Five axle stamping mechanical arms
The utility model relates to mechanical stamping technical field, relates to manipulator, espespecially a kind of five axle stamping mechanical arms.
Current domestic punching press industry mainly adopts manually carries out feeding, discharge, cause that industrial accident lowly, easily occurs operating efficiency, product percent of pass is relatively low and labor strength is large, a press workshop needs to configure a large amount of operators, serious waste productivity
.the greatest problem that existing stamping mechanical arm exists on the market is at present the multistation upset punching press that can not realize stamping parts, and this is often unfavorable for the needs of punching production, so limit applying of stamping mechanical arm to a certain extent.In addition, also there is the shortcomings such as the not compact occupation of land space of structure is large, safety coefficient is low, low precision, noise are large in existing stamping mechanical arm on the market at present.
Summary of the invention
For the shortcoming of prior art, the purpose of this utility model is to provide a kind of five axle stamping mechanical arms.To solve the automatic loading/unloading of stamping parts on stamping line, the upset realizing multiple site punching part, compact conformation take up an area space little, can to use side by side with press machine and repeatable accuracy is high, flexible, highly versatile etc.
The utility model solves the technical scheme that its technical problem adopts: provide a kind of five axle stamping mechanical arms, it is characterized in that: include grasping jig, jig rotation axle, elastic axle, arm shaft, lifting shaft, trip shaft and cabinet, grasping jig is installed on jig rotation axle, jig rotation axle is rotatably loaded on elastic axle front end, elastic axle can be loaded on arm shaft elasticly, arm shaft is loaded on lifting shaft rotationally, lifting shaft can be loaded in cabinet to oscilaltion, and trip shaft connects with elastic axle rotationally.
Elastic axle is driven by Linear transmission module and realizes elastic motion.
Lifting shaft realizes the lifting of swing arm by the transmission of ball screw and linear slider.
Arm shaft realizes rotary motion by harmonic wave speed reducing machine.
Jig rotation axle realizes grasping jig 360 degree rotation by Timing Belt.
Trip shaft realizes the arbitrarily angled upset of this manipulator by driven by motor switching mechanism.
Grasping jig by sucker or high-speed double electromagnet to the crawl of workpiece.
The beneficial effects of the utility model are: solve the automatic loading/unloading of stamping parts on stamping line, realize the upset of multiple site punching part, compact conformation take up an area space little, can to use side by side with press machine and repeatable accuracy is high, flexible, highly versatile.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model will be further described.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the swing arm structure schematic diagram of band harmonic wave speed reducing machine of the present utility model.
Fig. 3 is trip shaft 9 and jig rotation axle construction schematic diagram.
Fig. 4 is the production line schematic diagram that the utility model and punch press form.
Fig. 5 is the utility model five axle stamping mechanical arm feeding, discharge punch press process chart.
In Fig. 1: 1 be grasping jig, 2 be jig rotation axle, 3 be elastic axle, 4 be Linear transmission module, 5 be arm shaft, 6 be lifting shaft, 7 be cabinet, 8 for under-chassis
In Fig. 2: 51 be ball screw, 52 be linear slider, 53 be harmonic wave speed reducing machine, 54 for swing arm is firmly spacing, 55 for swing arm flange.
In Fig. 3: 91 be arm upset actuating unit, 92 for upset flange, 93 be jig rotation actuating unit, 94 for primary speed-down mechanism, 95 for two reduction gear, 96 for rebound, 98 for arm overturn initial point spacing, 99 be jig rotation initial point spacing.
Detailed description of the invention
See accompanying drawing, a kind of five axle stamping mechanical arms of the utility model, it is characterized in that: include grasping jig 1, jig rotation axle 2, elastic axle 3, arm shaft 5, lifting shaft 6, trip shaft 9 and cabinet 7, grasping jig 1 is installed on jig rotation axle 2, jig rotation axle 2 is rotatably loaded on elastic axle 3 front end, elastic axle 3 can be loaded on arm shaft 5 elasticly, arm shaft 5 is loaded on lifting shaft 6 rotationally, lifting shaft 6 can be loaded on to oscilaltion in cabinet 7, and trip shaft 9 connects with elastic axle 3 rotationally.
Elastic axle 3 realizes elastic motion by the drive of Linear transmission module 4, thus realizes seesawing of grasping jig 1;
Lifting shaft 6 realizes the lifting of swing arm by the transmission of ball screw 51 and linear slider 52;
Swing arm rotating mechanism realizes the rotary motion of arm shaft 5 by harmonic wave speed reducing machine;
Jig rotation axle 2 realizes grasping jig 360 degree rotation by Timing Belt;
Trip shaft 9 realizes the arbitrarily angled upset of this manipulator by driven by motor switching mechanism;
Grasping jig 1 by sucker or high-speed double electromagnet to the crawl of workpiece.