CN108856547A - A kind of punching machine haul manipulator - Google Patents
A kind of punching machine haul manipulator Download PDFInfo
- Publication number
- CN108856547A CN108856547A CN201711333211.7A CN201711333211A CN108856547A CN 108856547 A CN108856547 A CN 108856547A CN 201711333211 A CN201711333211 A CN 201711333211A CN 108856547 A CN108856547 A CN 108856547A
- Authority
- CN
- China
- Prior art keywords
- haul
- rack
- frame
- punching machine
- carrying mechanism
- 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
Links
- 238000004080 punching Methods 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 71
- 230000002547 anomalous effect Effects 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Manufacturing And Processing Devices For Dough (AREA)
Abstract
The invention discloses a kind of punching machine haul manipulators, including rack, the frame lower is provided with horizontally movable haul mechanism, rack be respectively arranged with above the haul mechanism can horizontal anomalous movement Material moving device, and can vertical lifting and what is moved horizontally mention material carrying mechanism, the material carrying mechanism that mentions is provided with several positioning sucker disks for mentioning material sucker and several movable positioning.The loading and unloading that this manipulator can efficiently carry out large-sized numerical control punching machine are automatically brought into operation, and it is convenient to transpose, and dispensing precision is good, without greatly improving work efficiency while manpower operation.
Description
The application be the applying date be August in 2016 12, application No. is a kind of 2016106662438, entitled " punchings
The divisional application of the patent application of bed haul manipulator ".
Technical field
The present invention relates to a kind of punching machine haul manipulators.
Background technique
Now, numerical control press can be realized automatic control, be carried out continuously a large amount of slug process, these numerical control presses are matched
Conjunction has machine feeding hand to be assisted, to realize fully automatic feeding, so that the working efficiency of punching machine is improved, still, for large size
Numerical control press common machine feeding hand or be difficult to slug accurately putting punching machine since slug area occupies very big
Above or slug cannot be born, dispensing precision is also bad, transports efficiency and also receives influence, is not able to satisfy large-sized numerical control punching machine
Demand.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of large-sized numerical control punching machine automatic loading/unloading of can be used in
Punching machine haul manipulator.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of punching machine haul manipulator, including rack, the frame lower are provided with horizontally movable haul mechanism, rack in
Be respectively arranged with above the haul mechanism can horizontal anomalous movement Material moving device, and can vertical lifting and what is moved horizontally mention material
Carrying mechanism, the material carrying mechanism that mentions are provided with several positioning sucker disks for mentioning material sucker and several movable positioning.
As an improvement of the above technical solution, the haul mechanism from top to bottom includes the upper haul that can be horizontally vertically moved
Frame, middle haul frame and lower haul frame, and the lower haul frame can oscilaltion, the Material moving device includes horizontal longitudinal
Sucker is provided on the downside of the traversing material bar of mobile vertical shift material bar and horizontal transverse movement, the vertical shift material bar and traversing material bar.
As a further improvement of the above technical scheme, the rack by inside to outside be respectively arranged with support it is described under
Haul frame, middle haul frame, the guide rail of upper haul frame and vertical shift material bar and hydraulic, pneumatically or electrically driving device, lower haul
Frame, middle haul frame, upper haul frame and vertical shift material bar are provided with matched sliding block.
Further, the lower haul erection, which is equipped with, intersects telescoping mechanism and driving cylinder, and the driving cylinder, which pulls to intersect, to be stretched
Mechanism makes it lift the pallet on lower haul frame top.
Further, the traversing material bar is mounted on the rack by a lateral channel steel, and traversing material bar passes through guide rail
With sliding block and the laterally movable connection of channel steel, and channel steel is provided with lateral rack gear, traversing material bar be provided with motor by gear with
Rack drives connection.
Further, the material carrying mechanism that mentions is mounted on the rack by a channel steel extended laterally outward, mentions material
Carrying mechanism is by guide rail and sliding block and the laterally movable connection of channel steel, and channel steel is provided with lateral rack gear, mentions material carrying mechanism
Motor is provided with to be drivingly connected by wheel and rack.
