CN118455400B - Manipulator special for stamping - Google Patents
Manipulator special for stamping Download PDFInfo
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- CN118455400B CN118455400B CN202410932673.4A CN202410932673A CN118455400B CN 118455400 B CN118455400 B CN 118455400B CN 202410932673 A CN202410932673 A CN 202410932673A CN 118455400 B CN118455400 B CN 118455400B
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- 210000000078 claw Anatomy 0.000 claims abstract description 51
- 238000000034 method Methods 0.000 abstract description 21
- 239000000463 material Substances 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000013589 supplement Substances 0.000 abstract description 3
- 239000002994 raw material Substances 0.000 description 22
- 238000004080 punching Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
The application belongs to the technical field of manipulator manufacturing, in particular to a manipulator special for stamping, which comprises a manipulator body and a control system, wherein the execution end of the manipulator body is provided with two clamping claws which are matched with each other, the two clamping claws can be mutually close to and far away from each other, a channel perpendicular to the clamping surface of each clamping claw is arranged on each clamping claw, the axis of the channel is parallel to the moving direction of one clamping claw relative to the other clamping claw, an inner diameter size adjuster is arranged in the channel, and the control system is in signal connection with the manipulator body and the inner diameter size adjuster; the application adopts a mode that the clamping claw is provided with the channel which is matched with the inner diameter regulator arranged in the channel, so that the control system can control the inner diameter regulator to slowly increase the effective inner diameter of the channel in the process of stamping a workpiece, and then the clamping claw is matched with the punch of the stamping die to stamp, thereby solving the problem that the traditional manipulator can not continuously supplement materials into the die in the process of stamping by the stamping die.
Description
Technical Field
The application belongs to the technical field of manipulator manufacturing, and particularly relates to a manipulator special for stamping.
Background
The existing mechanical arm only has the effect of loading and unloading, particularly on a punching machine, after the mechanical arm clamps the plate raw material onto a die, the mechanical arm moves away, the die is fixed on the plate and then is used for punching, at the moment, the punch of the die is required to continuously feed the plate raw material into the die in the process of punching the plate so as to prevent the punch from punching the plate raw material, but the position of the common mechanical arm for clamping the plate raw material cannot be changed, because the position for clamping the plate raw material is changed, namely the plate raw material is released, namely the plate raw material is not clamped, so that the existing mechanical arm cannot continuously feed the plate into the die in the process of punching the die.
Disclosure of Invention
The application mainly aims at the defects of the prior art, adopts a mode that the clamping claw is provided with the channel and is matched with the inner diameter size regulator arranged in the channel, so that the effective inner diameter of the channel can be gradually increased by controlling the inner diameter size regulator through the control system in the process of stamping a workpiece, and then the stamping is carried out by being matched with the punch of the stamping die, thereby solving the problem that the prior manipulator can not continuously supplement materials into the die in the process of stamping by the stamping die.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
The utility model provides a manipulator of punching press is exclusively used in, includes manipulator body, control system, the execution end of manipulator body is equipped with two gripper jaws that mutually support, two the gripper jaw can be close to each other and keep away from, be equipped with the perpendicular to on the gripper jaw the passageway of the holding surface of gripper jaw, the axis of passageway is on a parallel with the direction that one gripper jaw moved relative another gripper jaw, be equipped with internal diameter size adjuster in the passageway, control system signal connection manipulator body with internal diameter size adjuster.
Preferably, the inner diameter size adjuster comprises an independent telescopic rod and a transverse plate, a plurality of independent telescopic rods are arranged in the inner circle Zhou Zhen of the channel, fixed ends of the independent telescopic rods are fixedly arranged in the clamping claws, free ends of the independent telescopic rods extend out of the channel, the independent telescopic rods are perpendicular to the axis of the channel, the free ends of the independent telescopic rods are fixedly connected with the transverse plate in the channel, the plane of the clamping surface of the clamping claws facing the transverse plate is in the same plane with the clamping surface of the clamping claws, and the control system is in signal connection with the independent telescopic rods.
