CN110842103B - A fully automatic punching machine manipulator - Google Patents
A fully automatic punching machine manipulator Download PDFInfo
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- CN110842103B CN110842103B CN201911324795.0A CN201911324795A CN110842103B CN 110842103 B CN110842103 B CN 110842103B CN 201911324795 A CN201911324795 A CN 201911324795A CN 110842103 B CN110842103 B CN 110842103B
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- 238000004080 punching Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 46
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- 230000003028 elevating effect Effects 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000009191 jumping Effects 0.000 description 1
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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
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic punching machine type manipulator which comprises a mechanical arm and a grabbing mechanism arranged at the bottom end of the mechanical arm, wherein the grabbing mechanism comprises a first fixing arm with the same direction, a second fixing arm with the same direction and a plurality of suckers, the first fixing arm and the second fixing arm are respectively provided with at least one sucker, the two first fixing arms and the two second fixing arms form diagonal lines of a rectangular plane, and the first fixing arm and the second fixing arm can rotate around a vertical line where the midpoint of the rectangular plane is located as a rotating shaft. The invention also discloses a full-automatic punching machine material taking system with the full-automatic punching machine type manipulator, and the full-automatic punching machine material taking system also comprises a workbench, a frame body and a lifting mechanism. The invention has the advantages that the shape of the grabbing surface is matched in a mode of changing the shape of the grabbing surface, the technical purposes of grabbing the object stably and executing feeding are realized, and the technical purposes of locating to a certain point on a three-dimensional space for operation are realized with better stability and high accuracy.
Description
Technical Field
The invention relates to a manipulator, in particular to a full-automatic punch type manipulator.
Background
At present, the application of the manipulator in the manufacturing industry is more and more widespread, and the technology is an automatic mechanical device which is most widely applied in the technical field of robots, and the manipulator has a common characteristic of being capable of receiving instructions and accurately positioning to a certain point in three-dimensional (or two-dimensional) space for operation although the manipulator has different use modes and use purposes in different manufacturing industries. In the production and processing industry of furniture, in the furniture production industry, metal plates with various sizes, shapes and specifications need to be processed, in the process of punching, a mechanical arm is usually required to be matched with a power device to grab and convey the objects (the metal plates), a mechanical arm device for feeding is disclosed in a mechanical arm for feeding, for example, a prior art publication No. CN206344150U, the mechanical arm device comprises a punching machine and a feeding support arranged on one side of the punching machine, a feeding device is arranged on one side of the feeding support, the feeding device comprises a supporting frame and a horizontal moving module arranged on the top of the supporting frame, a movable plate is arranged on the horizontal moving module, a rotating device is arranged on the movable plate, the rotating device is matched and connected with a mechanical arm, the tail end of the mechanical arm is provided with a horizontal frame, the horizontal frame is movably hinged with the mechanical arm, the bottom of the horizontal frame is provided with a sucker hanging plate, and the bottom of the sucker hanging plate is provided with a plurality of suckers. The robot has the advantages of simple integral structure, reasonable design, small occupied area and lower manufacturing cost, realizes the motion simulation of human organisms, is even better than human beings in the aspect of space position precision, and greatly reduces equipment investment cost and production cost compared with a mode of adopting a robot. The manipulator has the defects that the mode of sucking the surface of an object to be used as one grabbing point of the manipulator, the plurality of suckers form a grabbing surface, the shape of the grabbing surface is fixed, the actual production condition needs to convey objects with different shapes, sizes and specifications, if the shape of the surface of the object is not suitable for the shape of the grabbing surface, the phenomenon that the grabbing state of the manipulator for the object is unstable easily occurs, even the situation that the shape of the surface of the object is completely unmatched with the shape of the grabbing surface possibly occurs, and the feeding function cannot be executed.
Disclosure of Invention
One of the technical problems to be solved by the invention is to provide a full-automatic punching machine type manipulator which can match the surface shape of an object in a mode of changing the shape of a grabbing surface, thereby realizing the technical purposes of stably grabbing the object and executing feeding.
The invention is realized by the following technical scheme.
