cylinder 63, by spacing
The telescopic distance of the cylinder piston rod of the first double-acting cylinder 22 of switch control, the second double-acting cylinder 52 and single-acting cylinder 63
From, and then realize the grasping movement of diverse location.Wherein, be additionally provided with controller, controller respectively with elevating mechanism 2, waist machine
Structure 3, telescoping mechanism 4, wrist mechanism 5 and grasping mechanism 6 are connected, and each mechanism can be controlled according to production requirement by controller
Motion, realize accurate grasping movement.
As shown in Figure 4, Figure 5, the second double-acting cylinder 52 of wrist mechanism 5 is fixedly mounted on linking arm 51 by support block
On, wherein linking arm 51 is rectangular tubular structure, takes mechanism to be fixedly connected with wrist machine with two connecting rods by head rod 61
Second connecting plate 54 of structure 5, when the cylinder piston rod of the second double-acting cylinder 52 is in cylinder bottom, the second connecting plate 54 and crawl
Mechanism 6 is placed in the extreme position of side；When the cylinder piston rod of the second double-acting cylinder 52 is moved to during middle position, first
Connecting plate 53 is stretched out by the cylinder piston rod of the second double-acting cylinder 52 to rotate, and then drives the second connecting plate 54 and crawl
Mechanism 6 rotates, and now, the cylinder piston rod of the second double-acting cylinder 52 is parallel with the cylinder piston rod of single-acting cylinder 63；When
When the cylinder piston rod of second double-acting cylinder 52 moves to cylinder top, the second connecting plate 54 and grasping mechanism 6 turn to opposite side
Extreme position；When the cylinder piston rod of the second double-acting cylinder 52 is retracted to during middle position, the second connecting plate 54 and crawl
Mechanism 6 is rotated by the rotation of the first connecting plate 53, now, cylinder piston rod and the single-acting gas of the second double-acting cylinder 52
The cylinder piston rod of cylinder 63 is parallel；When the cylinder piston retraction cylinder bottom of the second double-acting cylinder 52, the second connecting plate 54 and grab
Take mechanism 6 to be returned to side extreme position, so move repeatedly.
The operation principle of the present invention is as follows：
1. as shown in Figures 1 to 5, pressing start button, the air inlet of the first double-acting cylinder 22, frame is driven by cylinder piston rod
Device on frame 31 stops air inlet after rising to setting position；
2. the air inlet of the second double-acting cylinder 52, cylinder piston rod stop air inlet when moving to cylinder middle position, now grasping mechanism 6
The diameter parallel of the axis of single-acting cylinder 63 and the second double-acting cylinder 52 is turned to by the rotation of the first connecting plate 53；
3. servomotor 33 electric rotating forward, power transmission shaft 36 are rotated by the engaged transmission of little gear 34 and gear wheel 35, and then
After driving other devices on guide plate and cross beam frame 41 to rotate certain angle, servomotor 33 has a power failure；Then reductor 43
Electric rotating forward, ball screw turns are driven by shaft coupling 44, and then drive on slide unit 49 and slide unit 49 miscellaneous part along crossbeam
After guide rail on frame 41 moves a certain distance, reductor 43 has a power failure；
4. the cylinder piston rod of the second double-acting cylinder 52 moves to cylinder bottom, the contracting that the first connecting plate 53 passes through cylinder piston rod
Return and rotate, and then grasping mechanism 6 turns to side extreme position；Then the air inlet of single-acting cylinder 63, the component of vacuum cup 64
As piston rod stretches out, stop air inlet when the component of vacuum cup 64 reaches the limit switch on press machine；
5. the first double-acting cylinder 22 is vented, stop exhaust when the component of vacuum cup 64 moves downwardly to workpiece surface, now
The component of vacuum cup 64 draws workpiece by vacuum generator air inlet and suspends several seconds（Time out can be set as needed）；
6. the air inlet of the first double-acting cylinder 22, the component of vacuum cup 64, which is drawn after workpiece rises a certain distance, stops air inlet；Connect
