CN107900246A - A kind of feeding mechanical hand for stamping equipment - Google Patents

A kind of feeding mechanical hand for stamping equipment Download PDF

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Publication number
CN107900246A
CN107900246A CN201711416183.5A CN201711416183A CN107900246A CN 107900246 A CN107900246 A CN 107900246A CN 201711416183 A CN201711416183 A CN 201711416183A CN 107900246 A CN107900246 A CN 107900246A
Authority
CN
China
Prior art keywords
cylinder
guide rod
stent
telescopic
hydraulic cylinder
Prior art date
Application number
CN201711416183.5A
Other languages
Chinese (zh)
Inventor
苑明海
孙超
周灼
马可
陈勇
李凡
Original Assignee
河海大学常州校区
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 河海大学常州校区 filed Critical 河海大学常州校区
Priority to CN201711416183.5A priority Critical patent/CN107900246A/en
Publication of CN107900246A publication Critical patent/CN107900246A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, 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
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/04Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, 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
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/18Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work

Abstract

The present invention relates to a kind of feeding mechanical hand for stamping equipment, including engine base, the stent being placed on engine base, the lifting drive and device for revolving and driving for being used for controlling the support motion are equipped between the engine base and stent, telescopic device is fixed with the stent, the piston end of the telescopic device is fixed with for the direct hand contacted with workpiece to be handled, and the hand is Acetabula device.The present invention is designed by rational mechanism, utilize the horizontal rotation of device for revolving and driving driving manipulator, the oscilaltion of lifting drive driving manipulator, telescopic device driving manipulator horizontal extension three degree of freedom moves, and realizes the rising of manipulator, horizontal rotation, horizontal extension, decline, hand sucker suction workpiece, completes manipulator after carrying and be returned to original state again;Realize the carrying work to large-scale frangible stamping parts, improve the efficiency of punching production, save human resources, reduce production cost.