The utility model provides a full-automatic punch press formula manipulator, includes the arm and installs the mechanism of snatching in the arm bottom, snatch mechanism including two first fixed arms that the direction is the same, two second fixed arms that the direction is the same, a plurality of sucking discs, first fixed arm with the second fixed arm all has at least one sucking disc, two first fixed arm, two the diagonal that the second fixed arm constitutes the cuboid plane, first fixed arm the perpendicular to the cuboid plane midpoint place can be rotated as the pivot to the second fixed arm.
The two first fixing arms and the two second fixing arms form a changeable rectangular body, so that the rectangular body can be matched with the shape of most of the surfaces of objects, and the use universality of the manipulator is enhanced.
Further, the grabbing mechanism further comprises a positioning column and a shell fixed at the bottom end of the mechanical arm, the shell is slidably sleeved outside the positioning column, the first fixing arms and the second fixing arms are perpendicular to the axial direction of the positioning column, the two first fixing arms are driven to rotate by the positioning column, the rotation directions of the first fixing arms and the second fixing arms are opposite, and the rotation amplitude is the same.
The rotation directions of the first fixing arm and the second fixing arm are opposite to each other as a means of changing the rectangular body, and in addition, the rotation amplitude is the same, so that the length and width directions of the rectangular body cannot be changed along with the change of the rectangular body.
Further, the grabbing mechanism further comprises a first rotating cylinder and a first rotating member, the first rotating cylinder is hinged to the bottom end of the mechanical arm, the first rotating member is perpendicular to the axial direction of the positioning column, one end of the first rotating member is fixedly connected to the center of the top end face of the positioning column, and the other end of the first rotating member is hinged to a piston rod of the first rotating cylinder.
Further, the lower part of the positioning column extends out of the shell, a positioning ring is sleeved on the lower part of the positioning column in a sliding mode, and the inner ends of the second fixing arms are fixedly connected with the positioning ring.
The positioning ring is arranged as a connecting part of the second fixed arm, and the rotation of the positioning ring and the rotation of the positioning column are not mutually interfered, so that the opposite rotation directions of the first fixed arm and the second fixed arm can be realized.
Further, the grabbing mechanism further comprises a second rotating cylinder and a second rotating piece, the second rotating cylinder is hinged to the bottom end of the mechanical arm, one end of the second rotating piece is fixed to the locating ring, and the other end of the second rotating piece is hinged to a piston rod of the second rotating cylinder.
The second rotating cylinder and the first rotating cylinder are arranged, the rotation of the first fixed arm and the second fixed arm is respectively and independently executed, and the expansion and contraction amount of the piston rod is regulated to control the rotation amplitude of the first fixed arm and the second fixed arm to be the same.
Further, a positioning plate is fixedly arranged on the bottom end surface of the positioning column, and the two first fixing arm parts are arranged on the positioning plate.
The locating plate is arranged to serve as a connecting part of the first fixing arm, so that on one hand, the connection stability of the first fixing arm can be enhanced, and on the other hand, the stress load of the side wall of the locating column is reduced.
Further, the bottom of the mechanical arm is hinged to be provided with a mounting plate, the grabbing mechanism is fixed to the bottom end face of the mounting plate, the arm body of the mechanical arm is hinged to be provided with a swinging cylinder, and a piston rod of the swinging cylinder is hinged to the mounting plate.
Through the setting of mounting panel and swing cylinder, can make snatch mechanism adjustment inclination to reply the gradient on article surface.
The second technical problem to be solved by the invention is to provide a full-automatic punch type manipulator, which achieves the technical purpose of positioning the full-automatic punch type manipulator to a certain point on a three-dimensional space for operation with better stability and high accuracy.
The utility model provides a full-automatic punch press extracting system, includes workstation, support body, elevating system, full-automatic punch press formula manipulator, the support body is installed the workstation and can follow workstation level X is to removing, elevating system installs the support body and can follow support body level Y is to removing, elevating system installs full-automatic punch press formula manipulator and can order about full-automatic punch press formula manipulator vertical Z is to removing.
The full-automatic punch reclaiming system can enable the full-automatic punch manipulator to move in three directions and be positioned to any point in a three-dimensional space.