The cylinder piston rod for single-acting cylinder 63 moves to cylinder bottom, and the component of vacuum cup 64 is retracted with cylinder piston rod；
7. the air inlet of the second double-acting cylinder 52, cylinder piston rod stops air inlet when moving to middle position, grasping mechanism 6 is again by
The rotation of one connecting plate 53 and turn to the axis of single-acting cylinder 63 and the diameter parallel of the second double-acting cylinder 52；Then subtract
Fast machine 43 electric reversion, feed screw nut's seat 48 drive on slide unit 49 and slide unit 49 other devices to retract after a certain distance, slowed down
Machine 43 has a power failure；
8. servomotor 33 obtains electric reversion, power transmission shaft 36 drives other devices on guide plate and cross beam frame 41 to rotate necessarily
After angle, servomotor 33 has a power failure；
9. reductor 43 electric rotating forward, feed screw nut's seat 48 drive other devices on slide unit 49 and slide unit 49 stretch out it is certain away from
From rear, reductor 43 has a power failure；
10. the air inlet of the second double-acting cylinder 52, stops air inlet when cylinder piston rod moves to cylinder top, now grasping mechanism 6 is transported
Move opposite side extreme position；Then the air inlet of single-acting cylinder 63, the component of vacuum cup 64 stretch out with piston rod, suction surely
The component of disk 64 stops air inlet when reaching the limit switch on another press machine；
11. the first double-acting cylinder 22 is exhausted, the component of vacuum cup 64 drives workpiece to move downwardly to workpiece and is put into punching press
After in the punch mold of lathe, the first double-acting cylinder 22 stops exhaust；Secondly the component of vacuum cup 64 passes through vacuum generator
It is exhausted, discharges workpiece and suspend several seconds（Time out can need and set according to production）；Subsequent first double-acting cylinder
22 air inlets, the component of vacuum cup 64 stop air inlet after moving certain distance upwards；
12. the cylinder piston rod of single-acting cylinder 63 moves to cylinder bottom, cylinder piston rod drives the component of vacuum cup 64 to retract；
Last elevating mechanism 2, waist mechanism 3, telescoping mechanism 4 and wrist mechanism 5 act successively to be resetted, and prepares to capture next work
Part, such iterative cycles.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. a kind of punching press loading and unloading manipulator, it is characterised in that including base（1）, elevating mechanism（2）, waist mechanism（3）, stretch
Contracting mechanism（4）, wrist mechanism（5）And grasping mechanism（6）, described elevating mechanism（2）It is fixed on base（1）On, it is described
Waist mechanism（3）With elevating mechanism（2）Connection, described telescoping mechanism（4）Located at waist mechanism（3）On；Described wrist machine
Structure（5）One end and telescoping mechanism（4）Slidable connection, the other end and grasping mechanism（6）Connection；Described waist mechanism（3）Can
Drive telescoping mechanism（4）Rotate, described telescoping mechanism（4）Wrist mechanism can be driven（5）And grasping mechanism（6）Do flexible fortune
Dynamic, described wrist mechanism（5）Grasping mechanism can be driven（6）Rotate.
A kind of 2. punching press loading and unloading manipulator according to claim 1, it is characterised in that described elevating mechanism（2）Bag
Include more support columns（21）, the first double-acting cylinder（22）；The first described double-acting cylinder（22）Lived including cylinder body and cylinder
Stopper rod, described cylinder body are fixed on base（1）On, described cylinder piston rod one end is connected with cylinder body, the other end and waist machine
Structure（3）Connection；Described support column（21）Include upper prop from top to down（211）, buffer spring（212）And lower prop（213）；It is described
Upper prop（211）With waist mechanism（3）It is fixedly connected, described buffer spring（212）One end and upper prop（211）Connection, it is another
End and lower prop（213）Connection, described lower prop（213）The other end and base（1）It is fixedly connected；The first described double acting gas
Cylinder（22）Laterally it is provided with more support columns（21）.
