CN110449525A - A kind of feeding mechanical hand of Quadratic Finite Element manipulator - Google Patents
A kind of feeding mechanical hand of Quadratic Finite Element manipulator Download PDFInfo
- Publication number
- CN110449525A CN110449525A CN201910703676.XA CN201910703676A CN110449525A CN 110449525 A CN110449525 A CN 110449525A CN 201910703676 A CN201910703676 A CN 201910703676A CN 110449525 A CN110449525 A CN 110449525A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamp arm
- opens
- pedestal
- plate
- 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
- 230000001360 synchronised effect Effects 0.000 claims abstract description 66
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims description 39
- 238000004080 punching Methods 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 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
- B21D43/04—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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Abstract
The present invention relates to a kind of feeding mechanical hands of Quadratic Finite Element manipulator.It includes pedestal, clamping jaw opens driving device, clamping jaw opens driving plate and multiple clamping jaws, multiple clamping jaws are set on pedestal along the left and right directions arrangement of pedestal, clamping jaw includes left clamp arm and right clamp arm, left clamp arm and right clamp arm are arranged along the left and right directions slide switching of pedestal, clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive block, clamping jaw opens drive block between left clamp arm and right clamp arm, and clamping jaw opens driving device and is set on pedestal, and clamping jaw is driven to open driving plate sliding.Feeding mechanical of the invention is arranged side by side on hand multiple clamping jaws, multiple clamping jaws can synchronize opening or close up, therefore multiple multiple workpiece of clamping jaw energy synchronous transport of the invention, continuous synchronization punching press can be carried out to multiple workpiece simultaneously so as to punching machine, therefore workpiece transmission efficiency height of the invention, high production efficiency are, it can be achieved that full-automatic continuous high speed production.
Description
Technical field
The present invention relates to the technical field of manipulator, in particular to a kind of feeding mechanical hand of Quadratic Finite Element manipulator.
Background technique
Existing certain metalworks need the multiple continuous punching of one set of die, and stamping procedure is very more, it is therefore desirable to feeder
Tool hand comes quickly and step ground material grasping and feeding, but existing feeding mechanical hand is that single manipulator, material grasping, feeding speed are slow, nothing
Method meets the requirement of existing stamping die high speed stamping, to causing the production efficiency of stamping die to reduce.
Summary of the invention
The purpose of the present invention in provide a kind of synchronization, high speed, linkage, high production efficiency Quadratic Finite Element manipulator feeder
Tool hand.
The object of the present invention is achieved like this:
A kind of feeding mechanical hand of Quadratic Finite Element manipulator, including pedestal, clamping jaw open driving device, clamping jaw open driving plate and
Multiple clamping jaws, the multiple clamping jaw are set on pedestal along the left and right directions arrangement of pedestal, and the clamping jaw opens driving plate along pedestal
Front-rear direction sliding be set to pedestal on and be located at clamping jaw top, the clamping jaw includes left clamp arm and right clamp arm, the left folder
Arm and right clamp arm are arranged along the left and right directions slide switching of pedestal, are provided between the left clamp arm and right clamp arm and close up spring,
The clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive block, and clamping jaw opens drive block and is located at left clamp arm and the right side
Between clamp arm, the front end that the clamping jaw opens drive block is equipped with two driving inclined-planes, and the left clamp arm and right clamp arm correspond to clamping jaw
The front end for opening drive block is equipped with the first driven inclined-plane, and the clamping jaw opens driving device and is set on pedestal, and clamping jaw is driven to open
Driving plate sliding.When the left and right clamp arm of clamping jaw opens up into maximum, the left clamp arm and right clamp arm of two adjacent clamping jaws can be against
Together, so that left and right clamp arm be prevented to continue to open and clamping jaw is prevented to open drive block to move on.
The present invention can also improve further below.