Further, elevating system includes mount pad, the movable rail of vertical setting, lift cylinder, gag lever post, the mount pad is installed the support body, movable rail with mount pad sliding fit, the movable rail bottom is provided with the fixed plate, the lift cylinder is fixed the mount pad, its piston rod fixed connection the fixed plate, the gag lever post is vertical to be set up and install the mount pad, the bottom of gag lever post can with the up end of fixed plate offsets.
Further, the lifting mechanism further comprises a locking air cylinder, the locking air cylinder is used for fixing the mounting seat, a piston rod of the locking air cylinder is horizontally arranged, and when the limiting rod abuts against the upper end face of the fixing plate, the piston rod of the locking air cylinder can extend out and abuts against the lower end face of the fixing plate.
The limiting rod and the locking cylinder are arranged to lock the position after the full-automatic punching machine type manipulator grabs an object, so that the phenomenon that the full-automatic punching machine type manipulator grabs the object in a shaking or moving manner in the vertical direction cannot occur in the X-direction and Y-direction moving process, and the stability of the full-automatic punching machine type manipulator is affected.
The invention has the beneficial effects that:
According to the full-automatic punching machine type manipulator provided by the invention, the sucker is used as a grabbing tool, and the cuboid is used as a grabbing surface, the length and the width of the cuboid are changed through the rotation of the first fixing arm and the second fixing arm, the length and width directions are not changed, the shape of most of the surfaces of objects can be matched through adjustment, and the stability of the objects in a grabbing state is ensured. The full-automatic punching machine material taking system provided by the invention can accurately position the full-automatic punching machine mechanical arm to any point in the three-dimensional space, and ensures that the conditions such as shaking and jumping do not occur in the three-dimensional moving process after the full-automatic punching machine mechanical arm grabs an object.
Drawings
Fig. 1 is a front view schematically showing a full-automatic punch type manipulator according to embodiment 1;
fig. 2 is a three-dimensional schematic diagram of a fully automatic punch press type manipulator according to embodiment 1;
Fig. 3 is a schematic front view of the gripping mechanism of embodiment 1;
FIG. 4 is a schematic left-hand view of the gripping mechanism of embodiment 1;
FIG. 5 is a three-dimensional schematic diagram of a gripping mechanism according to embodiment 1;
FIG. 6 is a three-dimensional schematic diagram of the first fixing arm, the second fixing arm and the positioning column according to embodiment 1;
fig. 7 is a schematic bottom view of the first fixing arm, the second fixing arm and the positioning plate of embodiment 1;
FIG. 8 is a three-dimensional schematic diagram of a full-automatic punch reclaiming system according to embodiment 2;
FIG. 9 is a schematic front view of a full-automatic punch reclaiming system according to embodiment 2;
FIG. 10 is a left side partial schematic view of a fully automated punch reclaiming system according to embodiment 2;
FIG. 11 is a schematic top view of a frame of embodiment 2;
fig. 12 is a three-dimensional schematic diagram of the lifting mechanism and the sliding rod according to embodiment 2.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
Embodiment case 1:
Referring to fig. 1-7, a full-automatic punching machine type mechanical arm comprises a mechanical arm 1 and a grabbing mechanism a, wherein the grabbing mechanism a is installed at the bottom end of the mechanical arm 1 and is used for grabbing and carrying an object, the object is transferred through other equipment matched with the full-automatic punching machine mechanical arm, the punching operation is carried out by the equipment which is conveyed to a punching machine, and then the object is conveyed to the next working procedure. According to the grabbing mechanism A, the grabbing of the object is performed in a fixed manner by sucking, so that the contact part of the object and the grabbing mechanism A is the surface of the object, the inclination angle of the surface of the object and the horizontal plane is required to be considered, and for different inclination angles, the grabbing surface of the grabbing mechanism A is in an unparallel state with the surface of the object, on one hand, the adsorption force of the grabbing surface on the surface of the object is unbalanced at the moment of grabbing, the possibility of partial grabbing slipping easily occurs, the phenomenon that the object cannot be grabbed locally occurs after the inclination angle of the grabbing surface and the surface of the object reaches a threshold value occurs, on