CN204278014U - Punching press conveying robot - Google Patents
Punching press conveying robot Download PDFInfo
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- CN204278014U CN204278014U CN201420646040.9U CN201420646040U CN204278014U CN 204278014 U CN204278014 U CN 204278014U CN 201420646040 U CN201420646040 U CN 201420646040U CN 204278014 U CN204278014 U CN 204278014U
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- 238000004080 punching Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 230000009467 reduction Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 18
- 230000000694 effects Effects 0.000 description 16
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 239000010960 cold rolled steel Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of punching press conveying robot, comprise frame, described frame is provided with chassis rotator structure and connected horicontal motion mechanism, described chassis rotator structure comprises motor and whirligig, described whirligig is connected with motor by turning cylinder, also be connected with decelerator between described turning cylinder and servomotor, described whirligig rotates in the horizontal direction under motor drives, thus drives horicontal motion mechanism to rotate.Punching press conveying robot of the present utility model, provides power transmission by screw mandrel, ensures the phenomenon that there will not be any swing in mechanism's running; Increase moment of torsion by decelerator, moment of torsion is brought up to more than 30 times simultaneously; And the positioning gap error repeated only has 0.1 arc to divide, rotating mechanism additionally provides a rotary freedom simultaneously, and can use more convenient, it is more accurate to locate, and saves investment in machinery, mould investment more than 40%.
Description
Technical Field
The utility model relates to a manipulator, concretely relates to punching press transport manipulator.
Background
Stamping is a forming process in which a press and a die are used to apply pressure to a sheet, a coil, a pipe, a profile, etc. to cause plastic deformation or separation thereof, thereby obtaining a workpiece of a desired shape and size. The stamped blanks are mainly hot and cold rolled steel sheets and strips; in the world, 60-70% of steel materials are plates, and most of the plates are punched to form finished products. The framework, the transmission mechanism, the automobile body, the chassis, the oil tank, the radiator fin, the steel sheet and the like of the printer and the duplicator are all processed by punching. There are also a large number of stamped parts in products such as instruments, household appliances, bicycles, office machines, and household utensils.
However, most of the existing die stamping industry in China adopts a manual feeding and material changing mode, a worker puts materials into a punch before the punch works each time, and takes the materials out of the punch after the punch presses down; the mode of manually feeding and taking materials has great potential safety hazard, and industrial accidents such as disability and the like caused by pressing and breaking hands often occur; moreover, the production efficiency is relatively low, and the phenomenon of instability often occurs during production.
Although some conveying manipulators exist at present, the manipulators are easy to swing in use, cannot rotate randomly according to needs, are inaccurate in positioning and have lower rotating torque ratio.
Disclosure of Invention
In order to solve the technical problem, an object of the utility model is to provide a punching press transport manipulator to not only can make manipulator in use any wobbling phenomenon can not appear, and can adjust according to actual need, fix a position more accurately, and the pivoted moment of torsion improves greatly, and the energy saving, it is more convenient to use.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
the utility model provides a punching press transport manipulator, which comprises a frame, be equipped with chassis rotary mechanism in the frame and rather than the horizontal motion mechanism of being connected, chassis rotary mechanism includes motor and rotary device, rotary device passes through the axis of rotation and is connected with the motor, still be connected with the reduction gear between axis of rotation and motor, rotary device rotates along the horizontal direction under motor drive to drive horizontal motion mechanism and rotate.
The utility model provides a power transmission by the lead screw, which ensures that no swing phenomenon can occur in the mechanism operation process, increases the torque by the reducer, and simultaneously improves the torque to more than 30 times; the repeated positioning clearance error is only 0.1 arc minute, and meanwhile, the rotating mechanism also provides a rotating degree of freedom, so that the use is more convenient, the positioning is more accurate, the machine investment is saved, and the die investment is more than 40%.
On the basis of the technical scheme, the utility model discloses can also make following improvement:
preferably, the horizontal movement mechanism comprises a horizontal telescopic arm, a linear ball screw transmission device and a driving device, the horizontal telescopic arm is mounted on the linear ball screw transmission device, and the linear ball screw transmission device drives the horizontal telescopic arm to move back and forth along the horizontal direction under the driving of the driving device.