Synchronous interaction component is equipped between the left clamp arm and right clamp arm, the synchronous interaction component includes synchronous pushes
Plate, the first synchronous interaction plate and the second synchronous interaction plate, the synchronous pushing plate are set to clamping jaw and open on drive block, and described the
One synchronous linkage board and the second synchronous interaction plate are respectively symmetrically set to the arranged on left and right sides of synchronous pushing plate, the described first synchronous connection
The outer end of movable plate and left clamp arm are rotatablely connected, and the outer end of the second synchronous interaction plate and right clamp arm are rotatablely connected, and described first
The inner end for synchronizing plate is connected in synchronous pushing plate with the inner ends thereof of the second synchronous interaction plate, when clamping jaw opens drive block
When past front slide, the synchronous pushing plate of clamping jaw opening drive block drive, the inner end of the first synchronous interaction plate and second are synchronized
Plate inner end is moved along together, and the outer end of the first, second synchronous interaction plate pushes left clamp arm and right folder open toward arranged on left and right sides respectively
Arm, on the contrary, left clamp arm and right clamp arm are being closed when clamping jaw opens driving device and no longer drive clamping jaw opening drive block toward front slide
Hold together under the elastic force effect of spring and close up, left clamp arm and right clamp arm push the first synchronous interaction plate and second synchronous respectively inside simultaneously
The inner end of linkage board, drive block is synchronous slides backward for inner end and the clamping jaw opening of the first, second synchronous interaction plate.Therefore, this hair
Bright synchronous interaction component enable left clamp arm and right clamp arm synchronize close up or synchronize opening.
The left clamp arm, right clamp arm front-end and back-end be equipped with it is described close up spring, close up spring and make left clamp arm, the right side
Clamp arm quickly closes up and clamps workpiece, and workpiece clamps firm stable, at the same time, left clamp arm, right clamp arm it is first driven
Inclined-plane driving clamping jaw opens drive block and moves backward.
The inner end of the first synchronous interaction plate rotates coaxially setting with the inner end of the second synchronous interaction plate and pushes synchronous
On plate.
The front end that the clamping jaw opens drive block is in triangular prism shape, when clamping jaw opens the front end of drive block toward front slide,
Two driving inclined-planes of triangular prism press the first driven inclined-plane of left and right clamp arm, and left and right clamp arm is separated toward both sides press two,
So that clamping jaw is opened.
The pedestal is provided with clamping jaw folding guide rail along its left and right directions, and the left clamp arm and right clamp arm are slidably arranged in folder
Pawl opens and closes on guide rail, so that left clamp arm and the sliding of right clamp arm, folding are stablized.
The left clamp arm and the opposite side wall of right clamp arm are equipped with resigning groove, and the clamping jaw, which opens drive block and is located at, steps down
In groove, the first driven inclined-plane is located in left clamp arm and the opposite side wall of right clamp arm.
The multiple clamping jaw is located at the front side of pedestal, and the clamping jaw opens the rear side that driving device is located at pedestal.
The pedestal is provided with the first guide rail along its front-rear direction, and the clamping jaw opens driving plate sliding and is set to the first guide rail
On, so that clamping jaw opens driving plate and clamping jaw opens drive block sliding stability.
It includes that clamping jaw opens servo motor and sliding block that the clamping jaw, which opens driving device, and the sliding block is along the right and left of pedestal
It is set on pedestal to sliding, the clamping jaw opens servo motor and is set on pedestal and connect with sliding block screw rod transmission, the sliding block
Upper rotation is equipped with driving idler wheel, and the clamping jaw opens the corresponding driving idler wheel of driving plate and is equipped with the second driven inclined-plane, the driving rolling
Wheel is resisted against on the second driven inclined-plane, and the clamping jaw opens servo motor driving sliding block and driving idler wheel slidably reciprocates, driving rolling
Wheel presses the second driven inclined-plane, and clamping jaw opens driving plate and clamping jaw opens driving sliding block front and back and moves back and forth, so that folder
Pawl opens and closes up repeatedly.More particularly, due to closing up the elastic force of spring, so that clamping jaw opens driving plate and clamping jaw is opened and driven
Motion block is always maintained at the trend moved backward.It is slided to the left when clamping jaw opens servo motor driving sliding block, drives idler wheel towards clamping jaw
When opening the highest point sliding on the second driven inclined-plane of driving plate, driving idler wheel pushes clamping jaw opening driving plate and clamping jaw to open and drives
Motion block forward slip, clamping jaw, which opens driving plate, to shrink back, and slide to the right, drive when clamping jaw opens servo motor driving sliding block
When the minimum point sliding on the second driven inclined-plane that idler wheel opens driving plate towards clamping jaw, it is driven oblique that driving idler wheel no longer presses second
Face, opens driving plate and clamping jaw opens drive block and can move backward.
It is provided with material grasping sensor in the left clamp arm or right clamp arm, whether has workpiece on clamping jaw to detect.