A kind of 3. punching press loading and unloading manipulator according to claim 1, it is characterised in that described waist mechanism（3）Bag
Include framework（31）, outer barrel（32）, servomotor（33）, little gear（34）, gear wheel（35）And power transmission shaft（36）, described frame
Frame（31）Bottom and elevating mechanism（2）Connection, described servomotor（33）Located at framework（31）Top；Described outer barrel
（32）One end and framework（31）Top connects, the other end and telescoping mechanism（4）Connection；Described little gear（34）And gear wheel
（35）Laterally it is located at framework（31）Interior, described servomotor（33）Output shaft and little gear（34）Connection, described canine tooth
Wheel（35）It is fixed on power transmission shaft（36）On, described gear wheel（35）And little gear（34）Engagement connection；Described power transmission shaft
（36）Vertically it is located at framework（31）In overcoat, described power transmission shaft（36）One end and telescoping mechanism（4）It is fixedly connected.
A kind of 4. punching press loading and unloading manipulator according to claim 3, it is characterised in that described waist mechanism（3）Also
Including the first angular contact ball bearing（37）, the second angular contact ball bearing（38）, described power transmission shaft（36）Pass through the first angular contact
Ball bearing（37）, the second angular contact ball bearing（38）With outer barrel（32）Connection.
A kind of 5. punching press loading and unloading manipulator according to claim 1, it is characterised in that described telescoping mechanism（4）Bag
Include cross beam frame（41）, support frame（42）, reductor（43）, shaft coupling（44）, support base（45）, rolling bearing units（46）, ball wire
Bar（47）And feed screw nut's seat（48）, slide unit（49）；Described cross beam frame（41）With waist mechanism（3）Connection, described branch
Support（42）It is fixed on cross beam frame（41）One end, described reductor（43）Located at support frame（42）On, described reductor
（43）Pass through shaft coupling（44）With ball screw（47）Connection, described ball screw（47）Both ends pass through rolling bearing units（46）
With support base（45）Connection, described support base（45）It is fixed at cross beam frame（41）On；Described slide unit（49）With screw mandrel spiral shell
Female seat（48）Connection, described feed screw nut's seat（48）With ball screw（47）It is connected；Described cross beam frame（41）On set
There are the guide rail of projection, described slide unit（49）It is provided with the groove being connected with guide rail, described slide unit（49）Pass through groove
With guide rail and cross beam frame（41）It is slidably connected.
A kind of 6. punching press loading and unloading manipulator according to claim 5, it is characterised in that described wrist mechanism（5）Bag
Include linking arm（51）, the second double-acting cylinder（52）, the first connecting plate（53）, the second connecting plate（54）；Described linking arm
（51）One end and slide unit（49）Connection, the second described double-acting cylinder（52）Including cylinder body and cylinder piston rod, described cylinder
Body is fixed at linking arm（51）On, described cylinder piston rod one end is connected with cylinder body, the other end and the first connecting plate（53）
It is rotatablely connected by the first connector, the first described connecting plate（53）The other end pass through the second connector and the second connecting plate
（54）Connection, described the second connector and the first connecting plate（53）It is rotatably connected, with the second connecting plate（54）It is fixedly connected；
The second described connecting plate（54）One end pass through the 3rd connector and linking arm（51）Away from slide unit（49）One end rotate connect
Connect.
A kind of 7. punching press loading and unloading manipulator according to claim 5, it is characterised in that the first described connecting plate（53）
Including the first short slab and the second short slab, the first described short slab is connected with the second short slab in 60 ° ~ 120 °.
8. a kind of punching press loading and unloading manipulator according to claim 5, it is characterised in that the first described connector and
One connecting plate（53）Between, the second connector and the first connecting plate（53）Between, the 3rd connector and linking arm（51）And the
Two connecting plates（54）Between be equipped with self-aligning thrust roller bearing（55）.
A kind of 9. punching press loading and unloading manipulator according to claim 6, it is characterised in that described grasping mechanism（6）Bag
Include head rod（61）, the second connecting rod（62）, single-acting cylinder（63）And multiple vacuum cups（64）；Described list
Active cylinder（63）Including cylinder body and cylinder piston rod；Described head rod（61）One end and the second connecting plate（54）It is fixed
Connection, the other end and single-acting cylinder（63）Cylinder body be fixedly connected；Described cylinder piston rod one end is connected with cylinder body, another
End and the second connecting rod（62）It is fixedly connected, described vacuum cup（64）With the second connecting rod（62）Connection and/or cylinder are lived
Stopper rod connects.
