CN110125264B - Product taking and placing device of stamping robot and rapid feeding and discharging method based on product taking and placing device - Google Patents
Product taking and placing device of stamping robot and rapid feeding and discharging method based on product taking and placing device Download PDFInfo
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- CN110125264B CN110125264B CN201910342223.9A CN201910342223A CN110125264B CN 110125264 B CN110125264 B CN 110125264B CN 201910342223 A CN201910342223 A CN 201910342223A CN 110125264 B CN110125264 B CN 110125264B
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- 238000007599 discharging Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004080 punching Methods 0.000 claims description 27
- 241000252254 Catostomidae Species 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 40
- 230000008569 process Effects 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000010485 coping Effects 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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- 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
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- 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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/06—Stripping-off devices
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a device for taking and placing products by a stamping robot and a device-based rapid feeding and discharging method, which comprises a supporting structure and is characterized in that: the robot manipulator is characterized in that a sucking disc group is arranged below the supporting structure, a framework is fixedly connected in the middle of the upper part of the supporting structure, a quick-change device is arranged in the middle of the top of the framework, a disc-shaped connecting end is connected in the middle of the upper part of the quick-change device through a shaft, and the disc-shaped connecting end is connected with the robot manipulator. The automatic feeding and discharging device has the advantages of simple structure, difficult failure, simple and flexible operation, capability of coping with stamping production of various stamping machines and various products, and simplicity and convenience in later debugging and maintenance, and realizes a method for feeding and discharging in a stamping process by using a manipulator.
Description
Technical Field
The invention relates to the technical field of stamping equipment, in particular to a product taking and placing device of a stamping robot.
Background
The stamping production is the main production of automobile parts, most automobile parts are finally produced through processes of blanking, forming, trimming, shaping and the like by a stamping machine, so that the stamping process is an important point of attention of automobile parts manufacturers and is a key point of industrial survival and development.
The stamping process is typically: the stamping worker holds the material in the stamping machine die by hand, presses the stamping switch by the stamping worker to perform stamping, releases the switch by the stamping worker, resets the sliding block, and takes out the stamping part from the die, so that serious danger hidden danger exists in the stamping production process, safety accidents are often caused by negligence of the stamping worker or faults of the stamping machine, and the accidents are usually serious accidents of life disabilities due to pains, the accidents are usually avoided by enabling the stamping worker to grasp the material by using the safety hands in the industry, but the safety accidents cannot be completely stopped by doing so, and staff do not like to use the safety hands, or do production directly by hands, so that the accidents are not restricted.
The current automatic production is an epoch trend, and an automatic mechanical arm is used for grabbing material products to replace a stamping worker for production, so that potential safety hazards are radically eliminated, safe production is realized, labor cost is saved, production cost is greatly reduced, the method is a development direction of the automobile part production industry, manufacturers incapable of realizing automatic production gradually lose competitiveness, and the manufacturers are obsolete by the market.
Many use the manipulator to operate, the manipulator can remove, also can rotate and operate, but a manipulator only can snatch a product, and can not a manipulator simultaneously material loading or unloading, and a utilization manipulator is the higher requirement of punching press process material loading, unloading more fast.
Disclosure of Invention
The invention aims to provide a method for rapidly feeding and discharging a product taking and placing device of a stamping robot based on the device, which has the advantages of simple structure, difficult fault, simple and flexible operation, and capability of coping with stamping production of various stamping machines and various products and realizing rapid feeding and discharging of stamping procedures.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a stamping robot gets puts product device, includes bearing structure, its characterized in that: the robot manipulator is characterized in that a sucking disc group is arranged below the supporting structure, a framework is fixedly connected in the middle of the upper part of the supporting structure, a quick-change device is arranged in the middle of the top of the framework, a disc-shaped connecting end is connected in the middle of the upper part of the quick-change device through a shaft, and the disc-shaped connecting end is connected with the robot manipulator.
The supporting structure is rectangular and has a length greater than three times of the width of the stamping material sheet, and comprises a supporting frame, wherein the supporting frame is a hollow pipe frame, the top of the supporting frame is fixedly connected with a first mounting plate, the bottom of the supporting frame is fixedly connected with a second mounting plate, and the number of the first mounting plate and the number of the second mounting plate are two. Is rectangular, and is more convenient for positioning the grabbed materials and positioning the processing.
The sucking disc group includes supporting leg and vacuum chuck, the bottom fixed connection vacuum chuck of supporting leg, the bottom fixed connection of top and the support frame of supporting leg, vacuum chuck's quantity is twelve, and evenly distributed is on the bottom of support frame 101 at both sides end respectively, and every vacuum chuck is external vacuum exhaust tube to square 4 are a set of unified control trachea, form three and arrange in proper order with left side, well, right side, utilize the absorption principle of bleeding to adsorb smooth surface material, can realize 3 product simultaneous snatchs.
The quick-change device is provided with a shaft hole in the middle and is connected with a disc-shaped connecting end shaft through the shaft hole, the quick-change device also comprises an upper connecting plate and a lower connecting plate, the upper connecting plate and the lower connecting plate are positioned through guide pins and are fixedly connected through screws through four corners provided with mounting holes, the outer side of the guide pins is provided with a guide sleeve, the lower connecting plate is fixedly connected with a framework through screws, the connection, the installation and the rotation of the quick-change device and a manipulator are convenient,
The disc-shaped connecting end is provided with a connecting hole, so that the connection with the manipulator is further convenient and concise.
A method for rapidly feeding and discharging a product taking and placing device based on a stamping robot is characterized by comprising the following steps of: the method comprises the following steps:
1) Placing a punching machine, a discharging frame, a material position adjusting device and a robot on one side of a product conveying belt, mounting the punching robot taking and placing product device on a robot arm, externally connecting a vacuum suction pipe with a vacuum suction cup, adjusting the positions of all mechanisms, setting a robot program and four suction pipes, arranging the punching machine, the discharging frame and the material position adjusting device side by side along one side of the product conveying belt, and arranging the material position adjusting device between the discharging frame and the punching machine and at a distance from the rolling product conveying distance to the width of the product;
taking and placing 12 vacuum chucks of a product device, wherein 4 vacuum chucks are arranged in a square shape to form three groups which are sequentially arranged in a left, a middle and a right mode, setting the left chuck group as a feeding chuck group, setting the middle as an adjusting material chuck group, setting the right chuck group as a discharging chuck group, and adsorbing smooth surface materials by using an air suction adsorption principle;
2) The mechanical arm moves, and the material clamping disc group (namely 4 vacuum clamping discs in the middle) of the material clamping device is used for clamping materials from the material frame to the material position adjusting device;
3) Placing the material on the material position adjustment plate, and sliding the material on the adjustment plate to a defined position.
4) The mechanical arm moves, and the feeding sucker group (namely 4 vacuum suckers on the left) of the product taking and placing device grabs the materials with the adjusted positions from the adjusting plate;
5) The mechanical arm moves and rotates, the product taking and placing device takes and places the blanking sucker group (namely 4 vacuum suckers on the right) to the punching position of the punching machine to grab the punched product, and the material feeding sucker group continues to adsorb the material;
6) After grabbing the product, the mechanical arm rotates again, the sample absorbed by the feeding sucker group of the mechanical arm is put into the punching machine for punching, and the product is continuously absorbed by the discharging sucker group.
7) The mechanical arm moves and rotates back to the discharging frame, the material adjusting sucker group (namely 4 vacuum suckers in the middle) of the product taking and placing device grabs materials from the material frame and places the materials on the material position adjusting device, and 8) when the material feeding sucker group grabs the materials with the adjusted positions from the adjusting plate, the product feeding sucker group simultaneously places the products on the conveying belt, so that a cycle is formed.
Compared with the prior art, the invention has the following beneficial effects:
1. the product taking and placing device of the stamping robot has the advantages of simple structure, difficult fault, simple and flexible connection operation, capability of coping with stamping production of various stamping machines and various products, easiness in connection of various manipulators, simplicity in structure, convenience in debugging and maintenance in later period, suitability for grabbing, feeding and discharging by the manipulators, and popularization value.
2. By using the device, the material to be processed can be put into the stamping device when the stamped product is reasonably and rapidly taken out by using one mechanical arm, the method that the mechanical arm rapidly carries out the feeding and discharging in the stamping process can be realized, the continuous circulation production is ensured, the operators do not need to participate in the stamping operation any more in the whole production flow, and the production dangerous condition is isolated! And simultaneously, the stability is improved.
3. The device can be used for adjusting and arranging the position of the robot at any time, can be matched with various places to facilitate production planning, adopts a plurality of sucking disc grippers to simultaneously grip materials and products, is convenient to operate, can perform a plurality of copying actions, improves the production efficiency, truly replaces all working procedures of manually completing production, can be truly called automatic production, is connected with the robot by using a quick-change device, enables clamp replacement to be quicker and simpler, improves the working efficiency, can avoid abrasion of the connecting parts of the robot and the product taking and placing device by indirectly installing the quick-change device, prolongs the service life, reduces the maintenance cost, has a simple structure, does not have high cost, truly completes the whole working procedure of stamping production, can completely replace stamping work, does not know tired of the robot, does not need rest, has higher production efficiency and more stable product quality; meanwhile, the position can be flexibly adjusted, some narrow positions in the stamping field can be flexibly placed, the production planning is convenient, the research and development targets are completely achieved, the stamping production cost is reduced, and the production efficiency and the production quality are improved.
Drawings
FIG. 1 is a schematic diagram of a product picking and placing device according to the present invention;
FIG. 2 is an exploded view of the quick change device and mounting structure of the product handling device of the present invention;
FIG. 3 is a top view of the product picking and placing device of the present invention;
FIG. 4 is a side view of the product handling apparatus of the present invention;
Fig. 5 is a schematic reference diagram of the placement of equipment based on the rapid loading and unloading method of the pick-and-place product device.
1 Supporting structure, 101 support frame, 102 first mounting plate, 103 second mounting plate, 2 sucking disc group, 201 supporting leg, 202 vacuum sucking disc, 3 skeleton, 4 quick change device, 401 lower connecting plate, 402 guide pin, 403 guide pin, 404 upper connecting plate, 5 mounting structure, 501 mounting hole, 502 screw, 6 disc link, 7 punching machine, 8 baiting frame, 9 material position adjusting device, 10 robot, 11 product conveyer belt.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, a product taking and placing device of a stamping robot comprises a supporting structure 1, a sucking disc group 2 is arranged below the supporting structure 1, a framework 3 is fixedly connected to the middle of the upper part of the supporting structure 1, a quick-change device 4 is arranged in the middle of the top of the framework 3, a disc-shaped connecting end 6 is connected to the middle of the upper part of the quick-change device 4 through a shaft, and the disc-shaped connecting end 6 is connected with a robot manipulator.
The support structure 1 is rectangular and has a length greater than three times of the width of the stamping sheet, and comprises a support frame 101, wherein the support frame 101 is a hollow pipe frame, the top of the support frame 101 is fixedly connected with a first mounting plate 102, the bottom of the support frame 101 is fixedly connected with a second mounting plate 103, and the number of the first mounting plate 102 and the second mounting plate 103 is two.
The sucker group 2 comprises supporting legs 201 and vacuum suckers 202, the bottom of the supporting legs 201 is fixedly connected with the vacuum suckers 202, the top of the supporting legs 201 is fixedly connected with the bottom of the supporting frame 101, the number of the vacuum suckers 202 is twelve, the vacuum suckers 202 are respectively and uniformly distributed on the bottoms of the supporting frames 101 at two side ends, each vacuum sucker 202 is externally connected with a vacuum exhaust pipe, 4 vacuum suckers are arranged in a square manner to form three groups, the three groups are sequentially arranged in the left, middle and right directions, smooth surface materials are adsorbed by utilizing the suction adsorption principle, and 3 materials or products can be simultaneously grabbed.
The quick-change device 4 is provided with a shaft hole in the middle and is connected with the disc-shaped connecting end 6 through the shaft hole, the quick-change device 4 further comprises an upper connecting plate 404 and a lower connecting plate 401, the upper connecting plate 404 and the lower connecting plate 401 are in positioning connection through guide pins 402, mounting holes 501 are arranged at four corners and are fixedly connected through screws 502, namely, mounting holes 501 form a mounting structure 5 through screws 502, guide sleeves 403 are arranged on the outer sides of the guide pins 402, and the lower connecting plate 401 is fixedly connected with a framework 3 through screws. The disc-shaped connecting end 6 is provided with a connecting hole, so that the connection with the manipulator is further convenient and concise. And is not limited to a robotic connection.
The quick-change device is used for indirectly installing the product taking and placing device, so that the abrasion of the joint of the robot and the product taking and placing device can be avoided, the service life is prolonged, and the maintenance cost is reduced.
The method for rapidly feeding and discharging the product device based on the stamping robot is characterized by comprising the following steps of: the method comprises the following steps:
1) Placing a punching machine 7, a discharging frame 8, a material position adjusting device 9 and a robot 10 on one side of a product conveying belt 11, installing the punching robot product taking and placing device on a manipulator of the robot 10, externally connecting a vacuum suction pipe with a vacuum suction cup, adjusting the positions of all mechanisms, setting a robot program and four suction pipes, arranging the punching machine 7, the discharging frame 8 and the material position adjusting device 9 side by side along one side of the product conveying belt, arranging the material position adjusting device 9 between the discharging frame 8 and the punching machine 7, and arranging the robot 10 on one side of the material position adjusting device, wherein the distance from the product conveying belt 11 to the product conveying belt is proper according to the width of the product;
The placement of each device is arbitrarily set according to the place. The distance between the material position adjusting device 9 and the product conveying belt 11 is the most suitable distance between the material position adjusting device and the product conveying belt 11, because the material is conveniently sucked by the feeding sucker group and simultaneously discharged by the discharging sucker group.
Taking and placing 12 vacuum chucks 202 of a product device, wherein 4 vacuum chucks are arranged in a square shape to form three groups which are sequentially arranged in a left-right, middle-right mode, setting the left chuck group as a feeding chuck group, setting the middle as an adjusting material chuck group, setting the right chuck group as a discharging chuck group, and adsorbing smooth surface materials by using an air suction adsorption principle;
2) The mechanical arm moves, and the material clamping disc group (namely 4 vacuum clamping discs in the middle) of the material clamping device is used for clamping materials from the material frame to the material position adjusting device;
3) Placing the material on the material position adjustment plate, and sliding the material on the adjustment plate to a defined position.
4) The mechanical arm moves, and the feeding sucker group (namely 4 vacuum suckers on the left) of the product taking and placing device grabs the materials with the adjusted positions from the adjusting plate;
5) The mechanical arm moves and rotates, the product taking and placing device takes and places the blanking sucker group (namely 4 vacuum suckers on the right) to the punching position of the punching machine to grab the punched product, and the material feeding sucker group continues to adsorb the material;
6) After grabbing the product, the mechanical arm rotates again, the sample absorbed by the feeding sucker group of the mechanical arm is put into the punching machine for punching, and the product is continuously absorbed by the discharging sucker group.
7) The mechanical arm moves and rotates back to the discharging frame, the material adjusting sucker group (namely 4 vacuum suckers in the middle) of the product taking and placing device grabs materials from the material frame and places the materials on the material position adjusting device, and 8) when the material feeding sucker group grabs the materials with the adjusted positions from the adjusting plate, the product feeding sucker group simultaneously places the products on the conveying belt, so that a cycle is formed.
The product taking and placing device for the stamping robot has the advantages of simple structure, difficult fault, simple and flexible connection operation, capability of coping with stamping production of various stamping machines and various products, easiness in connection of various manipulators, simplicity in structure, convenience in debugging and maintenance in later period, suitability for grabbing and feeding and discharging by the manipulators, and popularization value.
By using the device, the material to be processed can be put into the stamping device when the stamped product is reasonably and rapidly taken out by using one mechanical arm, the method that the mechanical arm rapidly carries out the feeding and discharging in the stamping process can be realized, the continuous circulation production is ensured, the operators do not need to participate in the stamping operation any more in the whole production flow, and the production dangerous condition is isolated! And simultaneously, the stability is improved.
The device can be used for adjusting and arranging the position of the robot at any time, can be matched with various places to facilitate production planning, adopts a plurality of sucking disc grippers to simultaneously grip materials and products, is convenient to operate, can perform a plurality of copying actions, improves the production efficiency, truly replaces all working procedures of manually completing production, can be truly called automatic production, is connected with the robot by using a quick-change device, enables clamp replacement to be quicker and simpler, improves the working efficiency, can avoid abrasion of the connecting parts of the robot and the product taking and placing device by indirectly installing the quick-change device, prolongs the service life, reduces the maintenance cost, has a simple structure, does not have high cost, truly completes the whole working procedure of stamping production, can completely replace stamping work, does not know tired of the robot, does not need rest, has higher production efficiency and more stable product quality; meanwhile, the position can be flexibly adjusted, some narrow positions in the stamping field can be flexibly placed, the production planning is convenient, the research and development targets are completely achieved, the stamping production cost is reduced, and the production efficiency and the production quality are improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The quick feeding and discharging method based on the stamping robot product taking and placing device is characterized by comprising the stamping robot product taking and placing device, wherein the stamping robot product taking and placing device comprises a supporting structure (1), a sucker group (2) is arranged below the supporting structure (1), a framework (3) is fixedly connected to the middle of the upper part of the supporting structure (1), a quick-changing device (4) is arranged in the middle of the top of the framework (3), a disc-shaped connecting end (6) is connected to the middle of the upper part of the quick-changing device (4) through a shaft, and the disc-shaped connecting end (6) is connected with a robot manipulator; the sucker group (2) comprises supporting legs (201) and vacuum suckers (202), the bottoms of the supporting legs (201) are fixedly connected with the vacuum suckers (202), the tops of the supporting legs (201) are fixedly connected with the bottoms of the supporting frames (101), the number of the vacuum suckers (202) is twelve, the vacuum suckers are respectively and uniformly distributed on the bottoms of the supporting frames (101) at two side ends, each vacuum sucker (202) is externally connected with a vacuum exhaust pipe, 4 vacuum suckers are arranged in a square mode to form a group of unified control air pipes, and three groups of vacuum suction pipes are formed and are sequentially arranged in a left mode, a middle mode and a right mode;
the method comprises the following steps:
1) Placing a punching machine, a discharging frame, a material position adjusting device and a robot on one side of a product conveying belt, mounting the punching robot taking and placing product device on a robot arm, externally connecting a vacuum suction pipe with a vacuum suction cup, adjusting the positions of all mechanisms, setting a robot program and four suction pipes, arranging the punching machine, the discharging frame and the material position adjusting device side by side along one side of the product conveying belt, and arranging the material position adjusting device between the discharging frame and the punching machine and at a distance from the rolling product conveying distance to the width of the product;
Taking and placing 12 vacuum chucks (202) of a product device, forming three groups by using 4 square arrangement as a group of unified control air pipes, arranging the left, middle and right sequentially, setting the left chuck group as a feeding chuck group, setting the middle as an adjusting material chuck group, setting the right as a discharging chuck group, and adsorbing smooth surface materials by using an air suction adsorption principle;
2) The mechanical arm moves, the material sucking disc group of the product placing device is taken and adjusted, and the material is grabbed from the material placing frame and placed into the material position adjusting device;
3) Placing the material on a material position adjusting plate, and sliding the material on the adjusting plate to a limiting position;
4) The mechanical arm moves, and the feeding sucker group of the product taking and placing device grabs the material with the adjusted position from the adjusting plate;
5) The mechanical arm moves and rotates, the product taking and placing device takes the punched product from the blanking sucker set to the punching position of the punching machine, and the material feeding sucker set continues to adsorb the material;
6) After grabbing the product, the mechanical arm rotates again, a sample adsorbed by the feeding sucker group of the mechanical arm is put into a punching machine for punching, and the product is continuously adsorbed by the discharging sucker group;
7) The mechanical arm moves and rotates back to the discharging frame, and the material clamping disc group of the material clamping device, namely the middle 4 vacuum clamping discs, are used for clamping materials from the discharging frame and are placed into the material position adjusting device;
8) When the feeding sucker group grabs the material with the adjusted position from the adjusting plate, the feeding sucker group simultaneously places the product on the conveying belt to form a cycle.
2. The method for rapidly feeding and discharging the product device based on the stamping robot according to claim 1, wherein the method comprises the following steps: the utility model discloses a stamping die, including support frame (101), support frame (101) are hollow pipe frame, the top fixedly connected with first mounting panel (102) of support frame (101), the bottom fixedly connected with second mounting panel (103) of support frame (101), the quantity of first mounting panel (102) and second mounting panel (103) is two.
3. The method for rapidly feeding and discharging the product device based on the stamping robot according to claim 1, wherein the method comprises the following steps: be equipped with the shaft hole in the middle of quick change device (4), through shaft hole and disc link (6) hub connection, quick change device (4) still include upper junction plate (404), lower connecting plate (401), upper junction plate (404), lower connecting plate (401) are fixed a position through guide pin (402), set up mounting hole (501) through four corners and pass through screw (502) fixed connection, the outside of guide pin (402) is provided with guide pin bushing (403), lower connecting plate (401) and skeleton (3) adopt screw fixed connection again.
4. A method for fast feeding and discharging products based on a punching robot pick-and-place device according to claim 3, characterized in that: the disc-shaped connecting end (6) is provided with a connecting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342223.9A CN110125264B (en) | 2019-04-26 | 2019-04-26 | Product taking and placing device of stamping robot and rapid feeding and discharging method based on product taking and placing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342223.9A CN110125264B (en) | 2019-04-26 | 2019-04-26 | Product taking and placing device of stamping robot and rapid feeding and discharging method based on product taking and placing device |
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| CN110125264A CN110125264A (en) | 2019-08-16 |
| CN110125264B true CN110125264B (en) | 2024-05-17 |
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| CN201910342223.9A Active CN110125264B (en) | 2019-04-26 | 2019-04-26 | Product taking and placing device of stamping robot and rapid feeding and discharging method based on product taking and placing device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111589967B (en) * | 2020-04-16 | 2021-08-17 | 临沂鸿源磨料磨具有限公司 | Feeding and discharging manipulator of punching machine |
| CN111728235B (en) * | 2020-07-20 | 2024-04-09 | 贵州省果树科学研究所(贵州省柑橘研究所、贵州省特色果蔬工程技术中心、贵州省火龙果研究所) | Passion fruit straight line type peeling and separating device |
| CN111823316A (en) * | 2020-07-20 | 2020-10-27 | 贵州大学 | Annular peeling and separating device for passion fruits |
| CN112247001A (en) * | 2020-09-24 | 2021-01-22 | 长春三友汽车部件制造有限公司 | Automatic feeding and discharging device of punching machine |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
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