Further, the material carrying mechanism that mentions is vertically arranged with diagonal-cut rack, is provided with motor in rack and passes through helical gear
It is drivingly connected with diagonal-cut rack.
Further, the positioning sucker disk is mounted on by horizontal and reducible oscillating cylinder and described mentions material carrying mechanism
On, positioning sucker disk is connected to the front end of the oscillating cylinder, and the rear end of oscillating cylinder can be hinged on turning vertically described to be mentioned material and remove
It transports in mechanism.
The beneficial effects of the invention are as follows：
The loading and unloading that this manipulator can efficiently carry out large-sized numerical control punching machine are automatically brought into operation, and it is convenient to transpose, and dispensing precision is good, nothing
It is greatly improved work efficiency while needing manpower to operate.
Detailed description of the invention
Fig. 1 is mounting structure schematic diagram of the invention；
Fig. 2 is the partial structural diagram that material carrying mechanism is mentioned in the present invention.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to Figures 1 and 2, a kind of punching machine haul manipulator of the invention, including rack 1,1 lower part of rack are provided with
Horizontally movable haul mechanism 2, rack 1 be respectively arranged with above the haul mechanism 2 can horizontal anomalous movement Material moving device
3, and can vertical lifting and move horizontally mention material carrying mechanism 4, it is described mention material 4 downside of carrying mechanism be provided with several mention
Expect the positioning sucker disk 42 of sucker 41 and several movable positioning.
The haul mechanism 2 from top to bottom includes upper haul frame 21, middle haul frame 22 and the lower fortune that can be horizontally vertically moved
Expect frame 23, and the lower haul frame 23 can oscilaltion, the Material moving device 3 includes the vertical shift material to horizontally vertically move
The traversing material bar 32 of bar 31 and horizontal transverse movement has been uniformly arranged sucker on the downside of the vertical shift material bar 31 and traversing material bar 32,
The material carrying mechanism 4 that mentions is located at the longitudinal side of rack 1, and the upper haul frame 21, middle haul frame 22 and lower haul frame 23 move
When moving to side longitudinal described in rack 1 with to mention material carrying mechanism 4 vertical corresponding.
Lower haul frame 23 can be used as the feeding platform after the first material platform or punching press, and middle haul frame 22 mentions material as described in confession
Carrying mechanism 4 holds the platform of slug, and upper haul frame 21 is then used as material returned platform, is mentioned by vertical shift material bar 31 and traversing material bar 32
Slug is drawn, then longitudinal movement and lifting between three haul framves is cooperated to carry out haul operation.
The rack 1 is laterally vertically arranged with the support lower haul frame 23, middle haul frame respectively by inside to outside
22, the guide rail of upper haul frame 21 and vertical shift material bar 31, and hydraulic, the pneumatically or electrically driving device that drive it to move, lower fortune
Material frame 23, middle haul frame 22, upper haul frame 21 and vertical shift material bar 31 are provided with matched sliding block.
The lower haul frame 23, which is provided with, intersects telescoping mechanism and driving cylinder, and the driving cylinder pulls intersection telescoping mechanism to make
Its pallet for lifting lower 23 top of haul frame.
The traversing material bar 32 is mounted in the rack 1 by a lateral channel steel, traversing material bar 32 by guide rail and
Sliding block and the laterally movable connection of channel steel, and channel steel is provided with lateral rack gear, traversing material bar 32 be provided with motor by gear with
Rack drives connection.
The material carrying mechanism 4 that mentions is mounted in the rack 1 by a channel steel extended laterally outward, mentions material carrying implement
Structure 4 is by guide rail and sliding block and the laterally movable connection of channel steel, and channel steel is provided with lateral rack gear, mentions material carrying mechanism 4 and is arranged
There is motor to be drivingly connected by wheel and rack.
The material carrying mechanism 4 that mentions is vertically arranged with diagonal-cut rack, and motor is provided in rack 1 and passes through helical gear and helical teeth
The cooperation of rack drives connection, helical gear and diagonal-cut rack has certain static locking effect.