A kind of 10. punching press loading and unloading manipulator according to claim 9, it is characterised in that described vacuum cup（64）
On be additionally provided with buffer body（65）, described vacuum cup（64）Pass through buffer body（65）With the second connecting rod（62）And/or cylinder
Piston rod connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954793.4A CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954793.4A CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107598000A true CN107598000A (en) | 2018-01-19 |
| CN107598000B CN107598000B (en) | 2023-11-21 |
Family
ID=61077216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710954793.4A Active CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107598000B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274451A (en) * | 2018-03-20 | 2018-07-13 | 湖北乾奥建设工程有限公司 | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator and operating method |
| CN108501005A (en) * | 2018-02-01 | 2018-09-07 | 东莞市天合机电开发有限公司 | A kind of positioning grabbing device of L-type sheet metal component |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
| CN108789483A (en) * | 2018-07-02 | 2018-11-13 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of multidimensional adjustable type intelligence fishing machinery arm |
| CN108818110A (en) * | 2018-08-27 | 2018-11-16 | 安徽千载佳科技有限公司 | A kind of blanking device of machining |
| CN108839007A (en) * | 2018-07-02 | 2018-11-20 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of intelligence fishing machinery arm |
| CN108925516A (en) * | 2018-07-02 | 2018-12-04 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of modified intelligence fishing machinery arm |
| CN110053070A (en) * | 2019-05-06 | 2019-07-26 | 胡杰 | A kind of joint of robot device of the flexible driving of imitative muscle |
| CN110405100A (en) * | 2019-08-18 | 2019-11-05 | 无锡市华光金属科技有限公司 | A kind of manipulator general assembly |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
| CN113351780A (en) * | 2021-06-01 | 2021-09-07 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| WO2022099740A1 (en) * | 2020-11-11 | 2022-05-19 | 昆山合德欣精密模具有限公司 | Automatic unloading manipulator for stamping press |
| CN117484526A (en) * | 2023-12-29 | 2024-02-02 | 泓浒(苏州)半导体科技有限公司 | Mechanical arm linkage structure for conveying wafers and control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| DE202012008988U1 (en) * | 2012-09-19 | 2012-10-25 | Alpha-Tec Krimpmann Gmbh | Handling device with a manipulator for pieces of material |
| CN202642852U (en) * | 2012-07-12 | 2013-01-02 | 浙江工业大学 | Simple industrial manipulator |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| CN104192567A (en) * | 2014-08-04 | 2014-12-10 | 河南省中原内配股份有限公司 | Cylinder sleeve workblank transfer device |
| CN204867161U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Five punching press machinery hands |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206356486U (en) * | 2017-01-04 | 2017-07-28 | 福州承昌机械有限公司 | A kind of Multi-station punching machine capture apparatus |
| CN207288688U (en) * | 2017-10-13 | 2018-05-01 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
-
2017
- 2017-10-13 CN CN201710954793.4A patent/CN107598000B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| CN202642852U (en) * | 2012-07-12 | 2013-01-02 | 浙江工业大学 | Simple industrial manipulator |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| DE202012008988U1 (en) * | 2012-09-19 | 2012-10-25 | Alpha-Tec Krimpmann Gmbh | Handling device with a manipulator for pieces of material |
| CN104192567A (en) * | 2014-08-04 | 2014-12-10 | 河南省中原内配股份有限公司 | Cylinder sleeve workblank transfer device |
| CN204867161U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Five punching press machinery hands |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206356486U (en) * | 2017-01-04 | 2017-07-28 | 福州承昌机械有限公司 | A kind of Multi-station punching machine capture apparatus |
| CN207288688U (en) * | 2017-10-13 | 2018-05-01 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501005A (en) * | 2018-02-01 | 2018-09-07 | 东莞市天合机电开发有限公司 | A kind of positioning grabbing device of L-type sheet metal component |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