According to a preferable scheme, the linear ball screw transmission device comprises a ball screw and a horizontal slide rail, the horizontal slide rail comprises a lateral slide rail and a main guide slide rail, the lateral slide rail and the main guide slide rail are respectively distributed on two sides and the bottom of the ball screw, the ball screw is further movably connected with a bearing seat, the horizontal telescopic arm is connected with the bearing seat, and the ball screw drives the bearing seat to move back and forth along the horizontal direction under the driving of the driving device, so that the horizontal telescopic arm is driven to move back and forth.
By adopting the preferable scheme, the manipulator horizontal movement mechanism adopts the driving device and linear ball screw transmission, and is guided and corrected by three guide rails, so that the shaking phenomenon can not occur during horizontal movement.
Preferably, the driving device is a horizontal servo motor or a horizontal rotary cylinder.
With the preferred scheme, a proper driving device can be selected according to actual needs.
According to the preferable scheme, the driving device and the ball screw are respectively provided with a first synchronous belt pulley, the ball screw is further provided with a nut, the nut is provided with a fixed plate, the bearing seat is connected with the fixed plate, and the driving device drives the first synchronous belt pulley to rotate through a synchronous belt to drive the nut to move back and forth, so that the back and forth movement of the horizontal telescopic arm is formed.
By adopting the preferable scheme, the ball screw can be conveniently and simply driven to move back and forth, so that the horizontal telescopic wall is driven to move back and forth.
As a preferable scheme, the front end of the horizontal movement mechanism is also provided with a correcting and rotating mechanism, and the correcting and rotating mechanism is connected with a fixing plate on the screw cap.
By adopting the preferred scheme, through the design of the correcting mechanism, the product can be conveniently placed into the corresponding die, a rotational degree of freedom is increased, and the operation is more accurate and precise.
Preferably, the correcting and rotating mechanism comprises a correcting motor and a correcting rotating disc, the correcting motor is mounted on the fixed plate, the correcting rotating disc is mounted at the front end of the horizontal telescopic arm, and the correcting rotating disc rotates under the driving of the correcting motor.
Preferably, the correcting motor and the correcting rotating disc are both provided with a second synchronous belt pulley, and the correcting motor drives the second synchronous belt pulley to rotate through a synchronous belt, so as to drive the correcting rotating mechanism to rotate.
Adopt above-mentioned preferred scheme, can conveniently, simply drive correction rotary device and rotate.
As a preferred scheme, the correcting and rotating mechanism is further provided with a sucker which is connected to the correcting and rotating disc through a sucker support, and the height of the sucker support and the height of the second synchronous belt pulley are less than or equal to 110 mm.
By adopting the preferable scheme, the debugging in production is facilitated, and the requirement of actual production is met.
Preferably, a lifting mechanism is further installed between the horizontal movement mechanism and the rotation mechanism.
By adopting the preferable scheme, the lifting device can lift according to actual requirements.
According to a preferable scheme, the lifting mechanism comprises a lifting screw rod and a lifting driving device, lifting slide rails are arranged on two sides of the lifting screw rod, a lifting slider is movably connected to the lifting screw rod, the horizontal movement mechanism is connected with the lifting slider, and the lifting driving device drives the lifting screw rod to move up and down, so that the lifting mechanism is driven to move up and down through the lifting slider and the horizontal lifting mechanism is driven to move up and down.
By adopting the preferable scheme, one degree of freedom is added, the use is more convenient, and the repeated positioning precision reaches +/-0.001.
Preferably, the horizontal movement mechanism and the lifting mechanism are externally provided with a protective device.
By adopting the preferable scheme, the use is safer and more reliable.
Preferably, the protection device comprises a protection plate and an organ drag chain.
Preferably, the lifting driving device is a lifting motor or a lifting rotating cylinder.
Preferably, the reducer is an RV reducer.
By adopting the preferable scheme, the speed reducer is a chassis speed reducer for the robot, and the structure is stable.
Preferably, the rotating device comprises a bracket, a rack working table, a thrust ball bearing and a robot arm base flange which are connected in sequence, and the bracket is connected with the rotating shaft.
Preferably, the rack is further provided with a touch screen, and the touch screen controls the action of the whole manipulator through the motion card.