Description

A kind of feeding mechanical hand for stamping equipment
Technical field
The present invention relates to a kind of manipulator, more particularly to a kind of feeding mechanical hand for stamping equipment.
Background technology
Now, due to the rapid development of technology so that punching production ratio shared in machinery production is increasing, leads to Normal stamping parts build is larger and is easily damaged, and breakage and because the punching of the finished product of stamping parts are often resulted in artificial handling process Casting die build is larger to cause handling efficiency low, seriously affects the economic effect of stamping equipment production efficiency and final product quality and enterprise Benefit.
Therefore, a kind of feeding mechanical hand for stamping equipment is proposed based on the above problem, the present invention, designed favourable In the feeding mechanical hand of carrying large stamping parts, also improved while stamping parts final product quality is ensured punching production efficiency, Human resources are saved, ensures production safety, reduce the advantages that production cost, the present invention is suitable for punching production instantly.
The content of the invention
It is an object of the invention to provide easy to carry the haulage equipment of breakable large-scale stamping parts, the present invention is for reality Existing above-mentioned purpose, the technical solution taken are:A kind of feeding mechanical hand for stamping equipment, including engine base, it is placed in engine base On stent, between the engine base and stent be equipped be used for control the support motion lifting drive and revolution driving dress Put, telescopic device is fixed with the stent, the piston end of the telescopic cylinder is fixed with for directly being connect with workpiece to be handled Tactile hand, the hand are Acetabula device.
Further, the telescopic device is telescopic hydraulic cylinder, along the telescopic hydraulic cylinder direction of motion on the stent Equipped with the first guide rod and the second guide rod being parallel to each other, the piston end of the telescopic hydraulic cylinder is fixed with guide rod coupling sleeve, described Guide rod connector sleeve is equipped with first through hole and the second through hole, and first guide rod is slidably connected the guide rod connection through first through hole Knot set, second guide rod are slidably connected the guide rod coupling sleeve through the second through hole, and the hand is fixed on institute by connecting rod State on guide rod coupling sleeve.
Further, the guide rod is L-type, and the Acetabula device is fixed on the guide rod away from the guide rod coupling sleeve One end.
Further, the Acetabula device includes being used for gently sucking the big adsorption plane in startup face and for sucking useful effect The small adsorption plane in face.
Further, the Acetabula device uses vacuum pump as power source.
Further, the lifting drive is lifting hydraulic cylinder, and the lifting hydraulic cylinder is including large cylinder and admittedly Surely the small cylinder of big the cylinder piston is connected, the small cylinder passes through stent described in long axis connection.
Further, the device for revolving and driving is rotating hydraulic cylinder, and the rotating hydraulic cylinder rotation axis passes through spline Connect major axis.
The beneficial effect that the present invention is reached:The above-mentioned technical proposal that the present invention uses, one kind of invention are set for punching press Standby feeding mechanical hand, is designed by rational mechanism, utilizes the horizontal rotation of rotating hydraulic cylinder driving manipulator, raise-lower hydraulic The oscilaltion of cylinder driving manipulator, telescopic device driving manipulator horizontal extension three degree of freedom movement, realizes manipulator Rising, horizontal rotation, horizontal extension, decline, hand sucker suction workpiece, complete carry after manipulator be returned to initial shape again State;Realize the carrying work to large-scale frangible stamping parts, improve the efficiency of punching production, save human resources, reduce life Produce cost.
Brief description of the drawings
The structure diagram of feeding mechanical hand in Fig. 1 present invention;
The structure diagram of guide rod connector sleeve and connecting rod in Fig. 2 present invention;
The structural scheme of mechanism of lifting drive, device for revolving and driving and stent connection in Fig. 3 present invention;
The sectional view of telescopic hydraulic cylinder in Fig. 4 present invention;