It described mention material as shown in Fig. 2, the positioning sucker disk 42 is mounted on by horizontal and reducible oscillating cylinder 43 and removes
It transports in mechanism 4, positioning sucker disk 42 is connected to the front end of the oscillating cylinder 43, and it is hinged that the rear end of oscillating cylinder 43 can turn ground vertically
It is mentioned on material carrying mechanism 4 described, 43 normality of oscillating cylinder and horizontal vertical and horizontal mention material carrying mechanism 4 respectively at angle
When slug is placed into punching machine, slug is only adsorbed by positioning sucker disk 42, when slug is contacted with the position-limit mechanism of punching machine, with pendulum
It takes offence the swing of cylinder, ajusts slug therewith, last positioning sucker disk 42 is releasable slug.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, as long as with essentially identical
Means realize that the technical solution of the object of the invention belongs within protection scope of the present invention.
Claims (6)
1. a kind of punching machine haul manipulator, it is characterised in that：Including rack, the frame lower is provided with horizontally movable fortune
Expect mechanism, rack be respectively arranged in the haul mechanism above can horizontal anomalous movement Material moving device, and can vertical lifting with
What is moved horizontally mentions material carrying mechanism, it is described mention material carrying mechanism and be provided with several mention determining for material sucker and several movable positioning
Position sucker, the haul mechanism from top to bottom includes the upper haul frame, middle haul frame and lower haul frame that can be horizontally vertically moved, and
The lower haul frame can oscilaltion, the Material moving device includes that the vertical shift material bar to horizontally vertically move and horizontal cross are moved
It is provided with sucker on the downside of dynamic traversing material bar, the vertical shift material bar and traversing material bar, the rack is set respectively by inside to outside
Be equipped with the guide rail for supporting the lower haul frame, middle haul frame, upper haul frame and vertical shift material bar and it is hydraulic, pneumatically or electrically drive
Dynamic device, lower haul frame, middle haul frame, upper haul frame and vertical shift material bar are provided with matched sliding block.
2. a kind of punching machine haul manipulator according to claim 1, it is characterised in that：The lower haul erection is equipped with intersection
Telescoping mechanism and driving cylinder, the driving cylinder pull intersection telescoping mechanism that it is made to lift the pallet on lower haul frame top.
3. a kind of punching machine haul manipulator according to claim 1, it is characterised in that：The traversing material bar is lateral by one
Channel steel be mounted on the rack, traversing material bar is by guide rail and sliding block and the laterally movable connection of channel steel, and channel steel is provided with
Lateral rack gear, traversing material bar are provided with motor and are drivingly connected by wheel and rack.
4. according to right want 1 described in a kind of punching machine haul manipulator, it is characterised in that：The material carrying mechanism that mentions passes through a cross
It is mounted on the rack to outwardly extending channel steel, mentions material carrying mechanism and pass through guide rail and sliding block and the laterally movable company of channel steel
It connects, and channel steel is provided with lateral rack gear, mentions and expect that carrying mechanism is provided with motor and passes through wheel and rack drive connection.
5. a kind of punching machine haul manipulator according to claim 1, it is characterised in that：The material carrying mechanism that mentions is set vertically
It is equipped with diagonal-cut rack, motor is provided in rack and is drivingly connected by helical gear and diagonal-cut rack.