Preferably, the inner diameter size adjuster comprises adjusting units, each adjusting unit comprises a main telescopic rod, N auxiliary telescopic rods, a core plate and N auxiliary plates, the inner circle Zhou Zhen of the channel is provided with a plurality of adjusting units, each auxiliary plate is U-shaped, the opening of the U-shape of each auxiliary plate faces the geometric center of the channel, the core plate is positioned in the U-shape of the first auxiliary plate, the shape size of the core plate is equal to the shape size of the inner cross section of the U-shape of the first auxiliary plate, the X-1 auxiliary plate is positioned in the U-shape of the X auxiliary plate, the shape size of the X-1 auxiliary plate is equal to the shape size of the inner cross section of the U-shape on the X auxiliary plate, the inner bottom surface of each auxiliary plate is provided with a position avoiding hole, the fixed end of the main telescopic rod and the fixed end of the auxiliary telescopic rod are fixedly arranged in the clamping jaw, the free end of the main telescopic rod penetrates through each auxiliary plate) is fixedly connected with the side wall of the core plate, which faces to the first auxiliary plate, the free end of the auxiliary telescopic rod penetrates through the second auxiliary plate to the first auxiliary plate and is fixedly connected with the first auxiliary plate, the free end of the M auxiliary telescopic rod penetrates through the M+1th auxiliary plate to the N auxiliary plate and is fixedly connected with the M auxiliary plate, X is smaller than or equal to N, M is smaller than N, X, M and N are natural numbers, all auxiliary plates and the core plate face to the clamping surface of the clamping jaw, the planes of the clamping surfaces of the clamping jaw are in the same plane, and the main telescopic rod and all auxiliary telescopic rods are in signal connection with the control system.
Preferably, the projection of the clamping claw on the clamping surface of the clamping claw is a rectangular frame, and each side wall of the rectangular frame is provided with one inner diameter size adjuster.
Preferably, the projection of the clamping claw on the clamping surface of the clamping claw is 匚 type, and each side wall of 匚 type is provided with one inner diameter size adjuster.
Preferably, the manipulator body is respectively and fixedly connected with two clamping claws through two groups of clamping telescopic rods, each clamping telescopic rod is parallel, and the telescopic directions of the two groups of clamping telescopic rods are opposite.
Preferably, the cross plate is provided with rounded corners on the face facing the geometric center of the channel.
Compared with the prior art, the application has the following beneficial effects:
1. The application adopts a mode that the clamping claw is provided with the channel which is matched with the inner diameter regulator arranged in the channel, so that the control system can control the inner diameter regulator to slowly increase the effective inner diameter of the channel in the process of stamping a workpiece, and then the clamping claw is matched with the punch of the stamping die to stamp, thereby solving the problem that the traditional manipulator can not continuously supplement materials into the die in the process of stamping by the stamping die.
2. According to the application, through the arrangement of the clamping telescopic rod, the two clamping claws are controlled to be far away from each other and close to each other; when the clamping telescopic rod stretches, the two clamping claws are far away from each other, and the clamped workpiece is released; when the clamping telescopic rod is contracted, the two clamping claws are close to each other to clamp the workpiece.
3. The round corners are arranged on the surface, facing the geometric center of the channel, of each transverse plate, so that the situation that the edges of the transverse plates cut into plate raw materials in the stamping process can be prevented.
Drawings
FIG. 1 is a schematic diagram of the structure of the present application;
FIG. 2 is a schematic diagram of an inner diameter size adjuster according to a first design method of the present application;
FIG. 3 is a schematic illustration of the present application in use, with a sheet material held for stamping;
FIG. 4 is a schematic view of the structure of the clamping jaw when the inner diameter size adjuster of the present application adopts the first design;
FIG. 5 is a schematic view showing a projection 匚 of a gripper jaw on a gripping surface of the gripper jaw according to the present application;
fig. 6 is an exploded view of the adjusting unit in the present application.
1, A manipulator body; 2. clamping claws; 3. an independent telescopic rod; 4. a cross plate; 5. a main telescopic rod; 6. an auxiliary telescopic rod; 7. a core plate; 8. a sub-plate; 9. a clearance hole; 10. clamping the telescopic rod; 11. a base; 12. a track; 13. a mold; 14. a punch; 15. and (5) plate raw materials.
Detailed Description
As shown in fig. 1-6, a manipulator specially used for stamping comprises a manipulator body 1 and a control system, wherein two clamping claws 2 which are matched with each other are arranged at the execution end of the manipulator body 1, the two clamping claws 2 can be mutually close to and far away from each other, a channel perpendicular to the clamping surface of the clamping claw 2 is arranged on the clamping claw 2, the axis of the channel is parallel to the moving direction of one clamping claw 2 relative to the other clamping claw 2, an inner diameter size adjuster is arranged in the channel, and the control system is in signal connection with the manipulator body 1 and the inner diameter size adjuster.
In this embodiment, when the manipulator is used, the two clamping claws 2 of the manipulator body 1 clamp the plate raw material 15 to the opening of the die 13, at this time, the geometric center of the channel and the geometric center of the opening of the die 13 are both on the extension line of the central axis of the punch 14 of the die 13 through the control of the control system, as shown in fig. 3, in the process of punching the plate raw material 15 by the punch 14, the inner diameter size regulator continuously increases the radius of the channel, and since the two clamping claws 2 fixedly clamp the plate raw material 15 and the clamping point cannot move, the plate raw material 15 is continuously released in the process of increasing the radius of the channel by the inner diameter size regulator, so that more parts on the plate raw material 15 can be driven to enter the die cavity (namely, the parts are continuously fed into the die) in the process of entering the die cavity of the punch 14, and further the condition that the punch 14 is used for punching the plate raw material 15 in the punching process is avoided, and the problem that the existing manipulator cannot continuously feed the die in the process of punching the die is solved.
There are two ways of designing the inside diameter size adjuster:
Mode one: the inner diameter size adjuster comprises independent telescopic rods 3 and transverse plates 4, a plurality of independent telescopic rods 3 are arranged in the inner circle Zhou Zhen of a channel, fixed ends of the independent telescopic rods 3 are fixedly arranged in the clamping claws 2, free ends of the independent telescopic rods 3 extend out of the channel, the independent telescopic rods 3 are perpendicular to the axis of the channel, the free ends of the independent telescopic rods 3 are fixedly connected with the transverse plates 4 in the channel, the plane of the clamping surfaces of the clamping claws 2 facing the transverse plates 4 and the clamping surfaces of the clamping claws 2 are located on the same plane, and the control system is in signal connection with the independent telescopic rods 3.
After the arrangement, as shown in fig. 3, the two clamping claws 2 of the manipulator body 1 clamp the plate raw material 15 to the opening of the die 13, at this time, the geometric center of the channel and the geometric center of the opening of the die 13 are both on the extension line of the central axis of the punch 14 of the die 13, and in the process of punching the plate raw material 15 by the punch 14, the control system controls the independent telescopic rod 3 to continuously shrink, so that the right transverse plate 4 in fig. 3 continuously moves towards the direction a, and the left transverse plate 4 in fig. 3 continuously moves away from the direction a, so that the plate raw material 15 is continuously released, thereby enabling more parts of the plate raw material 15 to be driven into the die cavity in the process of entering the die cavity of the die 13 by the punch 14, and further avoiding the condition that the punch 14 breaks the plate raw material 15 in the punching process. This design has the further advantage that in the production of products which can be obtained by means of channel stamping only if no mould is used, different types of products can be produced by adjusting the distance of the cross plate 4 from the geometric centre of the channel by controlling the extension and retraction of the individual extension bars 3 by the control system.
Mode two: as shown in fig. 4, the inner diameter size adjuster comprises adjusting units, each adjusting unit comprises a main telescopic rod 5, N auxiliary telescopic rods 6, a core plate 7 and N auxiliary plates 8, the inner circle Zhou Zhen of the channel is provided with a plurality of adjusting units, each auxiliary plate 8 is U-shaped, the opening of the U-shape of each auxiliary plate 8 faces the geometric center of the channel, the core plate 7 is positioned in the U-shape of the first auxiliary plate 8, the shape size of the core plate 7 is equal to the shape size of the inner cross section of the U-shape of the first auxiliary plate 8, the X-1 auxiliary plate 8 is positioned in the U-shape of the X auxiliary plate 8, the shape size of the X-1 auxiliary plate 8 is equal to the shape size of the inner cross section of the U-shape on the X auxiliary plate 8, the inner bottom surface of each auxiliary plate 8 is provided with a position avoiding hole 9, the fixed end of the main telescopic rod 5 and the fixed end of the auxiliary telescopic rod 6 are fixedly arranged in the clamping claw 2, the free end of the main telescopic rod 5 penetrates through the position avoidance holes 9 on each auxiliary plate 8 to be fixedly connected with the side wall of the core plate 7 facing the first auxiliary plate 8, the free end of the first auxiliary telescopic rod 6 penetrates through the position avoidance holes 9 on the second auxiliary plate 8 to the N auxiliary plate 8 to be fixedly connected with the first auxiliary plate 8, the free end of the M auxiliary telescopic rod 6 penetrates through the M+1th auxiliary plate 8 to the N auxiliary plate 8 to be fixedly connected with the M auxiliary plate 8, X is smaller than or equal to N, M is smaller than N, X, M and N are natural numbers, the planes of the clamping surfaces of all the auxiliary plates 8 and the core plate 7 facing the clamping claw 2 are in the same plane with the clamping surface of the clamping claw 2, the main telescopic rod 5 and all the auxiliary telescopic rods 6 are in signal connection with the control system.
In this embodiment, in use, the primary telescopic rod 5 and the secondary telescopic rod 6 are both extended initially so that the core 7 is separated from the U-shape of the first secondary plate 8, the first secondary plate 8 is separated from the U-shape of the second secondary plate 8, the X-th secondary plate 8 is separated from the U-shape of the x+1th secondary plate 8, so that the projection of the area enclosed by all the core 7 on the die 13 is equal to or slightly larger than the inner diameter of the punch 14, after which the primary telescopic rod 5 is gradually retracted during the entry of the punch 14 into the die cavity of the die 13 so that the core 7 is retracted into the U-shape of the secondary plate 8 on one adjustment unit relatively closest to the core 7, that is, the first clamping jaw 2, and all the secondary plates 8 including the first secondary plate 8, except for the first secondary plate 8, are clamped in the sheet material 15, and then the sequence from the first secondary plate 8 to the N-th secondary plate 8 is gradually retracted each time into the U-th secondary plate 8; compared with the design mode of the inner diameter size adjuster, the mode of the inner diameter size adjuster can ensure that the clamped part of the plate raw material 15 is maximum in the inner diameter adjusting process, thereby avoiding the deformation and wrinkling of the plate raw material 15 caused by the fact that the clamping is not in place in the stamping process.
As a preferred form, the projection of the gripper jaw 2 onto the gripping surface of the gripper jaw 2 is a rectangular frame, and each side wall of the rectangular frame is provided with one of the inner diameter size adjusters.
As a preferred embodiment, as shown in fig. 5, the projection of the gripper jaw 2 on the gripping surface of the gripper jaw 2 is 匚 type, and each side wall of 匚 type is provided with one of the inner diameter size adjusters.
As a preferable mode, the manipulator body 1 is fixedly connected with two clamping claws 2 through two groups of clamping telescopic rods 10 respectively, each clamping telescopic rod 10 is parallel, and the telescopic directions of the two groups of clamping telescopic rods 10 are opposite. The design is to control the two clamping claws 2 to be far away from each other and close to each other, and when the clamping telescopic rod 10 stretches, the two clamping claws 2 are far away from each other to release the clamped workpiece; when the clamping telescopic rod 10 is contracted, the two clamping claws 2 approach each other to clamp the workpiece.
Preferably, the cross plate 4 is provided with rounded corners on the face facing the geometric centre of the channel. Such a design prevents the edges of the cross plate 4 from being cut into the sheet material 15 during the stamping process.
Preferably, the manipulator further comprises a rail 12 and a base 11, wherein the base 11 is slidably arranged between two ends of the rail 12, and the manipulator body 1 is fixedly arranged on the base 11, so that the base 11 can be controlled to move on the rail 12, the manipulator body 1 is further moved, and the travel range of the manipulator body 1 is further enlarged.
Claims (4)
1. The manipulator special for stamping is characterized by comprising a manipulator body (1) and a control system, wherein two clamping claws (2) which are matched with each other are arranged at the execution end of the manipulator body (1), the two clamping claws (2) can be mutually close to and far away from each other, a channel with an axis perpendicular to the clamping surface of the clamping claw (2) is arranged on the clamping claw (2), the axis of the channel is parallel to the moving direction of one clamping claw (2) relative to the other clamping claw (2), an inner diameter size adjuster is arranged in the channel, and the control system is in signal connection with the manipulator body (1) and the inner diameter size adjuster;
The inner diameter size adjuster comprises adjusting units, each adjusting unit comprises a main telescopic rod (5), N auxiliary telescopic rods (6), a core plate (7) and N auxiliary plates (8), a plurality of adjusting units are arranged in the interior Zhou Zhen of the channel, each auxiliary plate (8) is U-shaped, the U-shaped opening of each auxiliary plate (8) faces the geometric center of the channel, the core plate (7) is positioned in the U-shape of the first auxiliary plate (8), the shape size of the core plate (7) is equal to the shape size of the U-shaped inner cross section of the first auxiliary plate (8), the X-1 auxiliary plate (8) is positioned in the U-shape of the X auxiliary plate (8), the shape size of the X-1 auxiliary plate (8) is equal to the shape size of the U-shaped inner cross section of the auxiliary plate (8), the bottom surface of each auxiliary plate (8) is provided with a fixing end (9) which is opposite to the inner side wall (5) of the main telescopic rod (8), the fixing end (5) is arranged on the bottom surface of the auxiliary plate (8), the fixing end (8) is connected with the fixing end (9) of the main telescopic rod (5), the free end of the first auxiliary telescopic rod (6) penetrates through the second auxiliary plate (8) to the avoidance hole (9) on the Nth auxiliary plate (8) and then is fixedly connected with the first auxiliary plate (8), the free end of the Mth auxiliary telescopic rod (6) penetrates through the M+1th auxiliary plate (8) to the Nth auxiliary plate (8) and then is fixedly connected with the Mth auxiliary plate (8), X is smaller than or equal to N, M is smaller than N, X, M and N are natural numbers, all the auxiliary plates (8) and the planes of the core plates (7) facing the clamping surfaces of the clamping claws (2) are in the same plane with the clamping surfaces of the clamping claws (2), and the main telescopic rod (5) and all the auxiliary telescopic rods (6) are in signal connection with the control system.
2. A manipulator dedicated to stamping according to claim 1, characterized in that the projection of the gripper jaw (2) onto the gripping surface of the gripper jaw (2) is a rectangular frame, one of the inner diameter size adjusters being provided on each side wall of the rectangular frame.
3. A manipulator dedicated to stamping according to claim 1, characterized in that the projection of the gripper jaw (2) on the gripping surface of the gripper jaw (2) is of the 匚 type, one of the inner diameter size adjusters being provided on each side wall of the 匚 type.
4. The manipulator special for stamping according to claim 1, wherein the manipulator body (1) is fixedly connected with two clamping claws (2) through two groups of clamping telescopic rods (10), each clamping telescopic rod (10) is parallel to each other, and the telescopic directions of the two groups of clamping telescopic rods (10) are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410932673.4A CN118455400B (en) | 2024-07-12 | 2024-07-12 | Manipulator special for stamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410932673.4A CN118455400B (en) | 2024-07-12 | 2024-07-12 | Manipulator special for stamping |
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| Publication Number | Publication Date |
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| CN118455400A CN118455400A (en) | 2024-08-09 |
| CN118455400B true CN118455400B (en) | 2024-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410932673.4A Active CN118455400B (en) | 2024-07-12 | 2024-07-12 | Manipulator special for stamping |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104646466A (en) * | 2015-02-11 | 2015-05-27 | 上海交通大学 | Composite bending and forming process for non-equal-height cross-shaped rib type pieces |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8421634D0 (en) * | 1984-08-25 | 1984-09-26 | Alcan Int Ltd | Forming of metal articles |
| SE524185C2 (en) * | 2002-04-05 | 2004-07-06 | Morphic Technologies Ab Publ | Grips and use of diaphragm in one for gripping workpieces, plant for handling and processing them, and method for handling workpieces |
| CN106391816B (en) * | 2016-11-20 | 2018-03-06 | 吉林大学 | Cylinder pressure formula plate stretch device and its manufacturing process |
| CN209156852U (en) * | 2018-09-27 | 2019-07-26 | 广州市金强工贸发展有限公司 | A kind of battery case processing unit (plant) of band protection structure |
| CN113134537A (en) * | 2021-04-21 | 2021-07-20 | 哈尔滨工业大学 | Ultrathin metal corrugated board forming device and forming method |
| CN219425435U (en) * | 2023-03-24 | 2023-07-28 | 大连景通科技有限公司 | Stamping die mechanism convenient for precise positioning |
| CN118305219A (en) * | 2024-04-26 | 2024-07-09 | 苏州恒源盛模塑有限公司 | Automobile door processing and forming device and method |
| CN118269443A (en) * | 2024-05-11 | 2024-07-02 | 常州碳锋复合材料科技有限公司 | Polymer board and continuous production method thereof |
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- 2024-07-12 CN CN202410932673.4A patent/CN118455400B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104646466A (en) * | 2015-02-11 | 2015-05-27 | 上海交通大学 | Composite bending and forming process for non-equal-height cross-shaped rib type pieces |
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