the other hand, even if the grabbing mechanism A can absorb the object, the interaction force between the grabbing mechanism A and the object can be balanced gradually in the lifting process of the mechanical arm 1, but damage caused by uneven stress to the grabbing mechanism A still exists, and the situation that the grabbing mechanism A is damaged and deformed after long-term use possibly occurs, so that the grabbing performance is affected. Therefore, the gripping surface of the gripping mechanism a needs to be parallel to the surface of any object to be gripped, that is, the gripping mechanism a can change the inclination angle by adjusting, a mounting plate 11 is arranged at the bottom end of the mechanical arm 1, the mounting plate 11 is used for mounting and fixing the gripping mechanism a, the mechanical arm 1 is provided with a mounting groove 10, the arm body of the mechanical arm 1 can be provided with the mounting groove 10 in a machining way, as in the embodiment, angle steel can be used as the mechanical arm 1, the angle steel groove is used as the mounting groove 10, a swinging air cylinder 12 is arranged in the mounting groove 10, two hinging seats 13 and 14 are arranged at the upper end face of the mounting plate 11, wherein the hinging seat 13 is hinged with the bottom end of the mechanical arm 1, and the other hinging seat 14 is hinged with a piston rod of the swinging air cylinder 12. By driving the swing cylinder 12, the inclination angle of the mounting plate 11, that is, the inclination angle of the grasping mechanism a can be changed.
The gripping mechanism a includes a positioning column 21, a housing 22, two first fixing arms 23, two second fixing arms 24, four suction cups 25, a first rotary cylinder 261, a first rotary member 262, a positioning ring 27, a second rotary cylinder 281, and a second rotary member 282. The casing 22 is slidably sleeved outside the positioning column 21, in this embodiment, the casing 22 is configured as a bearing, a portion of the positioning column 21 extends from the bottom end of the casing 22, two mounting pieces 221 are fixedly disposed at the top end of the casing 22, the mounting pieces 221 are configured as vertical plates, and the top ends thereof are fixed on the lower end surface of the mounting plate 11, and in consideration of connection stability and firmness of the grabbing mechanism a, the two mounting pieces 221 are symmetrically disposed with respect to the casing 22. The length directions of the two first fixing arms 23 are the same, the length directions of the two second fixing arms 24 are the same, the first fixing arms 23 and the second fixing arms 24 are respectively provided with long grooves 230 and 240 along the length directions, suction cups 25 are respectively installed in the long grooves 230 and 240, the suction cups 25 are detachably installed, namely, the installation positions of the suction cups 25 in the long grooves 230 and 240 can be adjusted, in the embodiment, one suction cup 25 is installed in each long groove 230 and 240, and the number of the suction cups 25 which are suitable can be set according to the weight of the object to be grasped.
The suction cup 25 may be provided as a vacuum suction cup 25 or as an electromagnetic suction cup 25. Generally, the use of the vacuum chuck 25 is an economical option for gripping objects due to its relatively low cost, the variety of vacuum chucks 25 is large, the commonly used vacuum chucks 25 are rubber products, the rubber-made vacuum chuck 25 also has the property of operating at high temperature, the property has a good adaptability to heat-treated objects, and the chuck 25 made of silicone rubber is very suitable for gripping rough-surfaced products. In addition, in actual production, if the vacuum chuck 25 is required to have oil resistance, it is conceivable to manufacture the chuck 25 using a material such as polyurethane, nitrile rubber, or vinyl-containing polymer. In general, in order to prevent the surface of the product from being scratched, it is preferable to select the material of the suction cup 25 with bellows made of nitrile rubber or silicone rubber to be made of nitrile rubber, which has a large breaking force, and thus is widely used in various vacuum holding apparatuses. The electromagnetic chuck 25 is a machine tool accessory product produced by the principle that an internal coil is electrified to generate magnetic force, a workpiece contacted with the surface of the panel is tightly sucked through a magnetic conduction panel, the coil is powered off, the magnetic force disappears to realize demagnetization, and the workpiece is taken down, and the electromagnetic chuck 25 has the advantages of being capable of rapidly grabbing an object and providing stable grabbing force, and has the disadvantages of having requirements on the material of the grabbed object, being higher in manufacturing cost than the vacuum chuck 25 and being relatively poor in economical efficiency.