By adopting the preferable scheme, the method has the difference from other brands which adopt PLC control; the control can move corresponding circular interpolation and other instructions. Moreover, the operation is more convenient, and new staff can learn more quickly; the interlocking with the punch press is better; besides the normal conveying action which can be finished by the mechanical hand; still have the pile up neatly function, the work or material rest of front end and the finished product of rear end put personnel and all can save when using this manipulator, because of it has automatic pile up neatly function. The robot also has a dragging teaching function, which is the same as the dragging teaching function of a robot of a foreign large brand such as ABB, namely when the robot is started to drag the teaching function, a person pulls the arm of the manipulator to move freely; when the point is considered to be moved in place, the corresponding point position can be automatically stored; thereby achieving quick machine adjustment and point alignment. Because of considering the safety factor, the utility model discloses a manipulator only three degree of freedom can drag the teaching, is the correction rotary mechanism of chassis rotary mechanism, horizontal motion mechanism and front end respectively. The lifting mechanism is operated by pressing the touch screen manually. And thirdly: in the use process of the equipment, six-point positioning is generally adopted: a material taking point, a material taking upper point, a material taking waiting point, a material placing upper point and a material placing point; and corresponding spare points are arranged among the corresponding different points; typically only six corresponding points need to be programmed. Fourthly, the method comprises the following steps: the equipment can move in two aspects, and the manipulator can move from left to right and also from right to left; only the corresponding operation mode needs to be selected in the touch screen. And fifthly: all actions of the machine are set to be operated once in 4 seconds continuously, which exceeds the manual operation yield by 4% -50%, and industrial injury and disability accidents are avoided.
Drawings
Fig. 1 is a schematic perspective view of a stamping handling manipulator of the present invention;
fig. 2 is a cross-sectional view of the stamping handling robot of the present invention;
fig. 3 is a cross-sectional view of the horizontal movement mechanism in the press handling robot of the present invention;
fig. 4 is a schematic perspective view of a horizontal movement mechanism in the stamping and carrying manipulator of the present invention;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
fig. 6 is an exploded schematic view of a rotating mechanism in the stamping and carrying manipulator of the present invention;
wherein,
1. the robot comprises a rack, 101, a touch screen, 2, a chassis rotating mechanism, 201, a servo motor, 202, a speed reducer, 203, a rotating shaft, 204, a bracket, 205, a rack working table, 206, a thrust ball bearing, 207, a robot arm base flange, 3, a horizontal movement mechanism, 301, a horizontal telescopic arm, 302, a driving device, 303, a ball screw, 304, a lateral sliding rail, 305, a bearing seat, 306, a first synchronous belt gear, 307, a nut, 308, a fixing plate, 309, a main guide sliding rail, 4, a lifting mechanism, 401, a lifting screw rod, 402, a lifting driving device, 403, a lifting slide block, 5, an interface device, 6, a correction rotating mechanism, 601, a second synchronous belt gear, 602, a correction servo motor, 603, a correction speed reducer, 604, a synchronous belt, 605, a correction rotating disc, 7, a sucker support and 8 suckers.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In order to achieve the purpose of the utility model, in some embodiments, as shown in fig. 1 to 5, the utility model discloses a punching press transport manipulator, which comprises a frame 1, be equipped with chassis rotary mechanism 2 and rather than the horizontal motion mechanism 3 who is connected in the frame 1, chassis rotary mechanism 2 includes servo motor 201 and rotary device, rotary device passes through axis of rotation 203 and is connected with servo motor 201, still be connected with reduction gear 202 between axis of rotation 203 and servo motor 201, rotary device rotates along the horizontal direction under servo motor 201's drive to drive horizontal motion mechanism 3 and rotate. The stamping and carrying manipulator is driven by the lead screw to ensure that no swinging phenomenon occurs in the operation process of the mechanism, the torque is increased by the reducer, and the torque is increased by more than 30 times; the repeated positioning clearance error is only 0.1 arc minute, and the rotating mechanism also provides a rotating degree of freedom, so that the use is more convenient, the positioning is more accurate, the machine investment is saved, and the die investment is more than 40%.
In order to further optimize the utility model discloses an implement the effect, horizontal motion mechanism 3 includes horizontal telescopic arm 301, line type ball screw transmission and drive arrangement 302, horizontal telescopic arm 301 is installed on line type ball screw transmission, line type ball screw transmission drives horizontal telescopic arm 301 along the horizontal direction back-and-forth movement under drive arrangement 302's drive.
In order to further optimize the utility model discloses an implement the effect, line type ball screw transmission includes ball screw 303 and horizontal slide rail, horizontal slide rail includes side direction slide rail 304 and main guide slide rail 309, and side direction slide rail 304 and main guide slide rail 309 distribute respectively in ball screw 303 both sides and bottom, still bear seat 305 through slider swing joint on the ball screw 303, horizontal telescopic arm 301 links to each other with bearing seat 305, ball screw 303 makes under drive arrangement 302's drive and bears seat 305 along the horizontal direction seesaw to drive horizontal telescopic arm 301 seesaw. The horizontal movement mechanism of the manipulator adopts a driving device and linear ball screw transmission, and is guided and corrected by three guide rails, so that the phenomenon of shaking can not occur during horizontal movement.
In order to further optimize the implementation effect of the present invention, the driving device 302 is a horizontal motor or a horizontal rotation cylinder. The suitable driving device can be selected according to actual needs.
In order to further optimize the utility model discloses an implement the effect, all be equipped with first synchronous pulley 306 on drive arrangement 302 and the ball screw 303, still be equipped with nut 307 on the ball screw 303, be equipped with fixed plate 308 on the nut 307, bear seat 305 and be connected with fixed plate 308, drive arrangement 302 passes through synchronous belt and drives first synchronous pulley 306 and rotate, drives nut 307 seesaw to form the seesaw of horizontal flexible arm 301. The ball screw can be conveniently and simply driven to move back and forth, so that the horizontal telescopic wall is driven to move back and forth.
In order to further optimize the utility model discloses an implement the effect, horizontal movement mechanism 3 front end still installs and corrects rotary mechanism 6, it links to each other with fixed plate 308 on the nut 307 to correct rotary mechanism 6. Through the design of the correcting mechanism, a product can be conveniently placed into a corresponding die, a rotational degree of freedom is increased, and the operation is more accurate and precise.
In order to further optimize the effect of the present invention, the correcting and rotating mechanism 6 includes a correcting servo motor 602 and a correcting rotating disc 605, the correcting servo motor 602 is installed on the fixing plate 308, the correcting rotating disc 605 is installed at the front end of the horizontal telescopic arm 301, and the correcting rotating disc 605 rotates under the driving of the correcting servo motor 602.
In order to further optimize the utility model discloses an implement the effect, correct all to install second synchronous pulley 601 on servo motor 602 and the correction rotary disk 605, correct servo motor 602 and drive second synchronous pulley 601 through synchronous belt 601 and rotate to rotary mechanism 6 is corrected in the drive and is rotated.
In order to further optimize the utility model discloses an implement the effect, still install sucking disc 8 on the correction rotary disk 605, sucking disc 8 passes through sucking disc support 7 and connects on the correction rotary disk 605, the height of sucking disc support 7 and second synchronous belt pulley 601 highly be less than or equal to 110 mm. The debugging in production is convenient for, satisfies the needs of actual production.
In order to further optimize the utility model discloses an implement the effect, elevating system 4 is still installed between horizontal movement mechanism 3 and rotary mechanism 2 to can be according to actual need height-adjusting.
In order to further optimize the utility model discloses an implement the effect, elevating system 4 includes lift lead screw 401 and lift drive 402, lift lead screw 401 both sides are equipped with the slide rail, swing joint has elevator slide 403 on the lift lead screw 401, horizontal motion mechanism 2 is connected with elevator slide 403, lift drive 402 drives elevator lead screw 401 up-and-down motion to drive elevating system 4 up-and-down motion through the slider, and drive 2 up-and-down motion of horizontal motion mechanism. One degree of freedom is added, the use is more convenient, and the repeated positioning precision reaches +/-0.001.
In order to further optimize the utility model discloses an implement the effect, horizontal motion mechanism 2 and elevating system 4 all are equipped with protector outward. The use is safer and more reliable.
In order to further optimize the implementation effect of the utility model, the protector includes guard plate and organ tow chain.
In order to further optimize the implementation effect of the present invention, the lifting driving device 402 is a lifting motor or a lifting rotating cylinder.
In order to further optimize the implementation effect of the present invention, the speed reducer 202 is an RV speed reducer. The speed reducer is a chassis speed reducer for the robot, and has a stable structure.
In order to further optimize the implementation effect of the present invention, as shown in fig. 6, the rotating device includes a bracket 204, a rack working table 205, a thrust ball bearing 206 and a robot arm base flange 207 connected in this way, the bracket 204 is connected with a rotating shaft 203, and the rotating shaft 203 is a mechanical transmission main shaft.
In order to further optimize the effectiveness of the present invention, the robot arm base flange 207 is connected to the lifting mechanism 4 via the interface device 5.
In order to further optimize the utility model discloses an implement the effect, still be equipped with touch-sensitive screen 101 in the frame 1, touch-sensitive screen 101 passes through the action of the whole manipulator of motion card control. The method is different from other brands in that PLC control is adopted; the control can move corresponding circular interpolation and other instructions. Moreover, the operation is more convenient, and new staff can learn more quickly; the interlocking with the punch press is better; besides the normal conveying action which can be finished by the mechanical hand; still have the pile up neatly function, the work or material rest of front end and the finished product of rear end put personnel and all can save when using this manipulator, because of it has automatic pile up neatly function. The robot also has a dragging teaching function, which is the same as the dragging teaching function of a robot of a foreign large brand such as ABB, namely when the robot is started to drag the teaching function, a person pulls the arm of the manipulator to move freely; when the point is considered to be moved in place, the corresponding point position can be automatically stored; thereby achieving quick machine adjustment and point alignment. Because of considering the safety factor, the utility model discloses a manipulator only three degree of freedom can drag the teaching, is chassis rotary mechanism 2, horizontal motion mechanism 3 and the correction rotary mechanism 6 of front end respectively. The lifting mechanism 4 is manually operated by pressing the touch panel 101. And thirdly: in the use process of the equipment, six-point positioning is generally adopted: a material taking point, a material taking upper point, a material taking waiting point, a material placing upper point and a material placing point; and corresponding spare points are arranged among the corresponding different points; typically only six corresponding points need to be programmed. Fourthly, the method comprises the following steps: the equipment can move in two aspects, and the manipulator can move from left to right and also from right to left; only the corresponding operation mode needs to be selected in the touch screen. And fifthly: all actions of the machine are set to be operated once in 4 seconds continuously, which exceeds the manual operation yield by 40-50 percent, and the accidents caused by industrial injury are avoided.
When in use, 1, starting up: the feeding machine of the manipulator is provided with a 220v power supply, and after the power supply is switched ON, a power supply switch is turned to an ON state, and at the moment, a power supply indicator lamp is turned ON; the touch screen will light up to operate the interface.
2. Setting an origin point: firstly, clicking a servo starting instruction on a touch screen, and then adjusting a manual/automatic switch to a manual state; the online is a single machine; at this time, an automatic start button is pressed; the manipulator will automatically return to the original point and the green light of the original point indicator lamp will be on.
3. Manual and stand-alone operation: after the manipulator returns to the original point, the manipulator can manually move forwards and backwards according to the JOG + and JOG-of each shaft, and can run at high speed and bottom speed according to the selected speed.
4. One-stroke operation: firstly, corresponding coordinate setting is carried out on a debugging page, namely the setting of the six points is carried out, after the coordinate setting is carried out, the debugging is carried out to the idle running, the clicking starting can be automatically run, and the punching machine is not run at the moment.
5. Automatic: when the automatic operation is started, the automatic operation is started under the condition that no problem exists in one stroke; the automatic operation track is that from the initial point, the material is taken from the mould on a punch, and then the product is moved to another set of mould through the corresponding six-point coordinate, and the product is placed and retreated to the point to be placed; at this time, the punch presses. And part of the time is that the manipulator and the punch press act simultaneously, so the speed is higher; and after the punching is finished, the mechanical arm takes out the product from the other set of die and discharges the product again in the waiting area. The operation is repeated in this way.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and improvements can be made without departing from the inventive concept, and all of them belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides a punching press transport manipulator, includes the frame, its characterized in that, be equipped with chassis rotary mechanism in the frame and rather than the horizontal motion mechanism who is connected, chassis rotary mechanism includes servo motor and rotary device, rotary device passes through the axis of rotation and is connected with the motor, still be connected with the reduction gear between axis of rotation and motor, rotary device rotates along the horizontal direction under motor drive, thereby drives horizontal motion mechanism rotates.
2. The press carrying manipulator as claimed in claim 1, wherein the horizontal movement mechanism includes a horizontal telescopic arm, a linear ball screw transmission device and a driving device, the horizontal telescopic arm is mounted on the linear ball screw transmission device, and the linear ball screw transmission device drives the horizontal telescopic arm to move back and forth along a horizontal direction under the driving of the driving device.
3. The stamping and carrying manipulator as claimed in claim 2, wherein the linear ball screw transmission device comprises a ball screw and a horizontal slide rail, the horizontal slide rail comprises a lateral slide rail and a main guide slide rail, the lateral slide rail and the main guide slide rail are respectively distributed on two sides and the bottom of the ball screw, the ball screw is further movably connected with a bearing seat, the horizontal telescopic arm is connected with the bearing seat, and the ball screw drives the bearing seat to move back and forth along the horizontal direction under the driving of the driving device, so that the horizontal telescopic arm is driven to move back and forth.
4. The stamping and carrying manipulator as claimed in claim 3, wherein the first synchronous pulley is provided on each of the driving device and the ball screw, the ball screw is further provided with a nut, the nut is provided with a fixing plate, the carrying seat is connected with the fixing plate, and the driving device drives the first synchronous pulley to rotate through a synchronous belt to drive the nut to move back and forth, so as to form the back and forth movement of the horizontal telescopic arm.
5. The punch handling robot of claim 4, wherein the front end of the horizontal motion mechanism is further provided with a straightening rotation mechanism, and the straightening rotation mechanism is connected with a fixing plate on the nut.
6. The punch handling robot of claim 5, wherein the leveling mechanism comprises a leveling motor mounted on the fixed plate and a leveling rotating disk mounted at a front end of the horizontal telescopic arm, the leveling rotating disk being driven by the leveling motor to rotate.
7. The punch handling robot of claim 6, wherein the leveling servo and leveling rotary disk each have a second synchronous pulley mounted thereon, and the leveling motor drives the second synchronous pulley to rotate via a synchronous belt, thereby driving the leveling rotary mechanism to rotate.
8. The stamping and carrying manipulator as claimed in claim 7, wherein the correcting and rotating mechanism is further provided with a sucker, the sucker is connected to the correcting and rotating disc through a sucker support, and the height of the sucker support and the height of the second synchronous pulley are less than or equal to 110 mm.
9. The punch handling robot of any one of claims 1 to 8, further comprising a lift mechanism mounted between the horizontal motion mechanism and the rotation mechanism.
10. The stamping and carrying manipulator as claimed in claim 9, wherein the lifting mechanism includes a lifting screw and a lifting driving device, lifting slide rails are disposed on two sides of the lifting screw, a lifting slider is movably connected to the lifting screw, the horizontal movement mechanism is connected to the lifting slider, and the lifting driving device drives the lifting screw to move up and down, so that the lifting slider drives the lifting mechanism to move up and down and drives the horizontal lifting mechanism to move up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420646040.9U CN204278014U (en) | 2014-10-31 | 2014-10-31 | Punching press conveying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420646040.9U CN204278014U (en) | 2014-10-31 | 2014-10-31 | Punching press conveying robot |
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| CN204278014U true CN204278014U (en) | 2015-04-22 |
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| CN201420646040.9U Expired - Fee Related CN204278014U (en) | 2014-10-31 | 2014-10-31 | Punching press conveying robot |
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| CN117840328A (en) * | 2023-03-03 | 2024-04-09 | 东莞科进实业有限公司 | Intelligent mechanical arm for stamping equipment |
-
2014
- 2014-10-31 CN CN201420646040.9U patent/CN204278014U/en not_active Expired - Fee Related
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