Beneficial effects of the present invention are as follows:
(1) feeding mechanical of the invention is arranged side by side on hand multiple clamping jaws, and multiple clamping jaws are synchronous to be opened or close up, multiple folders
The workpiece that a stamping procedure punching press on punching machine is completed can be conveyed to next stamping procedure punching press simultaneously by pawl, therefore of the invention more
A multiple workpiece of clamping jaw energy synchronous transport can carry out continuous synchronization punching press, therefore this hair to multiple workpiece simultaneously so as to punching machine
Bright workpiece transmission efficiency height, high production efficiency is, it can be achieved that full-automatic continuous high speed production.Therefore the present invention is able to satisfy existing punching
The high request of compression mould high speed continuous punching.
(2) in addition, being equipped with synchronous interaction component between the left and right clamp arm of clamping jaw, synchronous interaction component makes left and right folder
Faster, workpiece can rapidly be clamped or be unclamped to clamping jaw to the synchronous speed opened or closed up of arm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Quadratic Finite Element manipulator of the invention.
Fig. 2 is the structural schematic diagram of another angle of Quadratic Finite Element manipulator of the invention.
Fig. 3 is the enlarged structure schematic diagram in Fig. 1 at A.
Fig. 4 is the top view of Quadratic Finite Element manipulator of the invention.
Fig. 5 is the structural schematic diagram of feeding mechanical hand of the present invention.
Fig. 6 is the structural schematic diagram of another angle of the invention.
Fig. 7 is the decomposition texture schematic diagram of feeding mechanical hand of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
Embodiment one, as shown in Figures 1 to 7, a kind of Quadratic Finite Element manipulator include vibration feeding disc 2, horizontal sliding driving
Device 3, feeding distribution mechanism 4, workbench 6 and feeding mechanical hand 5；
The vibration feeding disc 2, for vibrating transportation workpiece to feeding distribution mechanism 4；
The feeding distribution mechanism 4, set on the blow tank 21 of vibration feeding disc 2, for workpiece to be conveyed to feeding mechanical hand 5 one by one；
The horizontal sliding driving device 3, for driving feeding mechanical hand 5 all around to move；
The feeding mechanical hand 5 is set on horizontal sliding driving device 3, described for grabbing multiple workpiece 7 simultaneously and conveying
Feeding mechanical hand 5 includes that clamping jaw opens driving device 51, clamping jaw opens driving plate 52 and multiple clamping jaws 53, the multiple clamping jaw
53 along horizontal sliding driving device 3 left and right directions arrangement be set to horizontal sliding driving device 3 back-and-forth motion seat 34 on, it is described
Clamping jaw opens driving plate 52 and is set on back-and-forth motion seat 34 along the front-rear direction sliding of horizontal sliding driving device 3 and is located at clamping jaw
53 top, the clamping jaw 53 include left clamp arm 54 and right clamp arm 55, and the left clamp arm 54 and right clamp arm 55 are driven along level sliding
The left and right directions slide switching setting of dynamic device 3, is provided between the left clamp arm 54 and right clamp arm 55 and closes up spring 57, described
Clamping jaw, which opens to be arranged side by side in driving plate 52, has multiple clamping jaws to open drive block 56, and clamping jaw opens drive block 56 and is located at left clamp arm 54
Between right clamp arm 55, the front end that the clamping jaw opens drive block 56 is equipped with two driving inclined-planes 58, the left clamp arm 54 and right folder
The front end that the corresponding clamping jaw of arm 55 opens drive block 56 is equipped with the first driven inclined-plane 59, before the clamping jaw opening driving device 51 is set to
Afterwards on Mobile base 34, and drives clamping jaw to open driving plate 52 and slide.It is adjacent when the left and right clamp arm of clamping jaw opens up into maximum
The left clamp arm and right clamp arm of two clamping jaws can be abutted together, to prevent left and right clamp arm from continuing to open and clamping jaw is prevented to open
Drive block moves on.
The workbench 6, positioned at the front of clamping jaw 53, for placing workpiece 7, the workbench 6 is equipped with the first positioning
Slot 61.
As the more specific technical solution of the present invention.
The horizontal sliding driving device 3 includes pedestal 1, moves left and right servo motor 31, two and move left and right seat 32, two
A back-and-forth motion servo motor 33 and it is moved forward and backward seat 34, the back-and-forth motion seat 34 in the present embodiment is aforementioned seat
Body, it is described two to move left and right seat 32 and horizontal be respectively slidably arranged in pedestal 1 along the left and right directions of horizontal sliding driving device 3
Two sides, it is described to move left and right servo motor 31 on pedestal 1 and moved left and right between seat positioned at two, move left and right servo motor
Motor shaft and wherein one move left and right 32 screw rod transmission of seat, the back-and-forth motion seat 34 is before horizontal sliding driving device 3
Rear direction level is slidably arranged on pedestal 1 (the front and rear, left and right direction of the horizontal sliding driving device 3 and back-and-forth motion seat
Front and rear, left and right direction it is consistent), described two left and right sides for being moved forward and backward servo motors 33 and being set to pedestal, and being located at respective
Correspondence moves left and right on seat 32, and two back-and-forth motion servo motors 33 are connect with back-and-forth motion 34 screw rod transmission of seat.