6. a kind of punching machine haul manipulator according to claim 1, it is characterised in that：The positioning sucker disk by horizontal and
Reducible oscillating cylinder is mounted on described mention and expects on carrying mechanism that positioning sucker disk is connected to the front end of the oscillating cylinder, pendulum
The take offence rear end of cylinder can be hinged on described mention on material carrying mechanism with turning vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333211.7A CN108856547A (en) | 2016-08-12 | 2016-08-12 | A kind of punching machine haul manipulator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333211.7A CN108856547A (en) | 2016-08-12 | 2016-08-12 | A kind of punching machine haul manipulator |
| CN201610666243.8A CN106111832B (en) | 2016-08-12 | 2016-08-12 | A punch transport manipulator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610666243.8A Division CN106111832B (en) | 2016-08-12 | 2016-08-12 | A punch transport manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108856547A true CN108856547A (en) | 2018-11-23 |
Family
ID=57257935
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711333211.7A Pending CN108856547A (en) | 2016-08-12 | 2016-08-12 | A kind of punching machine haul manipulator |
| CN201610666243.8A Active CN106111832B (en) | 2016-08-12 | 2016-08-12 | A punch transport manipulator |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610666243.8A Active CN106111832B (en) | 2016-08-12 | 2016-08-12 | A punch transport manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108856547A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774348A (en) * | 2019-11-11 | 2020-02-11 | 赣州逸豪新材料股份有限公司 | Copper foil precision cutting equipment and method thereof |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106425471A (en) * | 2016-12-06 | 2017-02-22 | 江苏理工学院 | Automatic assembly production line of screws, plastic sheets and fan heat pipe assemblies |
| CN107052181A (en) * | 2017-06-09 | 2017-08-18 | 金德精密配件（苏州）有限公司 | Numerical control press metal plate automatic loading and unloading manipulator |
| CN107253144B (en) * | 2017-08-16 | 2024-02-23 | 无锡市环弘自动化科技有限公司 | Automatic manipulator of four-station down-swinging lens polishing machine |
| CN107552695A (en) * | 2017-09-29 | 2018-01-09 | 中铁隆昌铁路器材有限公司 | Transporter and forcing press |
| CN107552670B (en) * | 2017-10-25 | 2023-10-20 | 安徽工程大学 | Stamping feeding robot |
| CN112893670A (en) * | 2021-01-18 | 2021-06-04 | 广东鑫光智能系统有限公司 | Unilateral adjusting clamp |
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| CN102179808A (en) * | 2011-04-11 | 2011-09-14 | 李亮 | Flexible plate punching machine manipulator |
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| JP2002263981A (en) * | 2001-03-14 | 2002-09-17 | Murata Mach Ltd | Suction control device for plate suction-lifting device |
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| CN204638951U (en) * | 2015-05-13 | 2015-09-16 | 中国东方电气集团有限公司 | An adjustable adsorption head with full coverage in polar coordinates |
| CN105328064B (en) * | 2015-12-01 | 2017-08-08 | 东莞市东平机械有限公司 | Automatic feeding and discharging production line for plates |
| CN205328211U (en) * | 2015-12-21 | 2016-06-22 | 东莞市天富励德实业有限公司 | An automatic loading and unloading device |
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2016
- 2016-08-12 CN CN201711333211.7A patent/CN108856547A/en active Pending
- 2016-08-12 CN CN201610666243.8A patent/CN106111832B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006130518A (en) * | 2004-11-04 | 2006-05-25 | Aida Eng Ltd | Conveying apparatus, conveying robot and press line |
| CN102179808A (en) * | 2011-04-11 | 2011-09-14 | 李亮 | Flexible plate punching machine manipulator |
| CN205169738U (en) * | 2015-11-30 | 2016-04-20 | 华东交通大学 | Particulate matter wrapping bag transmission and device of ajusting |
| CN205436859U (en) * | 2015-12-31 | 2016-08-10 | 东莞大同数控机械有限公司 | A unilateral automatic loading and unloading device |
| CN105668235A (en) * | 2016-03-23 | 2016-06-15 | 湖州中辰建设有限公司 | Architectural glass encasement device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774348A (en) * | 2019-11-11 | 2020-02-11 | 赣州逸豪新材料股份有限公司 | Copper foil precision cutting equipment and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106111832A (en) | 2016-11-16 |
| CN106111832B (en) | 2018-01-09 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190829 Address after: 421021 No. 57 Furong Road, Xiangxiang District, Hengyang City, Hunan Province Applicant after: Xiao Liuchun Address before: 529000 Jinou Road 393, Jianghai District, Jiangmen City, Guangdong Province Applicant before: Jiangmen Hong Cheng Precision Manufacturing Co., Ltd. |
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| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181123 |
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| WD01 | Invention patent application deemed withdrawn after publication |