The two first fixing arms 23 and the two second fixing arms 24 form a diagonal line of a rectangular plane, the first fixing arms 23 and the second fixing arms 24 can rotate around the axial direction of the positioning column 21, the first fixing arms 23 and the second fixing arms 24 are perpendicular to the axial direction of the positioning column 21, the two first fixing arms 23 are driven to rotate by the positioning column 21, the rotation directions of the first fixing arms 23 and the second fixing arms 24 are opposite, and the rotation amplitude is the same. For different objects to be grabbed by the punching machine, the shape and the size of the surfaces are different, and the rectangular body formed by the two first fixing arms 23 and the two second fixing arms 24 can be adjusted, so that the length and the width of the rectangular body can be matched with the surfaces of most of the objects, and the adjustment only changes the length and the width of the rectangular body, and the length and the width direction of the rectangular body cannot be changed.
For the connection between the two first fixing arms 23, the bottom end surface of the positioning column 21 is fixedly provided with a positioning plate 211, and in this embodiment, four symmetrically arranged fasteners 211-a are used to fix the positioning plate 211 to the bottom end surface of the positioning column 21. The positioning plate 211 is provided with at least one arc-shaped slot 211-B corresponding to each first fixing arm 23, and two fixing arms are provided in this embodiment, the inner ends to the middle parts of the first fixing arms 23 are fixedly connected to the arc-shaped slots 211-B through fasteners 211-B, and the middle parts to the outer ends of the first fixing arms 23 are located outside the positioning plate 211. The first fixing arm 23 is indirectly fixed on the positioning column 21, and after long-term use, the first fixing arm 23 can be detached from the positioning plate 211 when the first fixing arm is required to be replaced or maintained, so that the operation is convenient, on the one hand, the direct acting force of the side wall of the positioning column 21 is reduced, the rotation of the positioning column 21 in the shell 22 is smoother and more stable, the damage to the side wall of the positioning column 21 can be reduced, and the service life of the positioning column 21 is prolonged.
For the power setting of the first fixed arms 23, the first rotating cylinder 261 is hinged to the lower end face of the mounting plate 11 through a seat 261-a, the first rotating member 262 is perpendicular to the axial direction of the positioning column 21, one end of the first rotating member 262 is fixedly connected to the center of the top end face of the positioning column 21 through a fastener 262-a, the other end of the first rotating member is hinged to a piston rod of the first rotating cylinder 261, when the pointing direction of the two first fixed arms 23 needs to be changed, the first rotating cylinder 261 is driven, and the first rotating member 262 drives the positioning column 21 to rotate, so that the two first fixed arms 23 are driven to rotate.
For the connection relationship between the two second fixing arms 24, the positioning ring 27 is slidably sleeved on the portion of the positioning column 21 exposed out of the bottom end of the housing 22, a circle of flange 271 is provided on the upper portion of the positioning ring 27, the longitudinal section of the positioning ring 27 is in a step shape, the inner ends of the second fixing arms 24 are fixedly connected to the lower portion of the positioning ring 27, the rotation of the positioning ring 27 is an autonomous rotation, and the rotation complementary interference with the rotation of the positioning column 21 can realize that the rotation directions of the first fixing arm 23 and the second fixing arm 24 are opposite.
For the power setting of the second fixed arms 24, the second rotating cylinder 281 is hinged to the lower end face of the mounting plate 11 through a base 281-a, the second rotating member 282 is vertically arranged, one end of the second rotating member 282 is fixedly connected with the flange 271 of the positioning ring 27, the other end of the second rotating member 282 is hinged to a piston rod of the second rotating cylinder 281, when the pointing direction of the two second fixed arms 24 needs to be changed, the second rotating member 282 drives the positioning ring 27 to rotate, so that the two second fixed arms 24 are driven to rotate, and when the first rotating cylinder 261 and the second rotating cylinder 281 are driven, the expansion and contraction amounts of the piston rods under the two driving needs to be controlled, so that the rotation amplitude of the first fixed arms 23 and the rotation amplitude of the second fixed arms 24 are the same.