The sectional view of lifting drive and device for revolving and driving in Fig. 5 present invention.
1, engine base in figure, 2, stent, 3, lifting hydraulic cylinder, 3-1-1, large cylinder cylinder body, 3-1-2, large cylinder cylinder cap are 3-2-1, small Cylinder cylinder body, 3-2-2, small cylinder cylinder cap, 3-3, angular contact ball bearing, 3-1-3, second piston, 3-4, the second O-ring seal, 3-5, Connector sleeve, 4, rotating hydraulic cylinder, 4-1, rotary cylinder cylinder body, 4-2, rotary cylinder cylinder cap, 4-3, rotary cylinder blade, 4-4, deep-groove ball axis Hold, 4-5, fixed block, 4-6, hub splines, 5, telescopic hydraulic cylinder, 5-1, telescoping cylinder cylinder body, 5-2, flexible cylinder end cap, 5-3, the One piston rod, 5-4, spacer, 5-5, the first O-ring seal, 5-6, first piston, 6, major axis, the 7, first guide rod, 8, second leads Bar, 9, guide rod coupling sleeve, 9-1, first through hole, 9-2, the second through hole, 10, connecting rod, 10-1, first connecting rod, 10-2, second connect Bar, 11, Acetabula device,.
Embodiment
Further details of explanation is done to the present invention with reference to the accompanying drawings and detailed description, it should be appreciated that Protection scope of the present invention and from the limitation of embodiment.
As shown in Figure 1, a kind of feeding mechanical hand for stamping equipment in the present invention, including engine base 1, it is placed in engine base 1 On stent 2, between engine base 1 and stent 2 be equipped be used for control stent 2 move lifting drive and device for revolving and driving, Telescopic device is fixed with stent 2, the piston end of telescopic device is fixed with for the direct hand contacted with workpiece to be handled, hand Portion selects 4 vacuum type suckers, and the sucker has small one and large one two adsorption planes, and big adsorption plane gently sucks startup face, small suction Attached face sucks useful effect face, and the sucker uses vacuum pump as power source, and air-inlet of vacuum pump produces negative pressure, exhaust outlet For atmospheric pressure, sucker is produced vacuum, firmly adsorb workpiece.The hand passes through L-type connecting rod 10 and bolt It is fixed on the guide rod coupling sleeve 9 of double Rod guiding devices, L-type connecting rod 10 includes the first connecting rod being connected with guide rod coupling sleeve 9 The 10-1 and second connecting rod 10-2 being connected with Acetabula device 11, the first connecting rod 10-1 and second connecting rod 10-2 are hung down by bolt Direct-connected to connect, the telescopic device is telescopic hydraulic cylinder 5, is equipped with the stent 2 along 5 direction of motion of telescopic hydraulic cylinder mutual Parallel the first guide rod 7 and the second guide rod 8, the piston end of the telescopic hydraulic cylinder 5 is fixedly connected with guide rod coupling sleeve 9, described to lead Bar coupling sleeve 9 is equipped with first through hole 9-1 and the second through hole 9-2, first guide rod 7 are slidably connected through first through hole 9-1 The guide rod coupling sleeve 9, second guide rod 8 are slidably connected the guide rod coupling sleeve 9 through the second through hole 9-2, the hand It is fixed on by connecting rod 10 on the guide rod coupling sleeve 9.The telescopic hydraulic cylinder 5 is the company by guide rod coupling sleeve 9 Bar 10 and hand provide driving, and the device for revolving and driving is rotating hydraulic cylinder 5, and rotating hydraulic cylinder 5 realizes the machinery Hand rotary motion.
The first guide rod 7 and the second guide rod 8 of the present invention selects two hollow steel pipes to be symmetrically distributed in the telescopic hydraulic 5 both sides of cylinder, are against on guide rod guide sleeve at the both ends of the guide rod, and the guide rod guide sleeve is fixed on stent 2 using screw On, 5 movement travel of telescopic hydraulic cylinder is longer, so making its load movement steady using double Rod guiding devices.
As shown in Figure 1, 2, lifting drive, that is, lifting hydraulic cylinder 3 in the present invention is fixed by major axis 6 and stent 2 and connected Connect, 6 one end of major axis is connected by 6 connector sleeve 3-5 of major axis with stent 2, lifting hydraulic cylinder 3 be placed in rotating hydraulic cylinder 5 and stent 2 it Between, lifting hydraulic cylinder 3 uses the structure of the nested small cylinder of large cylinder, and the small cylinder is connected by bearing with major axis 6, transmits torque, Piston rod of the small cylinder as the large cylinder, promotes small cylinder to move up and down by second piston 3-1-3, realizes that lifting is dynamic Work, the lifting hydraulic cylinder 3 and the rotating hydraulic cylinder 5 share the major axis 6 described in one, the other end of the major axis 6 It is connected on the engine base 1.