The pedestal 1 is equipped with the guide rail 11 that horizontally slips, the back-and-forth motion along the left and right directions of horizontal sliding driving device 3
Seat 34 is equipped with along the front-rear direction of horizontal sliding driving device 3 and slides back and forth guide rail 12, the sliding of back-and-forth motion seat 34 setting
In sliding back and forth on guide rail 12, the seat 32 that moves left and right is slideably positioned in the guide rail 11 that horizontally slips, so that manipulator water
Smooth dynamic stability.
It includes that clamping jaw opens servo motor 511 and sliding block 512,512 edge of sliding block that the clamping jaw, which opens driving device 51,
The left and right directions sliding of horizontal sliding driving device 3, which is set to, to be moved forward and backward on seat 34, and the clamping jaw opens servo motor 511 and is set to
It is moved forward and backward on seat 34 and is connect with 512 screw rod transmission of sliding block, rotation is equipped with driving idler wheel 514, the folder on the sliding block 512
Pawl opens the corresponding driving idler wheel 514 of driving plate 52 and is equipped with driven ramp blocks 510, the driven ramp blocks 510 be equipped with second from
Dynamic inclined-plane 513, the second driven inclined-plane 513 are resisted against the second driven inclined-plane 513 towards driving idler wheel 514, the driving idler wheel 514
On, the clamping jaw opens servo motor 511 and sliding block 512 and driving idler wheel 514 is driven to slidably reciprocate, and driving idler wheel 514 presses
Second driven inclined-plane 513, clamping jaw opens driving plate 52 and clamping jaw opens before and after driving sliding block 512 and moves back and forth, so that folder
Pawl 53 opens and closes up repeatedly.More particularly, due to closing up the elastic force of spring 57, so that clamping jaw opens driving plate 52 and clamping jaw
It opens drive block 56 and is always maintained at the trend moved backward.Sliding block 512 is driven to slide to the left when clamping jaw opens servo motor 511,
When the highest point for driving idler wheel 514 towards the second driven inclined-plane 513 of clamping jaw opening driving plate 52 is slided, driving idler wheel 514 starts
Clamping jaw is pushed to open driving plate 52 and clamping jaw opening 56 forward slip of drive block, clamping jaw, which opens driving plate 52, to shrink back, when
Clamping jaw open servo motor 511 drive sliding block 512 slide to the right, driving idler wheel 514 towards clamping jaw open driving plate 52 second from
When the minimum point sliding on dynamic inclined-plane 513, driving idler wheel 514 no longer presses the second driven inclined-plane 513, opens driving plate and clamping jaw
Opening drive block 56 can move backward.
The front end that the clamping jaw opens drive block 56 is in triangular prism shape, when clamping jaw opens the front end of drive block 56 toward front slide
When, two driving inclined-planes 58 of triangular prism press the first driven inclined-plane 59 of left and right clamp arm 54,55, by left and right clamp arm 54,55
It is opened toward both sides, so that clamping jaw 53 is opened.
The back-and-forth motion seat 34 is provided with the first guide rail 35 along the front-rear direction of horizontal sliding driving device 3, and first leads
Sliding is provided with sliding shoe 351 on rail 35, and the clamping jaw opens the sliding of driving plate 52 and is set on sliding shoe 351, so that folder
Pawl opens driving plate 52 and clamping jaw opens 56 sliding stability of drive block.