Embodiment case 2:
Referring to fig. 8-12, a full-automatic punch reclaiming system includes a workbench 101, a frame 102, a lifting mechanism 103, and a full-automatic punch manipulator 104. The fully automatic punching type manipulator 104 is described in embodiment 1, the frame 102 is mounted on the workbench 101 and can move along the horizontal X direction of the workbench 101, the lifting mechanism 103 is mounted on the frame 102 and can move along the horizontal Y direction of the frame 102, the lifting mechanism 103 is mounted on the fully automatic punching type manipulator 104 and can drive the fully automatic punching type manipulator 104 to move along the vertical Z direction, and the fully automatic punching type manipulator 104 can be moved to any specified position through the three moving modes.
The table top of the workbench 101 is provided with two guide rails 101-1 along the X direction, a gear strip 101-2 along the X direction is arranged between the two guide rails 101-1, the frame 102 is arranged along the Y direction, the bottom surface of the inner end of the frame 102 is provided with two groups of sliding blocks 102-1, the two groups of sliding blocks 102-1 are respectively and slidably assembled on the two guide rails 101-1, the inner end of the frame 102 is provided with a servo gear motor 102-2, the bottom of the private clothing gear motor 102-2 penetrates through the frame 102 and is provided with an output gear 102-3, and the output gear 102-3 is meshed with the gear strip 101-2.
The frame 102 is provided with two slide bars 102-4 along Y direction, two slide bars 102-4 are arranged symmetrically with respect to the frame 102, the lifting mechanism 103 comprises a mounting seat 103-1, a vertically arranged movable guide rail 103-2, a lifting cylinder 103-3 and a limiting rod 103-4, the left end and the right end of the mounting seat 103-1 are provided with cylinder bodies 103-5, two cylinder bodies 103-5 are respectively sleeved on the two slide bars 102-4 in a sliding manner, the outer end of the frame 102 is fixedly provided with a Y direction driving cylinder 102-5, and a piston rod of the Y direction driving cylinder 102-5 is fixedly connected with the mounting seat 103-1 along Y direction. The movable guide rail 103-2 is in sliding fit with the mounting seat 103-1, a fixed plate 103-6 is arranged at the bottom of the movable guide rail 103-2, the lifting cylinder 103-3 is fixed on the mounting seat 103-1, a piston rod of the lifting cylinder is fixedly connected with the fixed plate 103-6, the limiting rod 103-4 is vertically arranged and mounted on the mounting seat 103-1, and the bottom end of the limiting rod 103-4 can abut against the upper end face of the fixed plate 103-6. The lifting mechanism 103 further comprises a locking air cylinder 103-7, the locking air cylinder 103-7 is used for fixing the mounting seat 103-1, a piston rod of the locking air cylinder 103-7 is horizontally arranged, when the limiting rod 103-4 abuts against the upper end face of the fixing plate 103-6, the piston rod of the locking air cylinder 103-7 can extend out and abut against the lower end face of the fixing plate 103-6, the position of the fixing plate 103-6 can be fixed in two directions vertically when the full-automatic punching type manipulator 104 is lifted to the highest position, Z-direction movement or shaking of the full-automatic punching type manipulator 104 in X, Y directions after grabbing objects is avoided, and stable grabbing state of the objects in the punching machine in the feeding process is ensured.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and implement it without limiting the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (4)
1. The full-automatic punching machine type mechanical arm is characterized by comprising a mechanical arm and a grabbing mechanism arranged at the bottom end of the mechanical arm, wherein the grabbing mechanism comprises a first fixing arm with the same direction, a second fixing arm with the same direction and a plurality of suckers, the first fixing arm and the second fixing arm are respectively provided with at least one sucker, the two first fixing arms and the two second fixing arms form a diagonal line of a rectangular body plane, the first fixing arm and the second fixing arm can rotate around the vertical line of the midpoint of the rectangular body plane as a rotating shaft, the grabbing mechanism also comprises a positioning column and a shell fixed at the bottom end of the mechanical arm, the shell is sleeved outside the positioning column in a sliding way, the first fixing arm and the second fixing arm are respectively