As shown in figure 3, telescopic hydraulic cylinder 5 of the present invention includes telescoping cylinder cylinder body 5-1, flexible cylinder end cap 5-2, first Piston 5-6 bars 5-3, spacer 5-4, first piston 5-6, the first O-ring seal 5-5, the telescoping cylinder cylinder body 5-1 and telescoping cylinder End cap 5-2 is connected using four screws, and the first piston 5-6 and spacer 5-4 are sleeved on the first piston 5-6 bars 5-3's One end, the other end of the first piston 5-6 bars 5-3 are connected on the guide rod coupling sleeve 9, the first piston 5-6 bars 5-3 is sealed with the telescoping cylinder cylinder cap using the first O-ring seal 5-5.
As shown in figure 4, the lifting hydraulic cylinder 3 in the present invention includes:Large cylinder cylinder body 3-1-1, large cylinder cylinder cap 3-1-2, small cylinder Cylinder body 3-2-1, small cylinder cylinder cap 3-2-2, major axis 6, angular contact ball bearing 3-3, second piston 3-1-3, the second O-ring seal 3-4, Connected between the small cylinder cylinder body 3-2-1 and small cylinder cylinder cap 3-2-2 using four screws, angular contact ball bearing 3-3 sets The small cylinder cylinder body 3-2-1 of lift cylinders is installed in the major axis 6, one end of the major axis 6 is cased with connector sleeve 3-5, 6 other end of major axis is connected to the rotating hydraulic cylinder 5, and described small cylinder cylinder body 3-2-1 one end is cased with second piston 3-1-3, the second piston 3-1-3 select the second O-ring seal 3-4 sealings with the lifting inside wall of cylinder, and described is small In the lift cylinders large cylinder, the large cylinder is connected cylinder sleeve with the large cylinder cylinder cap 3-1-2 using four screws, described Piston rod of the small cylinder of hydraulic cylinder as the hydraulic cylinder large cylinder 37.
As shown in Figure 2,4, body rotation hydraulic cylinder 5 of the present invention includes:Rotary cylinder cylinder body 4-1, rotary cylinder cylinder cap 4-2, rotary cylinder blade 4-3, deep groove ball bearing 4-4, rotary cylinder rotation axis, fixed block 4-5, hub splines 4-6, the revolution Cylinder cylinder body 4-1 is connected with the rotary cylinder cylinder cap 4-2 by four screws, and the rotary cylinder rotation axis is exactly the major axis 6 splined shaft portion, the rotary cylinder blade 4-3 are fixed on the rotary cylinder rotation axis, the rotary cylinder rotation axis Supported by the deep groove ball bearing 4-4, the hub splines 4-6 is sleeved on the rotary cylinder and rotates the tip of the axis.
Detailed, lifting hydraulic cylinder 3 of the invention uses the structure of the nested small cylinder of large cylinder, and small cylinder is connected by bearing with major axis 6, Transmit torque.Large cylinder is connected by end cap and cylinder body with small cylinder, and piston rod of the small cylinder as large cylinder, is promoted on small cylinder by piston Lower movement, realizes lifting action, and the rotating hydraulic cylinder 5 works, and is turned by the splined shaft portion transmission of the major axis 6 Square, drives the Telescopic boom mechanism to turn round and reaches specified angle, and the telescopic hydraulic cylinder 5 works, and promotes first piston 5-6 Bar 5-3, which is protruded horizontally up, reaches designated position, then drives 10 vertical of connecting rod to decline by the lifting hydraulic cylinder 3, institute The Acetabula device 11 stated sucks workpiece using vacuum pump, is resetted after carrying successfully.
It should be noted that herein, such as one and two or the like relational terms be used merely to an entity or Person operates to be distinguished with another entity or operation, is appointed without necessarily requiring or implying existing between these entities or operation What this actual relation or order.
Particular embodiments described above, pair present invention solves the technical problem that, technical solution and beneficial effect carry out It is further described, technological means that should be disclosed in the present invention program is not limited only to the skill disclosed in the above embodiment Art means, further include and formed technical solution are combined by above technical characteristic.It should be pointed out that for the art For those of ordinary skill, various improvements and modifications may be made without departing from the principle of the present invention, these improvement Protection scope of the present invention is also considered as with retouching.

