CN205496438U - Punching press material loading robot of breaking a jam - Google Patents

Punching press material loading robot of breaking a jam Download PDF

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Publication number
CN205496438U
CN205496438U CN201620128589.8U CN201620128589U CN205496438U CN 205496438 U CN205496438 U CN 205496438U CN 201620128589 U CN201620128589 U CN 201620128589U CN 205496438 U CN205496438 U CN 205496438U
Authority
CN
China
Prior art keywords
swing arm
stacking
movable stand
feeding
mechanical hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201620128589.8U
Other languages
Chinese (zh)
Inventor
黄连勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Gaohua Technology Co ltd
Liuzhou Gaohua Machine Co ltd
Original Assignee
Liuzhou Gaohua Technology Co ltd
Liuzhou Gaohua Machine Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liuzhou Gaohua Technology Co ltd, Liuzhou Gaohua Machine Co ltd filed Critical Liuzhou Gaohua Technology Co ltd
Priority to CN201620128589.8U priority Critical patent/CN205496438U/en
Application granted granted Critical
Publication of CN205496438U publication Critical patent/CN205496438U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses punching press material loading robot of breaking a jam relates to the robot that uses in the machining field, including braced frame, X axle mobile rail, pay -off machinery hand, the mechanical hand of breaking a jam, remove the frame, X axle mobile rail passes through the leg joint in braced frame, pay -off machinery hand is connected with the removal frame with the mechanical hand of breaking a jam simultaneously, remove the slider that frame one side was connected with relatively the slide rail removal on the X axle mobile rail, swing arm and pay -off end effector are drawn together to pay -off machinery handbag, but the swing arm passes through the connecting axle wobbling to be connected at removal frame downside, pay -off end effector connects the front end at the swing arm, remove the cylinder I that the frame rear end was provided with drive swing arm luffing motion, the mechanical handbag of breaking a jam is drawn together the installation locating rack and is broken a jam end effector, installation locating rack and removal frame fixed connection, the end effector that breaks a jam connects the downside at the installation locating rack, II fixed connection in the cylinder that end effector reciprocated are broken a jam on the installation locating rack to the drive.

Description

Punching press de-stacking feeding robot
Technical field
This utility model relates to the robot in a kind of field of machining, particularly to the robot in a kind of stamping line.
Background technology
At present, the de-stacking function of conventional punch robot and feeding function are all separate on the market, de-stacking mechanical hand can move forward and backward along X-direction, de-stacking mechanical hand also includes one by the terminal-collecting machine of air cylinder driven, terminal-collecting machine is descending to be drawn after plate from truck, de-stacking mechanical hand moves forward along X-direction and plate is delivered to alignment table centering, then will be carried out punching press in plate feeding diel good for centering by feeding mechanical hand.De-stacking mechanical hand and feeding mechanical hand are controlled by different motors respectively, and equipment overall volume is huge, and floor space is big, and control system is complicated, difficult debugging, and cost is high.
Summary of the invention
The purpose of this utility model is the defect existed for above-mentioned prior art, a kind of punching press de-stacking feeding robot is provided, it is by integrated in the same apparatus to de-stacking and feeding function, de-stacking, feeding complete on same equipment simultaneously, reduce kinematic axis, reducing debugging difficulty, lifting means operational efficiency, the action that plate is drawn is driven by cylinder, reduces equipment cost.
nullThis utility model the technical scheme is that a kind of punching press de-stacking feeding robot for achieving the above object，Including support frame、X-axis moving guide rail、Feeding mechanical hand、De-stacking mechanical hand，X-axis moving guide rail is connected in support frame by support，Also include the movable stand being positioned on X-axis moving guide rail and can moving in X-direction，Feeding mechanical hand and de-stacking mechanical hand are connected with movable stand simultaneously，Movable stand side connects that have can the slide block that moves of the slide rail on X-axis moving guide rail，Feeding mechanical hand includes swing arm and feeding terminal-collecting machine，Swing arm passes through swingable being connected on the downside of movable stand of connecting shaft，Feeding terminal-collecting machine is connected to the front end of swing arm，Movable stand rear end is provided with the cylinder I driving swing arm to swing up and down，De-stacking machinery hands includes installing locating rack and de-stacking terminal-collecting machine，Installation locating rack is fixing with movable stand to be connected，De-stacking terminal-collecting machine is connected to install the downside of locating rack，The cylinder II driving de-stacking terminal-collecting machine to move up and down is fixedly connected on installation locating rack.
Further technical scheme of the present utility model is: described swing arm includes front swing arm and rear swing arm, front swing arm and rear swing arm are connected on the downside of movable stand front end by connecting shaft, the piston rod of cylinder I is connected with rear swing arm rear end by attachment means, and feeding terminal-collecting machine is connected to the front end of front swing arm.
Further technical scheme of the present utility model is: described movable stand rear inside connects the position-limit mechanism that excessively swings of restricted rear swing arm, position-limit mechanism include limiting after the vertical direction limited block that excessively swings up and down of swing arm and be connected to the vertical direction limited block both sides horizontal direction limited block that swing arm excessively swings after limiting.
Further technical scheme of the present utility model is: also include the nitrogen spring for balancing feeding terminal-collecting machine place end weight, and nitrogen spring is connected to movable stand near back-end location and rear swing arm between back-end location.
Further technical scheme of the present utility model is: described installation locating rack is fixedly connected on the downside of movable stand front end, both sides, de-stacking terminal-collecting machine upper end are connected to lead, installing locating rack and be respectively arranged at two ends with the guide pin bushing of positioning guide column, cylinder II is fixedly connected on the middle part installing locating rack.
Further technical scheme of the present utility model is: be also associated with motor and decelerator on described movable stand, X-axis moving guide rail includes guide rails assembling beam, slide rail and tooth bar, guide rails assembling beam is connected in support frame by support, slide rail is fixedly connected on guide rails assembling beam X-direction one side, tooth bar is fixedly connected on guide rails assembling beam and is positioned at the lateral margin of slide rail, and the output shaft of decelerator is externally connected with the gear being meshed with tooth bar.
This utility model punching press de-stacking feeding robot has the advantages that motor is driving feeding mechanical hand also to drive de-stacking mechanical hand to move in X-direction while X-direction moves, same motor can simultaneously drive feeding mechanical hand and de-stacking mechanical hand moves in X-direction, improve efficiency, reduce energy consumption, also reduce kinematic axis simultaneously, de-stacking, feeding complete on same equipment simultaneously, reduce debugging difficulty, lifting means operational efficiency, simpler with the robot structure compared on existing stamping line, overall volume is less；Feeding mechanical hand and de-stacking mechanical hand all by air cylinder driven, reduce equipment cost in the motion of vertical direction (Z axis).
With embodiment, this utility model punching press de-stacking feeding robot is further described below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model punching press de-stacking feeding robot；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the combination schematic diagram of the movable stand of the feeding robot of punching press de-stacking shown in Fig. 1, feeding mechanical hand, de-stacking mechanical hand and X-axis moving guide rail；
Fig. 4 is the movable stand combination schematic diagram with feeding mechanical hand of the feeding robot of punching press de-stacking shown in Fig. 1；
Fig. 5 is the other direction view of Fig. 4；
Fig. 6 is the structural representation of the de-stacking mechanical hand of the feeding robot of punching press de-stacking shown in Fig. 1；
Element numbers illustrates: 1-support frame, 2-support, 3-movable stand, 4-de-stacking mechanical hand, 5-truck, 6-alignment table, 7-feeding mechanical hand, 8-X-axis moving guide rail, 9-slide rail, 10-tooth bar, 11-guide rails assembling beam, 12-decelerator, 13-cylinder I, 14-motor, swing arm after 15-, 16-installs locating rack, 17-de-stacking terminal-collecting machine, swing arm before 18-, 19-feeding terminal-collecting machine, 20-slide block, 21-vertical direction limited block, 22-horizontal direction limited block, 23-nitrogen spring, 24-connecting shaft, 25-gear, 26-guide pin bushing, 27-lead, 28-cylinder II.
Detailed description of the invention
As shown in Figures 1 to 6, this utility model punching press de-stacking feeding robot, including support frame 1, X-axis moving guide rail 8, feeding mechanical hand 7, de-stacking mechanical hand 4, X-axis moving guide rail 8 is connected in support frame 1 by support 2.X-axis moving guide rail 8 includes guide rails assembling beam 11, slide rail 9 and tooth bar 10, and guide rails assembling beam 11 is one section of I-steel, and guide rails assembling beam 11 is connected in support frame 1 by support 2.Slide rail 9 is fixedly connected on guide rails assembling beam X-direction one side, and tooth bar 10 is fixedly connected on guide rails assembling beam 11 and is positioned at the lateral margin of slide rail 9.
This utility model punching press de-stacking feeding robot also includes the movable stand 3 being positioned on X-axis moving guide rail 8 and can moving in X-direction, being also associated with motor 14 and decelerator 12 on movable stand 3, the output shaft of decelerator 12 is externally connected with the gear 25 being meshed with tooth bar 10.Movable stand 3 side connects that have can the slide block 20 that moves of the slide rail 9 on X-axis moving guide rail 8.Feeding mechanical hand 7 and de-stacking mechanical hand 4 are connected with movable stand 3 simultaneously.
Feeding mechanical hand 7 includes swing arm and feeding terminal-collecting machine 19, swing arm by connecting shaft 24 swingable be connected on the downside of movable stand 3, feeding terminal-collecting machine 19 is connected to the front end of swing arm, and movable stand 3 rear end is provided with and drives the cylinder I 13 that swings up and down of swing arm.In the present embodiment, swing arm includes front swing arm 18 and rear swing arm 15, front swing arm 18 and rear swing arm 15 are connected on the downside of movable stand 3 front end by connecting shaft 24, the piston rod of cylinder I 13 is connected with rear swing arm 15 rear end by attachment means, after being driven by cylinder I 13, swing arm 15 swings up and down and then drives front swing arm 18 to swing up and down, and feeding terminal-collecting machine 19 is connected to the front end of front swing arm 18.Described movable stand 3 rear inside be also associated with limiting after the position-limit mechanism that excessively swings of swing arm 15, position-limit mechanism include limiting after the vertical direction limited block 21 that excessively swings up and down of swing arm 15 and be connected to the vertical direction limited block 21 both sides horizontal direction limited block 22 that swing arm 15 excessively swings after limiting, vertical direction limited block 21 includes the one piece of upper limit position block being positioned on the upside of rear swing arm 15 end and is positioned at one piece of lower position block on the downside of rear swing arm 15 end, horizontal direction limited block 22 includes the one piece of right limit block being positioned on the right side of rear swing arm 15 end and is positioned at one piece of left limit block on the left of rear swing arm 15 end.This utility model punching press de-stacking feeding robot also includes the nitrogen spring 23 for balancing feeding terminal-collecting machine 19 place end weight, nitrogen spring 23 is connected to movable stand 3 near back-end location and rear swing arm 15 between back-end location, when feeding terminal-collecting machine 19 picks up plate, nitrogen spring 23 can balance feeding terminal-collecting machine 19 weight.
De-stacking mechanical hand 4 includes installing locating rack 16 and de-stacking terminal-collecting machine 17, installation locating rack 16 is fixing with movable stand 3 to be connected, de-stacking terminal-collecting machine 17 is connected to install the downside of locating rack 16, and the cylinder II 28 driving de-stacking terminal-collecting machine 17 to move up and down is fixedly connected on installation locating rack 16.Described installation locating rack 16 is fixedly connected on the downside of movable stand 3 front end, both sides, de-stacking terminal-collecting machine 17 upper end are connected to lead 27, installing locating rack 16 and be respectively arranged at two ends with the guide pin bushing 26 of positioning guide column 27, cylinder II 28 is fixedly connected on the middle part installing locating rack 16.
During work, alignment table 6 is arranged on the downside of the front end of support frame 1, truck 5 is moved to support frame 1 time, plate (not shown) is placed on truck 5, the cylinder II 28 of de-stacking mechanical hand 4 drives de-stacking terminal-collecting machine 17 to move downward, after de-stacking terminal-collecting machine 17 draws plate, motor 14 on movable stand 3 works, the relative X-axis moving guide rail 8 of movable stand 3 is driven to move forward, de-stacking terminal-collecting machine 17 is followed movable stand 3 and is travelled forward, plate is put in alignment table 6, centering body on alignment table 6 is by plate centering, after drawn plate by feeding terminal-collecting machine 19, motor 14 drives the relative X-axis moving guide rail 8 of movable stand 3 to move forward, swing arm travels forward to put into plate and carries out punching press in diel.De-stacking mechanical hand 4 also rearward movement during feeding mechanical hand 7 overall rearward movement, when de-stacking mechanical hand 4 entirety travels forward, feeding mechanical hand 7 also travels forward.One motor 14 simultaneously drives two robot movements, two mechanical hands in the motion of z-axis all by cylinder control.
Above example is only preferred embodiment of the present utility model; structure of the present utility model is not limited to the form that above-described embodiment is enumerated; all made within spirit of the present utility model and principle any amendment, equivalent etc., within should be included in protection domain of the present utility model.

Claims (6)

  1. null1. a punching press de-stacking feeding robot，Including support frame (1)、X-axis moving guide rail (8)、Feeding mechanical hand (7)、De-stacking mechanical hand (4)，X-axis moving guide rail (8) is connected in support frame (1) by support (2)，It is characterized in that，Also include being positioned at the movable stand (3) that X-axis moving guide rail (8) is upper and can move in X-direction，Feeding mechanical hand (7) and de-stacking mechanical hand (4) are connected with movable stand (3) simultaneously，Movable stand (3) side connects that have can the slide block (20) that moves of the slide rail (9) on X-axis moving guide rail (8)，Feeding mechanical hand (7) includes swing arm and feeding terminal-collecting machine (19)，Swing arm is by swingable being connected on the downside of movable stand (3) of connecting shaft (24)，Feeding terminal-collecting machine (19) is connected to the front end of swing arm，Movable stand (3) rear end is provided with the cylinder I (13) driving swing arm to swing up and down，De-stacking mechanical hand (4) includes installing locating rack (16) and de-stacking terminal-collecting machine (17)，Installation locating rack (16) is fixing with movable stand (3) to be connected，De-stacking terminal-collecting machine (17) is connected to install the downside of locating rack (16)，The cylinder II (28) driving de-stacking terminal-collecting machine (17) to move up and down is fixedly connected in installation locating rack (16).
  2. 2. punching press de-stacking feeding robot as claimed in claim 1, it is characterized in that, described swing arm includes front swing arm (18) and rear swing arm (15), front swing arm (18) and rear swing arm (15) are connected on the downside of movable stand (3) front end by connecting shaft (24), the piston rod of cylinder I (13) is connected with rear swing arm (15) rear end by attachment means, and feeding terminal-collecting machine (19) is connected to the front end of front swing arm (18).
  3. 3. punching press de-stacking feeding robot as claimed in claim 2, it is characterized in that, described movable stand (3) rear inside connects the position-limit mechanism that restricted rear swing arm (15) excessively swings, position-limit mechanism include limiting after the vertical direction limited block (21) that excessively swings up and down of swing arm (15) and be connected to vertical direction limited block (21) the both sides horizontal direction limited block (22) that swing arm (15) excessively swings after limiting.
  4. 4. punching press de-stacking feeding robot as claimed in claim 2, it is characterized in that, also including the nitrogen spring (23) for balancing feeding terminal-collecting machine (19) place end weight, nitrogen spring (23) is connected to movable stand (3) between the close back-end location of back-end location and rear swing arm (15).
  5. 5. punching press de-stacking feeding robot as claimed in claim 1, it is characterized in that, described installation locating rack (16) is fixedly connected on the downside of movable stand (3) front end, de-stacking terminal-collecting machine (17) both sides, upper end are connected to lead (27), installing locating rack (16) and be respectively arranged at two ends with the guide pin bushing (26) of positioning guide column (27), cylinder II (28) is fixedly connected on the middle part installing locating rack (16).
  6. 6. punching press de-stacking feeding robot as claimed in claim 1, it is characterized in that, motor (14) and decelerator (12) it is also associated with on described movable stand (3), X-axis moving guide rail (8) includes guide rails assembling beam (11), slide rail (9) and tooth bar (10), guide rails assembling beam (11) is connected in support frame (1) by support (2), slide rail (9) is fixedly connected on guide rails assembling beam (11) X-direction one side, tooth bar (10) is fixedly connected on guide rails assembling beam (11) and is positioned at the lateral margin of slide rail (9), the output shaft of decelerator (12) is externally connected with the gear (25) being meshed with tooth bar (10).
CN201620128589.8U 2016-02-19 2016-02-19 Punching press material loading robot of breaking a jam Expired - Fee Related CN205496438U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620128589.8U CN205496438U (en) 2016-02-19 2016-02-19 Punching press material loading robot of breaking a jam

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620128589.8U CN205496438U (en) 2016-02-19 2016-02-19 Punching press material loading robot of breaking a jam

Publications (1)

Publication Number Publication Date
CN205496438U true CN205496438U (en) 2016-08-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620128589.8U Expired - Fee Related CN205496438U (en) 2016-02-19 2016-02-19 Punching press material loading robot of breaking a jam

Country Status (1)

Country Link
CN (1) CN205496438U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105562543A (en) * 2016-02-19 2016-05-11 柳州高华机械有限公司 Punching, unstacking and feeding robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105562543A (en) * 2016-02-19 2016-05-11 柳州高华机械有限公司 Punching, unstacking and feeding robot
CN105562543B (en) * 2016-02-19 2018-08-10 柳州高华机械有限公司 Punching press de-stacking feeding robot

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160824

Termination date: 20190219

CF01 Termination of patent right due to non-payment of annual fee