Synchronous interaction component 515 is equipped between the left clamp arm 54 and right clamp arm 55, the synchronous interaction component 515 includes
Synchronous pushing plate 516, first synchronizes plate 517 and the second synchronous interaction plate 518, the synchronous pushing plate 516 are set to folder
Pawl opens on drive block 56, and the first synchronous interaction plate 517 is respectively symmetrically set to synchronous push with the second synchronous interaction plate 518
The arranged on left and right sides of plate 516, the outer end of the first synchronous interaction plate 517 and left clamp arm 54 are rotatablely connected, the described second synchronous connection
The outer end of movable plate 518 and right clamp arm 55 are rotatablely connected, the inner end of the first synchronous interaction plate 517 and the second synchronous interaction plate
518 inner ends thereof is connected in synchronous pushing plate 516.When clamping jaw opens drive block 56 toward front slide, clamping jaw opens driving
Block 56 drives the inner end of the synchronous synchronous interaction of pushing plate 516, first plate 517 and the second synchronous interaction 518 inner end of plate past together
The outer end of preceding movement, the first, second synchronous interaction plate 517,518 pushes left clamp arm 54 and right clamp arm 55 open toward arranged on left and right sides respectively,
On the contrary, when clamping jaw opens driving device 51 and no longer drive clamping jaw opening drive block 56 toward front slide, left clamp arm 54 and right clamp arm
55 close up under the elastic force effect for closing up spring 57, and left clamp arm 54 and right clamp arm 55 push the first synchronous interaction respectively inside simultaneously
The inner end of plate 517 and the second synchronous interaction plate 518, the inner end of the first, second synchronous interaction plate 517,518 and clamping jaw are opened and are driven
The synchronization of block 56 is slided backward.Therefore, synchronous interaction component 515 of the invention enables left clamp arm 54 is synchronous with right clamp arm 55 to close
Hold together or synchronize opening.
The left clamp arm 54, right clamp arm 55 front-end and back-end be equipped with it is described close up spring 57, close up spring 57 and make
Left clamp arm 54, right clamp arm 55 quickly close up and clamp workpiece 7, and workpiece 7 clamps firm stable, at the same time, left clamp arm 54,
The driven inclined-plane 59 of the first of right clamp arm 55 drives clamping jaw to open drive block 56 and moves backward.
The back-and-forth motion seat 34 is provided with clamping jaw folding guide rail 36, institute along the left and right directions of horizontal sliding driving device 3
It states left clamp arm 54 and right clamp arm 55 is slidably arranged on clamping jaw folding guide rail 36, so that left clamp arm 54 and right clamp arm 55 are sliding
Dynamic, folding is stablized.
The left clamp arm 54 and the opposite side wall of right clamp arm 55 are equipped with resigning groove 519, and the clamping jaw opens drive block
56 are located in resigning groove 519, and the first driven inclined-plane 59 is located in left clamp arm 54 and the opposite side wall of right clamp arm 55.
The multiple clamping jaw 53 is located at the front side for being moved forward and backward seat 34, and the clamping jaw opens driving device 51 and is located at front and back shifting
The rear side of dynamic seat 34.
The feeding distribution mechanism 4 includes that distributing base, material splitting cylinder 42 and sub-material push seat 43, and the sub-material pushes 43 water of seat
Flat to be slideably positioned in distributing base 41, the material splitting cylinder 42, which is set in distributing base 41 and drives with distributing base 41, to be connected
It connects, the distributing base 41 is equipped with the second locating slot 44 and positioning plate 45.When the blow tank 21 of vibration feeding disc 2 is by workpiece 7
When being transported to feeding distribution mechanism 4, sub-material pushes the second locating slot 44 on seat 43 to be aligned with the wire casing 22 on blow tank 21, workpiece 7
On locating plate be successfully moved in the second locating slot 44 from wire casing, when material splitting cylinder 42 drives sub-material to push seat 43 by workpiece
After 7 release, sub-material pushes the second locating slot 44 of seat 43 to be aligned with the first locating slot 61 of workbench, in order to which clamping jaw 53 can be suitable
The second locating slot 44 workpiece 7 is pushed on workbench 6, the locating plate on workpiece 7 is moved in the first locating slot 61.
Workpiece of the invention is the copper plug of plug, and the present invention realizes mold to continuous and Multi-step forming the work of copper plug
Make.
The working principle of the invention:
When the invention works, vibration feeding disc 2 starts vibration output workpiece 7 to feeding distribution mechanism 4, and workpiece 7 is moved to sub-material promotion
On seat 43, the locating plate on workpiece 7 successfully out of, wire casing 22 is moved to that sub-material pushes seat 43 the second locating slot 44, then divides
Expect that mechanism 4 starts, after material splitting cylinder 42 drives sub-material that seat 43 is pushed to release workpiece 7, sub-material pushes the second locating slot of seat 43
44 are aligned with the first locating slot 61 of workbench, and then move left and right servo motor 31 and drive entire feeding mechanical hand 5 is past to move to left
Dynamic, so that the leftmost clamping jaw 53 of feeding mechanical hand 5 is aligned with the workpiece 7, then clamping jaw opens servo motor 511 and starts, folder
Pawl opens servo motor 511 and sliding block 512 is driven to slide to the left, and driving idler wheel 514 opens the second driven of driving plate 52 towards clamping jaw
When the highest point sliding on inclined-plane 513, driving idler wheel 514 pushes clamping jaw to open driving plate 52 and clamping jaw to open drive block 56 to advancing slip
Dynamic, two driving inclined-planes 58 that clamping jaw opens the front end of drive block 56 press the first driven inclined-plane 59 of left and right clamp arm 54,55,
To open left and right clamp arm 54,55 toward both sides, so that all clamping jaws 53 are all opened, it is then moved forward and backward servo motor
The 33 entire feeding mechanical hands 5 of driving are moved along, the workpiece 7 be located at 5 leftmost first clamping jaws 53 of feeding mechanical hand a left side,
Between right clamp arm 54,55, and then, clamping jaw opens the driving driving idler wheel 514 of servo motor 511 and opens the of driving plate 52 towards clamping jaw
The minimum point on two driven inclined-planes 513 is slided, and due to closing up the elastic force of spring 57, left and right clamp arm 54,55 closes up and clamps the workpiece
7, left and right clamp arm 54,55 pushes clamping jaw opening driving plate 52 and clamping jaw to open drive block 56 and moves backward, and and then, left and right is moved
Dynamic servo motor 31 drives entire feeding mechanical hand 5 toward moving right, which is turned right and be delivered to workbench by first clamping jaw 53
In the first stamping station on 6, at the same time, second clamping jaw 53 can grab workpiece 7 made in the first stamping station
In the second stamping station on workbench 6, subsequent clamping jaw 53 can also synchronize feeding, finally, feeding mechanical in the manner described above
Upper last clamping jaw 53 can walk the folder of workpiece 7 in the last stamping station on workbench 6, and all clamping jaws 53 complete a feeding
Later, it can reset, then repeat step and grab on the workpiece 7 to next stamping station of a upper stamping station, therefore the present invention
Multiple clamping jaws can continuous synchronization conveys multiple workpiece forward simultaneously, so that punching machine can carry out continuous punching to multiple workpiece simultaneously
Pressure, therefore workpiece transmission efficiency height, high production efficiency of the invention is, it can be achieved that full-automatic continuous high speed production.
Claims (9)
1. a kind of feeding mechanical hand of Quadratic Finite Element manipulator, including pedestal, clamping jaw open driving device, clamping jaw open driving plate with
And multiple clamping jaws, the multiple clamping jaw are set on pedestal along the left and right directions arrangement of pedestal, the clamping jaw opens driving plate along seat
The front-rear direction sliding of body is set to the top on pedestal and being located at clamping jaw, and the clamping jaw includes left clamp arm and right clamp arm, the left side
Clamp arm and right clamp arm are arranged along the left and right directions slide switching of pedestal, are provided between the left clamp arm and right clamp arm and close up bullet
Spring, the clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive block, and clamping jaw opens drive block and is located at left clamp arm
Between right clamp arm, the front end that the clamping jaw opens drive block is equipped with two driving inclined-planes, the left clamp arm and the corresponding folder of right clamp arm
The front end that pawl opens drive block is equipped with the first driven inclined-plane, and the clamping jaw opens driving device and is set on pedestal, and drives clamping jaw
Open driving plate sliding.
2. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the left clamp arm and right clamp arm
Between be equipped with synchronous interaction component, the synchronous interaction component include synchronous pushing plate, the first synchronous interaction plate and second together
Linkage board is walked, the synchronous pushing plate is set to clamping jaw and opens on drive block, the first synchronous interaction plate and the second synchronous interaction
Plate is respectively symmetrically set to the arranged on left and right sides of synchronous pushing plate, and the outer end of the first synchronous interaction plate and left clamp arm are rotatablely connected,
The outer end of the second synchronous interaction plate and right clamp arm are rotatablely connected, and the inner end of the first synchronous interaction plate is synchronous with second
The inner ends thereof of movable plate is connected in synchronous pushing plate.
3. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 1 or claim 2, it is characterised in that: the clamping jaw, which opens, to be driven
Dynamic device includes that clamping jaw opens servo motor and sliding block, and the sliding block is set on pedestal along the left and right directions sliding of pedestal, described
Clamping jaw opens servo motor and is set on pedestal and connect with sliding block screw rod transmission, and rotation is equipped with driving idler wheel, institute on the sliding block
It states clamping jaw and opens the corresponding driving idler wheel of driving plate equipped with the second driven inclined-plane, the driving idler wheel is resisted against the second driven inclined-plane
On.
4. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the clamping jaw opens drive block
Front end be in triangular prism shape.
5. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the pedestal is along its right and left
To clamping jaw folding guide rail is provided with, the left clamp arm and right clamp arm are slidably arranged on clamping jaw folding guide rail.
6. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 5, it is characterised in that: the left clamp arm and right clamp arm
Opposite side wall is equipped with resigning groove, and the clamping jaw opens drive block and is located in resigning groove, the first driven inclined-plane position
In on the opposite side wall of left clamp arm and right clamp arm.
7. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 5, it is characterised in that: the left clamp arm, right clamp arm
Front-end and back-end be equipped with and described close up spring.
8. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 2, it is characterised in that: the multiple clamping jaw is located at seat
The front side of body, the clamping jaw open the rear side that driving device is located at pedestal.
9. the feeding mechanical hand of Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the pedestal is along its front and back
To the first guide rail is provided with, the clamping jaw opens driving plate sliding and is set on the first guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703676.XA CN110449525A (en) | 2019-07-31 | 2019-07-31 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703676.XA CN110449525A (en) | 2019-07-31 | 2019-07-31 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110449525A true CN110449525A (en) | 2019-11-15 |
Family
ID=68484419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910703676.XA Pending CN110449525A (en) | 2019-07-31 | 2019-07-31 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110449525A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117124300A (en) * | 2023-09-26 | 2023-11-28 | 苏州华誉智能科技有限公司 | Multi-station annular circuit board machining mechanical arm structure |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843711A (en) * | 2006-05-12 | 2006-10-11 | 温州科瑞机械有限公司 | Edge-folding and end-sealing manipulator |
| CN201458702U (en) * | 2009-03-16 | 2010-05-12 | 杭州中亚机械有限公司 | Bottle clamping mechanism |
| CN102601254A (en) * | 2012-04-09 | 2012-07-25 | 河北工业大学 | Stamping multi-station synchronous pneumatic manipulator |
| CN202957281U (en) * | 2012-10-30 | 2013-05-29 | 深圳市新益昌自动化设备有限公司 | LED chip support clipping device used for LED die bonder |
| CN203134769U (en) * | 2013-01-11 | 2013-08-14 | 深圳市新益昌自动化设备有限公司 | Clamping device for LED chip holder |
| CN103639316A (en) * | 2013-11-26 | 2014-03-19 | 东莞市麦迪工业装备有限公司 | Three-dimensional servo feeding manipulator |
| CN103895028A (en) * | 2014-04-29 | 2014-07-02 | 温州职业技术学院 | Pneumatic manipulator |
| CN204308961U (en) * | 2014-11-28 | 2015-05-06 | 歌尔声学股份有限公司 | A kind of jaw and a kind of device picking and placeing annular workpieces |
| CN204430043U (en) * | 2015-02-07 | 2015-07-01 | 广州科敏达工业机器人有限公司 | Unit multistation Quadratic Finite Element carrying manipulator |
| CN105128023A (en) * | 2015-08-25 | 2015-12-09 | 河南科技大学 | Mechanical arm |
| CN205766215U (en) * | 2016-05-25 | 2016-12-07 | 深圳市鑫金桥自动化设备有限公司 | A kind of mechanical type clip claw mechanism |
| CN106276205A (en) * | 2016-08-16 | 2017-01-04 | 吴道华 | A kind of turntable type machine automatization feeder equipment |
| CN107499575A (en) * | 2017-08-01 | 2017-12-22 | 成都尊华荣域科技有限公司 | A kind of connector product clamping device of flexible atraumatic |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN207107830U (en) * | 2017-05-31 | 2018-03-16 | 东莞市万江顺千聚电子电器有限公司 | A kind of bottle embryo material fetching mechanism |
| CN108381597A (en) * | 2018-05-21 | 2018-08-10 | 衡阳市利美电瓶车制造有限责任公司 | A kind of passive mechanical hand |
| CN210475291U (en) * | 2019-07-31 | 2020-05-08 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Feeding manipulator of two-dimensional manipulator |
-
2019