Claims (7)

  1. A kind of 1. feeding mechanical hand for stamping equipment, it is characterised in that:It is described including engine base, the stent being placed on engine base It is equipped between engine base and stent and is used to controlling the lifting drive and device for revolving and driving of the support motion, on the stent Telescopic device is fixed with, the piston end of the telescopic device is fixed with for the direct hand contacted with workpiece to be handled, described Hand is Acetabula device.
  2. 2. the feeding mechanical hand according to claim 1 for stamping equipment, it is characterised in that:The telescopic device is to stretch Contracting hydraulic cylinder, the first guide rod and the second guide rod being parallel to each other are equipped with the stent along the telescopic hydraulic cylinder direction of motion, The piston end of the telescopic hydraulic cylinder is fixed with guide rod coupling sleeve, and the guide rod connector sleeve is equipped with first through hole and second and leads to Hole, first guide rod are slidably connected the guide rod coupling sleeve through first through hole, and second guide rod is slided through the second through hole The dynamic connection guide rod coupling sleeve, the hand are fixed on the guide rod coupling sleeve by connecting rod.
  3. 3. the feeding mechanical hand according to claim 2 for stamping equipment, it is characterised in that:The guide rod is L-type, institute State Acetabula device and be fixed on the one end of the guide rod away from the guide rod coupling sleeve.
  4. 4. the feeding mechanical hand according to claim 1 for stamping equipment, it is characterised in that:The Acetabula device includes Small adsorption plane for the gently big adsorption plane in sucking startup face and for sucking useful effect face.
  5. 5. the feeding mechanical hand according to claim 1 for stamping equipment, it is characterised in that:The Acetabula device uses Vacuum pump is power source.
  6. 6. the feeding mechanical hand according to claim 1 for stamping equipment, it is characterised in that:The lifting driving dress Lifting hydraulic cylinder is set to, the lifting hydraulic cylinder includes large cylinder and the small cylinder for being fixedly connected with big the cylinder piston, and the small cylinder passes through Stent described in long axis connection.
  7. 7. the feeding mechanical hand according to claim 1 for stamping equipment, it is characterised in that:The revolution driving dress Rotating hydraulic cylinder is set to, the rotating hydraulic cylinder rotation axis connects major axis by spline.
CN201711416183.5A 2017-12-25 2017-12-25 A kind of feeding mechanical hand for stamping equipment CN107900246A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711416183.5A CN107900246A (en) 2017-12-25 2017-12-25 A kind of feeding mechanical hand for stamping equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711416183.5A CN107900246A (en) 2017-12-25 2017-12-25 A kind of feeding mechanical hand for stamping equipment

Publications (1)

Publication Number Publication Date
CN107900246A true CN107900246A (en) 2018-04-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711416183.5A CN107900246A (en) 2017-12-25 2017-12-25 A kind of feeding mechanical hand for stamping equipment

Country Status (1)

Country Link
CN (1) CN107900246A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102229143A (en) * 2011-06-22 2011-11-02 于复生 Four-degree-of-freedom pneumatic manipulator
CN203510222U (en) * 2013-07-02 2014-04-02 安徽理工大学 Novel four-freedom-degree pneumatic manipulator structure
CN204109297U (en) * 2014-10-30 2015-01-21 中山力劲机械有限公司 A kind of injection machine automatic catching robot
CN204196170U (en) * 2014-11-12 2015-03-11 晋江市陈埭华堂鞋底厂 A kind of manipulator for capturing sole
CN204220833U (en) * 2014-09-18 2015-03-25 合肥金海康五金机械制造有限公司 A kind of deep-draw pressing mold reclaimer robot
CN205328246U (en) * 2016-02-01 2016-06-22 重庆达瑞森通实业有限公司 Stacking manipulator
CN106553191A (en) * 2015-09-29 2017-04-05 褚秀清 A kind of pneumatic general loading and unloading manipulator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102229143A (en) * 2011-06-22 2011-11-02 于复生 Four-degree-of-freedom pneumatic manipulator
CN203510222U (en) * 2013-07-02 2014-04-02 安徽理工大学 Novel four-freedom-degree pneumatic manipulator structure
CN204220833U (en) * 2014-09-18 2015-03-25 合肥金海康五金机械制造有限公司 A kind of deep-draw pressing mold reclaimer robot
CN204109297U (en) * 2014-10-30 2015-01-21 中山力劲机械有限公司 A kind of injection machine automatic catching robot
CN204196170U (en) * 2014-11-12 2015-03-11 晋江市陈埭华堂鞋底厂 A kind of manipulator for capturing sole
CN106553191A (en) * 2015-09-29 2017-04-05 褚秀清 A kind of pneumatic general loading and unloading manipulator
CN205328246U (en) * 2016-02-01 2016-06-22 重庆达瑞森通实业有限公司 Stacking manipulator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
韩建海: "《工业机器人》", 30 June 2008, 华中科技大学出版社 *

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Application publication date: 20180413