perpendicular to the axial direction of the positioning column, the two first fixing arms are driven by the positioning column to rotate, the first fixed arm and the second fixed arm rotate in opposite directions and have the same rotation amplitude, the grabbing mechanism further comprises a first rotating cylinder and a first rotating member, the first rotating cylinder is hinged to the bottom end of the mechanical arm, the first rotating member is perpendicular to the axial direction of the positioning column, one end of the first rotating member is fixedly connected to the center of the top end face of the positioning column, the other end of the first rotating member is hinged to a piston rod of the first rotating cylinder, the lower portion of the positioning column extends out of the shell, a positioning ring is sleeved on the lower portion of the positioning column in a sliding manner, the inner end of the second fixed arm is fixedly connected to the positioning ring, the grabbing mechanism further comprises a second rotating cylinder and a second rotating member, the second rotating cylinder is hinged to the bottom end of the mechanical arm, one end of the second rotating member is fixed with the positioning ring, the other end of the second rotating member is hinged to the piston rod of the second rotating cylinder, the bottom end face fixed mounting of reference column has the locating plate, two first fixed arm parts are installed the locating plate, the bottom of arm articulates and is provided with the mounting panel, snatch the mechanism and fix the bottom end face of mounting panel, the arm body of arm articulates and is provided with the swing cylinder, the piston rod of swing cylinder with the mounting panel articulates.
2. The full-automatic punching machine material taking system is characterized by comprising a workbench, a frame body, a lifting mechanism and the full-automatic punching machine manipulator disclosed in claim 1, wherein the frame body is installed on the workbench and can move along the horizontal X direction of the workbench, the lifting mechanism is installed on the frame body and can move along the horizontal Y direction of the frame body, and the lifting mechanism is installed on the full-automatic punching machine manipulator and can drive the full-automatic punching machine manipulator to move along the vertical Z direction.
3. The full-automatic punch reclaiming system according to claim 2, wherein the lifting mechanism comprises a mounting seat, a vertically arranged movable guide rail, a lifting cylinder and a limiting rod, the mounting seat is mounted on the frame body, the movable guide rail is in sliding fit with the mounting seat, a fixed plate is arranged at the bottom of the movable guide rail, the lifting cylinder is fixed on the mounting seat, a piston rod of the lifting cylinder is fixedly connected with the fixed plate, the limiting rod is vertically arranged and mounted on the mounting seat, and the bottom end of the limiting rod can abut against the upper end face of the fixed plate.
4. The full-automatic punch reclaiming system according to claim 3, wherein the lifting mechanism further comprises a locking cylinder, the locking cylinder is fixed on the mounting seat, a piston rod of the locking cylinder is horizontally arranged, and when the limiting rod abuts against the upper end face of the fixed plate, the piston rod of the locking cylinder can extend out and abut against the lower end face of the fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324795.0A CN110842103B (en) | 2019-12-20 | 2019-12-20 | A fully automatic punching machine manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911324795.0A CN110842103B (en) | 2019-12-20 | 2019-12-20 | A fully automatic punching machine manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110842103A CN110842103A (en) | 2020-02-28 |
| CN110842103B true CN110842103B (en) | 2025-01-07 |
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| CN111390042B (en) * | 2020-03-10 | 2025-02-18 | 天津信泰汽车零部件有限公司 | A robot gripping mechanism suitable for punching products with different postures in multiple processes |
| CN113001836A (en) * | 2021-02-08 | 2021-06-22 | 河南工业职业技术学院 | Demoulding stabilizing device |
| CN113071918B (en) * | 2021-04-28 | 2025-10-10 | 东风本田发动机有限公司 | Grabbing mechanism, feeding device and processing equipment |
| CN113333614B (en) * | 2021-06-03 | 2024-05-07 | 杭萧钢构（山东）有限公司 | Mechanical arm for grabbing materials of punching machine |
| CN119187375A (en) * | 2024-11-11 | 2024-12-27 | 湖南沁恩智能科技有限公司 | Triaxial manipulator of punch press |
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