- 2019-07-31 CN CN201910703676.XA patent/CN110449525A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1843711A (en) * | 2006-05-12 | 2006-10-11 | 温州科瑞机械有限公司 | Edge-folding and end-sealing manipulator |
| CN201458702U (en) * | 2009-03-16 | 2010-05-12 | 杭州中亚机械有限公司 | Bottle clamping mechanism |
| CN102601254A (en) * | 2012-04-09 | 2012-07-25 | 河北工业大学 | Stamping multi-station synchronous pneumatic manipulator |
| CN202957281U (en) * | 2012-10-30 | 2013-05-29 | 深圳市新益昌自动化设备有限公司 | LED chip support clipping device used for LED die bonder |
| CN203134769U (en) * | 2013-01-11 | 2013-08-14 | 深圳市新益昌自动化设备有限公司 | Clamping device for LED chip holder |
| CN103639316A (en) * | 2013-11-26 | 2014-03-19 | 东莞市麦迪工业装备有限公司 | Three-dimensional servo feeding manipulator |
| CN103895028A (en) * | 2014-04-29 | 2014-07-02 | 温州职业技术学院 | Pneumatic manipulator |
| CN204308961U (en) * | 2014-11-28 | 2015-05-06 | 歌尔声学股份有限公司 | A kind of jaw and a kind of device picking and placeing annular workpieces |
| CN204430043U (en) * | 2015-02-07 | 2015-07-01 | 广州科敏达工业机器人有限公司 | Unit multistation Quadratic Finite Element carrying manipulator |
| CN105128023A (en) * | 2015-08-25 | 2015-12-09 | 河南科技大学 | Mechanical arm |
| CN205766215U (en) * | 2016-05-25 | 2016-12-07 | 深圳市鑫金桥自动化设备有限公司 | A kind of mechanical type clip claw mechanism |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN106276205A (en) * | 2016-08-16 | 2017-01-04 | 吴道华 | A kind of turntable type machine automatization feeder equipment |
| CN207107830U (en) * | 2017-05-31 | 2018-03-16 | 东莞市万江顺千聚电子电器有限公司 | A kind of bottle embryo material fetching mechanism |
| CN107499575A (en) * | 2017-08-01 | 2017-12-22 | 成都尊华荣域科技有限公司 | A kind of connector product clamping device of flexible atraumatic |
| CN108381597A (en) * | 2018-05-21 | 2018-08-10 | 衡阳市利美电瓶车制造有限责任公司 | A kind of passive mechanical hand |
| CN210475291U (en) * | 2019-07-31 | 2020-05-08 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Feeding manipulator of two-dimensional manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 杨家军: "《机械系统创新设计》", vol. 1, 31 January 2000, 华中理工大学出版社, pages: 111 - 112 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117124300A (en) * | 2023-09-26 | 2023-11-28 | 苏州华誉智能科技有限公司 | Multi-station annular circuit board machining mechanical arm structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109570422A (en) | A kind of full-automation forging and stamping system | |
| CN110523872A (en) | A kind of Quadratic Finite Element manipulator | |
| CN205869869U (en) | Automatic change equipment | |
| JP3618660B2 (en) | Press forming equipment | |
| CN107282777B (en) | Compression mold adjustment mechanism | |
| CN211515780U (en) | Automatic stamping and bending equipment | |
| CN110449525A (en) | A kind of feeding mechanical hand of Quadratic Finite Element manipulator | |
| CN109675992A (en) | A kind of stamping system for watch chain processing | |
| CN210475291U (en) | Feeding manipulator of two-dimensional manipulator | |
| CN208368918U (en) | A kind of screening mechanism of commutator arranging machine | |
| CN210475292U (en) | Two-dimensional manipulator | |
| CN110961545A (en) | Feeding manipulator applied to quick stamping of charging head copper sheet | |
| JPH08252740A (en) | Material feeding device | |
| CN209407895U (en) | Silver point grabbing device is welded in mould | |
| JP6096360B1 (en) | Work posture changing device and multi-process forging machine | |
| JP3783161B2 (en) | Press transfer device | |
| CN213052452U (en) | Feeding manipulator applied to quick stamping of charging head copper sheet | |
| JP3195243U (en) | Press transfer device | |
| CN205587555U (en) | Pusher and stamping equipment are held to two bar cramps | |
| CN109171110B (en) | Automatic feeding device for cold and hot mold treatment of shoe blanks | |
| JP2014200799A (en) | Transfer device of multiple process heading machine | |
| CN204565244U (en) | A kind of valve body is automatically to milling special machine | |
| CN206326197U (en) | A kind of band sawing machine | |
| CN112620520B (en) | Solar frame riveting point die | |
| JP5219681B2 (en) | Transfer press apparatus and press method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |