CN108273932A - A kind of automatic transportation manipulator arm for circular grip - Google Patents
A kind of automatic transportation manipulator arm for circular grip Download PDFInfo
- Publication number
- CN108273932A CN108273932A CN201810197296.9A CN201810197296A CN108273932A CN 108273932 A CN108273932 A CN 108273932A CN 201810197296 A CN201810197296 A CN 201810197296A CN 108273932 A CN108273932 A CN 108273932A
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- CN
- China
- Prior art keywords
- actuator
- support arm
- circular grip
- automatic transportation
- clamping
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic transportation manipulator arms for circular grip, including manipulator clamping arm, it is characterised in that：Manipulator clamping arm includes direction actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, the up and down reciprocatingly reciprocal actuator of actuator, anterior-posterior horizontal；Support arm includes branch armed lever and clamping part, and branch armed lever is vertically connected in the horizontal plane on support arm beam, and clamping part includes a pair of of supporting rod, and clamping part carries out periodical folding by opening and closing actuator.Compared with prior art, the beneficial effects of the invention are as follows：It drives four support arms to transport circular grip back and forth on punching machine with direction actuator, not only improves production efficiency, but also improve the safety of the stability and worker's production of product quality.
Description
Technical field
The present invention relates to a kind of automatic transportation manipulator arms for circular grip.
Background technology
Existing circular grip punching course is that circular grip is sleeved in stamping station with hand by worker, waits for that punching machine completes punching
After press operation, then the good circular grip of punching press is rushed in stamping station and is removed, the mode of production efficiency is low, holds stabilization and safety
Difference.
Invention content
The present invention be directed to above-mentioned the deficiencies in the prior art, and provide a kind of automatic transportation manipulator for circular grip
Arm.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, manipulator clamping arm include side
To actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator, anterior-posterior horizontal are past
Multiple actuator；Back and forth driving includes motor and crawler belt to left and right horizontal, and motor-driven caterpillar tracks left and right horizontal moves back and forth, and is set on crawler belt
There are bottom plate, bottom plate to be moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, and lower end and the bottom plate of elevating lever connect
It connects, the upper end of elevating lever and substrate connection, substrate are moved back and forth up and down by elevating lever；The reciprocal actuator packet of anterior-posterior horizontal
Telescopic rod and support arm beam are included, support arm beam is movably connected on substrate, one end of telescopic rod and substrate connection, the other end and support arm beam
Connection, support arm beam carry out front and back move back and forth by telescopic rod；Support arm includes branch armed lever and clamping part, and branch armed lever is in the horizontal plane
It is vertically connected on support arm beam, clamping part includes a pair of of supporting rod, and clamping part carries out periodical folding by opening and closing actuator.
The clamping face of supporting rod is equipped with elastic component.
Elastic component is ball, and the longitudinal section of ball is in 8 fonts, and the clamping face of each supporting rod is equipped with 2 side by side
Ball.
Elastic component is rubber pad, and rubber pad is serrated.
Elevating lever and telescopic rod are hydraulic stem or atmospheric pressure pole.
The joint face of support arm beam and substrate is equipped with guide part, and guide part includes being oriented to groove and directive wheel.
It is hydraulic cylinder or pneumatic cylinder to open and close actuator.
Compared with prior art, the beneficial effects of the invention are as follows：Drive four support arms past on punching machine with direction actuator
Wraparound transports circular grip, not only improves production efficiency, but also improves the safety of the stability and worker's production of product quality.
Description of the drawings
Fig. 1 is the structural schematic diagram of the automatic transportation manipulator arm for circular grip of the present invention.
Wherein, 1- crawler belts, 2- bottom plates, 3- elevating levers, 4- substrates, 5- telescopic rods, 6- support arms beam, 7- branch armed lever, 8- clampings
Bar, 9- balls.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
It should be understood that following specific implementation modes are only illustrative of the invention and is not intended to limit the scope of the invention.It needs
Bright, word "front", "rear" used in the following description, "left", "right", "up" and "down" refer to the direction in attached drawing,
Word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
Figure includes with lower component：1- crawler belts, 2- bottom plates, 3- elevating levers, 4- substrates, 5- telescopic rods, 6- support arms beam, 7- branch
Armed lever, 8- supporting rods and 9- balls.
As shown in Figure 1, a kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, manipulator folder
Gripping arm includes direction actuator and four support arms；Direction actuator include the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator,
The reciprocal actuator of anterior-posterior horizontal；Back and forth driving includes motor and crawler belt to left and right horizontal, and motor-driven caterpillar tracks left and right horizontal is back and forth moved
Dynamic, crawler belt is equipped with bottom plate, and bottom plate is moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, elevating lever
Lower end is connect with bottom plate, and the upper end of elevating lever and substrate connection, substrate are moved back and forth up and down by elevating lever；Anterior-posterior horizontal
Reciprocal actuator includes telescopic rod and support arm beam, and support arm beam is movably connected on substrate, one end of telescopic rod and substrate connection, separately
One end is connect with support arm beam, and support arm beam carries out front and back move back and forth by telescopic rod；Support arm includes branch armed lever and clamping part, support arm
Bar is vertically connected in the horizontal plane on support arm beam, and clamping part includes a pair of of supporting rod, and clamping part is carried out by opening and closing actuator
Periodically folding.
The clamping face of supporting rod is equipped with elastic component.
Elastic component is ball, and the longitudinal section of ball is in 8 fonts, and the clamping face of each supporting rod is equipped with 2 side by side
Ball.
Elastic component is rubber pad, and rubber pad is serrated.
Elevating lever and telescopic rod are hydraulic stem or atmospheric pressure pole.
The joint face of support arm beam and substrate is equipped with guide part, and guide part includes being oriented to groove and directive wheel.
It is hydraulic cylinder or pneumatic cylinder to open and close actuator.
Include that antirust station, No. 1 stamping station and No. 2 stamping stations, the side of workbench are equipped on the workbench of punching machine
Feed station, the other side are equipped with discharging station, feed station, antirust station, No. 1 stamping station, No. 2 stamping stations and discharging work
Position is located on the same line, and the spacing between them is equal.
When work, include the following steps：
(1) clamping part is the state opened, and the reciprocal actuator of left and right horizontal drives support arm to be moved to the left, is located at leftmost
Support arm is aligned with feed station；
(2) the reciprocal actuator of anterior-posterior horizontal drives support arm to move forward, and circular grip is made to be located at the clamping target position of clamping part
Set place；
(3) folding actuator driving clamping part is closed, and clamps circular grip；
(4) up and down reciprocatingly actuator drives support arm to move up, and support arm takes off circular grip from the station of punching machine；
(5) the reciprocal actuator of left and right horizontal drives support arm to move right, and up and down reciprocatingly actuator drives support arm to move down,
Circular grip is transferred on next station by support arm；
(6) folding actuator driving clamping part is opened, and clamping part unclamps circular grip；
(7) the reciprocal actuator of anterior-posterior horizontal drives support arm to move backward；
(8) it completes once to change station manipulation, repeat the above steps.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (7)
1. a kind of automatic transportation manipulator arm for circular grip, including manipulator clamping arm, it is characterised in that：Manipulator clamping
Arm includes direction actuator and four support arms；Direction actuator includes the reciprocal actuator of left and right horizontal, up and down reciprocatingly actuator, preceding
Horizontal reciprocating actuator afterwards；Back and forth driving includes motor and crawler belt to left and right horizontal, and motor-driven caterpillar tracks left and right horizontal moves back and forth,
Crawler belt is equipped with bottom plate, and bottom plate is moved synchronously with crawler belt；Up and down reciprocatingly actuator includes elevating lever and substrate, the lower end of elevating lever
It is connect with bottom plate, the upper end of elevating lever and substrate connection, substrate are moved back and forth up and down by elevating lever；Anterior-posterior horizontal is reciprocal
Actuator includes telescopic rod and support arm beam, and support arm beam is movably connected on substrate, one end of telescopic rod and substrate connection, the other end
It is connect with support arm beam, support arm beam carries out front and back move back and forth by telescopic rod；Support arm includes branch armed lever and clamping part, and branch armed lever exists
It is vertically connected on horizontal plane on support arm beam, clamping part includes a pair of of supporting rod, and clamping part carries out the period by opening and closing actuator
Property folding.
2. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：The clamping of supporting rod
Face is equipped with elastic component.
3. the automatic transportation manipulator arm according to claim 2 for circular grip, it is characterised in that：Elastic component is rubber
The longitudinal section of ball, ball is in 8 fonts, and the clamping face of each supporting rod is equipped with 2 balls side by side.
4. the automatic transportation manipulator arm according to claim 2 for circular grip, it is characterised in that：Elastic component is rubber
Pad, and rubber pad is serrated.
5. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Elevating lever and flexible
Bar is hydraulic stem or atmospheric pressure pole.
6. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Support arm beam and substrate
Joint face be equipped with guide part, guide part includes being oriented to groove and directive wheel.
7. the automatic transportation manipulator arm according to claim 1 for circular grip, it is characterised in that：Opening and closing actuator is
Hydraulic cylinder or pneumatic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810197296.9A CN108273932A (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810197296.9A CN108273932A (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108273932A true CN108273932A (en) | 2018-07-13 |
Family
ID=62809385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810197296.9A Pending CN108273932A (en) | 2018-03-10 | 2018-03-10 | A kind of automatic transportation manipulator arm for circular grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108273932A (en) |
-
2018
- 2018-03-10 CN CN201810197296.9A patent/CN108273932A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180713 |
|
| WD01 | Invention patent application deemed withdrawn after publication |