| CN108274451A (en) * | 2018-03-20 | 2018-07-13 | 湖北乾奥建设工程有限公司 | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator and operating method |
| CN108789483A (en) * | 2018-07-02 | 2018-11-13 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of multidimensional adjustable type intelligence fishing machinery arm |
| CN108839007A (en) * | 2018-07-02 | 2018-11-20 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of intelligence fishing machinery arm |
| CN108925516A (en) * | 2018-07-02 | 2018-12-04 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of modified intelligence fishing machinery arm |
| CN108818110B (en) * | 2018-08-27 | 2020-06-02 | 安徽省卓创信息科技服务有限公司 | Unloader that machining used |
| CN108818110A (en) * | 2018-08-27 | 2018-11-16 | 安徽千载佳科技有限公司 | A kind of blanking device of machining |
| CN110053070A (en) * | 2019-05-06 | 2019-07-26 | 胡杰 | A kind of joint of robot device of the flexible driving of imitative muscle |
| CN110405100A (en) * | 2019-08-18 | 2019-11-05 | 无锡市华光金属科技有限公司 | A kind of manipulator general assembly |
| WO2022099740A1 (en) * | 2020-11-11 | 2022-05-19 | 昆山合德欣精密模具有限公司 | Automatic unloading manipulator for stamping press |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
| CN113351780A (en) * | 2021-06-01 | 2021-09-07 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| CN113351780B (en) * | 2021-06-01 | 2022-04-29 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| CN117484526A (en) * | 2023-12-29 | 2024-02-02 | 泓浒(苏州)半导体科技有限公司 | Mechanical arm linkage structure for conveying wafers and control method thereof |
| CN117484526B (en) * | 2023-12-29 | 2024-03-19 | 泓浒(苏州)半导体科技有限公司 | Mechanical arm linkage structure for conveying wafers and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107598000B (en) | 2023-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107598000A (en) | A kind of punching press loading and unloading manipulator | |
| CN207288688U (en) | A kind of punching press loading and unloading manipulator | |
| CN103963071B (en) | A kind of mechanical hand | |
| CN201086290Y (en) | Pneumatic three free degree mechanical arm | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| CN204431245U (en) | A kind of circular cylindrical coordinate machinery hand being applicable to workpiece handling | |
| CN105665317B (en) | High-cleanness battery cover board cleaning treatment full-automatic assembly line | |
| CN104786215A (en) | Cylindrical coordinate type robot | |
| CN104149096B (en) | A kind of can the Delta structure parallel manipulator that moves of precision three-dimensional | |
| CN204997674U (en) | Three degree of freedom servo manipulators of transport circuit breaker | |
| CN105522562A (en) | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion | |
| CN103433342A (en) | Bidirectional edge folding mechanism for sheet material | |
| CN106564066A (en) | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand | |
| CN107280566A (en) | A kind of intelligent machine device for glass cleaning based on Internet of Things | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN108177310A (en) | Rotary machine hand | |
| CN204770979U (en) | Last unloader of gear -hobbing machine | |
| CN207841302U (en) | A kind of universal five axis robots device | |
| CN106737603A (en) | A kind of moving platform mechanism of ball-screw series connection pinion and-rack | |
| CN203993908U (en) | A kind of Special manipulator for injection molding machine telescoping mechanism | |
| CN201998175U (en) | Planar articulated robot arm component | |
| CN104842019A (en) | Hobbing machine feeding and discharging device | |
| CN110394414A (en) | A kind of bearer ring forging and stamping Synchronous Transmission shields and sustain manipulator | |
| CN211363223U (en) | Nut and workpiece injection molding equipment | |
| CN210366917U (en) | Bottle cap screwing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Hu Jiezhen Inventor after: Wang Kun Inventor after: Wang Gui Inventor after: Deng Peichang Inventor after: Tian Yuwan Inventor before: Wang Kun Inventor before: Wang Gui Inventor before: Hu Jiezhen Inventor before: Deng Peichang Inventor before: Tian Yuwan |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |