CN206030055U - Feeding mechanical arm in automation of punch press - Google Patents

Feeding mechanical arm in automation of punch press Download PDF

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Publication number
CN206030055U
CN206030055U CN201620958357.5U CN201620958357U CN206030055U CN 206030055 U CN206030055 U CN 206030055U CN 201620958357 U CN201620958357 U CN 201620958357U CN 206030055 U CN206030055 U CN 206030055U
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CN
China
Prior art keywords
punch press
servomotor
unloading manipulator
seat
joint arm
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Active
Application number
CN201620958357.5U
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Chinese (zh)
Inventor
熊家鹏
李学儒
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Dongguan City Run Robot Polytron Technologies Inc
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Dongguan City Run Robot Polytron Technologies Inc
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Priority to CN201620958357.5U priority Critical patent/CN206030055U/en
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Abstract

The utility model discloses a feeding mechanical arm in automation of punch press, which comprises a worktable, the each side of board is equipped with one and goes up feeding mechanical arm, go up feeding mechanical arm including adorning to the fixing base of board admittedly, be provided with the seat of gliding lift from top to bottom in the fixing base, link firmly the lead screw of vertical setting in the lift seat, the lead screw outside is equipped with rotatable sliding sleeve, rotation and then drive lead screw and the seat that goes up and down take place by the lifting servo motor drive and go up and down for the sliding sleeve, install a servo motor in the lift seat, a servo motor's output shaft is through the first articulated arm of a retarder connection, the second joint arm is connected to first articulated arm one end, the one end that first articulated arm was kept away from to the second joint arm is provided with the carousel, the fixed iron plate of a sucking disc is connected to the bottom of carousel, the utility model discloses a set up elevating system in the manipulator bottom to make the manipulator execution end can go up and down to inhale material or blowing in a flexible way between the lower mould in the constrictive space on the punch press, the equilibrium is good, and can not touch mould and lower mould, has improved the die -cut efficiency of punch press greatly.

Description

A kind of automatic loading and unloading manipulator of punch press
Technical field
This utility model belongs to the automatic loading/unloading apparatus field of punch press, specifically refers to a kind of the automatic upper and lower of punch press Material mechanical hand.
Background technology
Existing flexible PCB (FPC plates) is cut in pressing equipment, and flexible material handling equipment is located at and cuts punching press punching Bed dead ahead, it is due to narrow space between mould under mould in the punching press of punching machine mold and punching press, upper and lower due to existing mechanical hand The driving of lifting and execution unit are respectively positioned on actuating station, cause the actuating station of current loading and unloading manipulator stretch on punch press Suction or blowing is carried out between lower mould, or the actuating station of loading and unloading manipulator is when suction or blowing is lifted, easily touching punching Bed upper and lower mould, while the balance of this mechanical hand is bad, it is impossible to remain the horizontal suction state of actuating station vacuum slot.
Utility model content
This utility model is in order to overcome the deficiency of prior art, it is proposed that the good punch press of a kind of bottom liftable, balance Automatic loading and unloading manipulator.
This utility model is solving above-mentioned technical problem by following technical proposals.
A kind of automatic loading and unloading manipulator of punch press, is arranged on the adjacent side of punch press to punch press feeding and blanking, including board, The left and right sides of the board is respectively provided with a loading and unloading manipulator, and the loading and unloading manipulator includes the fixation being fixedly mounted with to board Seat, the fixed seat are provided with the lifting seat that can slide up and down, the liter with cavity in, the hollow intracavity of the fixed seat Longitudinally disposed screw mandrel is fixed with drop seat, a horizontal cross plate in the fixed seat, is fixedly installed, installed on the horizontal cross plate There is the rotatable sliding sleeve being sleeved on the outside of screw mandrel, the sliding sleeve occurs rotation by the lift servo Motor drive for being attached to horizontal cross plate Rotate into and drive screw mandrel and lifting seat lifting, the first servomotor, the output of the first servomotor are installed in the lifting seat Axle connects the first joint arm by the first decelerator, and first joint arm connects second joint arm away from one end of lifting seat, The second joint arm is driven by the second servomotor and the second decelerator relative to the rotation of the first joint arm, second joint arm One end of first joint arm is provided with rotating disk, the rotating disk drives rotation, institute by the 3rd servomotor and the 3rd decelerator The bottom for stating rotating disk connects sucker fixation iron plate, and the sucker is fixed iron plate bottom and is adsorbed with multiple tops with the true of permanent magnet Suction mouth.
More specifically, a brake shoes is also installed on the output shaft top of first servomotor.
More specifically, the fixed seat includes perpendicular to the side plate of board plane and by side plate the middle cavity for surrounding, institute The side plate interior sides wall for stating fixed seat is installed with multiple longitudinal sliding blocks, and lifting seat side wall is fixed with and the longitudinal sliding block The longitudinal slide rail of matching.
More specifically, the longitudinal sliding block includes 8 and is divided into two groups and is symmetrically disposed in the relative of fixed seat Two side plate interior sides walls.
More specifically, the quantity of the vacuum slot has 8.
More specifically, second servomotor and the 3rd servomotor may be contained within nearly first joint of second joint arm rest One end of arm, the output shaft of second servomotor are connected with the second decelerator, the output shaft of second decelerator and One joint arm connects, and the output shaft of the 3rd servomotor connects the 3rd decelerator, the output shaft connection one of the 3rd decelerator Synchronizing wheel, the synchronizing wheel connect rotating disk by belt.
More specifically, also including a controller, the controller is watched with lift servo motor, the first servomotor, second Take motor and the connection of the 3rd servomotor.
More specifically, also including the stock shelf and blanking rack being disposed in parallel between two loading and unloading manipulators, it is described on Bin slides and is provided with lifting bin, and the stock shelf is provided with feeding servomotor, the feeding servo motor transmission connection One cam, the cam drive connect a drive block, and the drive block is affixed to lifting bin.
More specifically, the stock shelf is provided with the scalable positioning pin positioned to FPC plates, and the scalable is fixed The connected slide block in bottom of position pin, the slide block are slidably connected in the slideway that stock shelf is provided with and can be by through slideways Screw locking is fixed.
More specifically, also including a limit induction device for being arranged on stock shelf, when lifting bin is carried on FPC plates to be punched Induced signal can be triggered when being raised to specified location makes lifting bin stop rising, and the sucker fixes the bottom setting one of iron plate to be had With having, material induction apparatuss, the limit induction device expect that induction apparatuss are electrically connected with the controller.
The beneficial effects of the utility model are, this utility model by arranging elevating mechanism in mechanical hand bottom, so as to Carry out lifting suction or blowing, balance in the space for enabling mechanical hand actuating station flexibly narrow between punch press upper and lower mould It is good, and upper die and lower die will not be touched, substantially increase punch press punching efficiency.
Description of the drawings
Fig. 1 is the schematic diagram that this utility model is arranged on punch press neighbour side.
Fig. 2 is structural representation of the present utility model.
Fig. 3 is one of structural representation of loading and unloading manipulator of the present utility model.
Fig. 4 is the two of the structural representation of loading and unloading manipulator of the present utility model
Fig. 5 is the structural representation after loading and unloading manipulator of the present utility model decomposes.
Fig. 6 is the structural representation of stock shelf of the present utility model and blanking rack.
Fig. 7 is the structural representation after stock shelf of the present utility model decomposes.
Specific embodiment
This utility model preferred embodiment is given below in conjunction with the accompanying drawings, to describe the technical solution of the utility model in detail.
Such as Fig. 1 to Fig. 7, a kind of embodiment of the automatic loading and unloading manipulator of punch press are arranged on the adjacent side of punch press 3, are used for Feeding and blanking to punch press 3, including board 1, the medianly zygomorphic of the board 1 is respectively provided with a loading and unloading manipulator 2, The loading and unloading manipulator 2 includes the fixed seat 21 being fixedly mounted with to board 1, and the fixed seat 21 includes four pieces perpendicular to board plane Side plate 210 and the middle cavity 211 surrounded by side plate 210, two relative side plate interior sides walls of fixed seat 21 are installed with 8 212,8 longitudinal sliding blocks 212 of individual longitudinal sliding block are divided into two groups and are symmetrically disposed in relative two side plate of fixed seat 21 Medial wall, arranges lifting seat 22 in the middle cavity 211 of the fixed seat 21, the relative two side of the lifting seat 22 be fixed with The longitudinal slide rail 221 that the longitudinal sliding block 212 matches, is fixedly connected with longitudinally disposed screw mandrel 222, institute in the lifting seat 22 State in fixed seat 21 and be provided with horizontal cross plate 213, be provided with the horizontal cross plate 213 and be sleeved on revolving on the outside of screw mandrel 222 Turn sliding sleeve 223, the sliding sleeve 223 is fixedly connected a synchronizing wheel 224, and the synchronizing wheel 224 connects lift servo electricity by belt Machine 214, lift servo motor 214 are attached to horizontal cross plate 213, and the rotary shaft top of the lift servo motor 214 is also installed One brake shoes 215, when the output shaft of lift servo motor 214 drives the rotation of synchronizing wheel 224 and then drives sliding sleeve 223 to rotate, by It is arranged on horizontal cross plate 213 in sliding sleeve 223, and then drives the screw mandrel 222 being arranged in sliding sleeve 223 to move up and down, and then band Dynamic lifting seat 222 is overall to make elevating movement, carries out lifting suction or blowing so as to drive sucker to fix iron plate 26 and vacuum cup.
The first joint arm 23 that can be swung in the horizontal plane, first joint arm 23 are installed at the top of the lifting seat 22 One end be connected with the first servomotor 231 and the first decelerator inside the lifting seat 22, the first servomotor 231 drive the first joint arm to swing in the horizontal plane by decelerator, and first joint arm 23 is away from the another of lifting seat 22 End is provided with second joint arm 24, and one end of the second joint arm 24 is connected with the second servomotor 241 and decelerator, Second joint arm 24 is swung in the horizontal plane by the second servomotor 241 and the transmission of the second decelerator, the second joint arm 24 The other end is provided with rotating disk 25, the rotating disk 25 by the 3rd servomotor 251 and the 3rd decelerator drive can 360 degree of rotations, The rotating disk 25 is fixedly connected a sucker and fixes iron plate 26, and the sucker is fixed the lower section absorption of iron plate 26 and is provided with 8 tops Vacuum cup with permanent magnet, thus can arbitrarily flexible its sucker fix iron plate 26 on position, to adapt to not The sheet material to be punched of same specification.
Also include a controller (not shown), the controller and lift servo motor 214, the first servomotor 231st, the second servomotor 241 and the 3rd servomotor 251 connect.
Also include stock shelf 41 ' and the blanking rack 42 being disposed in parallel between two loading and unloading manipulators, the stock shelf 41 ' slide is provided with lifting bin 41, and the stock shelf 41 ' is provided with feeding servomotor 42, the feeding servomotor 42 Be connected a cam 43, and the cam 43 is connected a drive block 44, and the drive block 44 is affixed to lifting bin 41.
The stock shelf 41 ' is provided with the scalable positioning pin 45 positioned to FPC plates, the scalable positioning edge The connected slide block 46 in the bottom of pin 45, the slide block 46 are slidably connected in the slideway that stock shelf is provided with and can be by through slideways Screw locking fix.
Also including a limit induction device (51,52) for being arranged on stock shelf 41 ', when lifting bin 41 carries FPC to be punched Plate can trigger induced signal when rising to specified location make lifting bin 41 stop rising, and the sucker is fixed the bottom of iron plate and set Putting one has material induction apparatuss (not shown), with having, the limit induction device expects that induction apparatuss 41 ' are electrically connected with the controller.
Operation principle:Two loading and unloading manipulators one of them be used for feeding, another is used for blanking, due to mechanical hand 24 whole height of second joint arm is less, in suction or blowing, carries out lifting suction or blowing by lifting seat 22, can be flexible The activity between punch press upper and lower mould freely, balance is good, and will not touch upper die and lower die, substantially increases punch press punching effect Rate, during work, the mechanical hand for feeding is moved to the top of lifting bin, and lifting bin carries FPC plates and rises to specified height After degree, produce limit signal and stop rising, now vacuum cup drops to specified location carries out suction, after suction is finished, sucker The material induction apparatuss that have of fixed iron plate will have material signal transmission to controller, and the mobile FPC sheet materials of controller control are to the upper and lower of punch press Blowing is carried out between mould and is punched, for some FPC sheet materials, sucker may also will be made to fix the generation 180 degree of iron plate 26 and be rotated into Row second is punched, and after punching is finished twice, the vacuum cup for the mechanical hand of blanking is moved to and is punched the workpiece for finishing Side carries out sinking suction, and rising and move to blanking rack after suction again carries out sinking blowing, and whole action is completed.
Although the foregoing describing specific embodiment of the present utility model, it will be appreciated by those of skill in the art that These are merely illustrative of, and protection domain of the present utility model is defined by the appended claims.Those skilled in the art Member on the premise of without departing substantially from principle of the present utility model and essence can make numerous variations or repair to these embodiments Change, but these changes and modification each fall within protection domain of the present utility model.

Claims (10)

1. a kind of automatic loading and unloading manipulator of punch press, is arranged on the adjacent side of punch press to punch press feeding and blanking, it is characterised in that Including board, the left and right sides of the board is respectively provided with a loading and unloading manipulator, and the loading and unloading manipulator includes being fixedly mounted with to machine The fixed seat of platform, the fixed seat are provided with the lifting that can slide up and down with cavity in, the hollow intracavity of the fixed seat Seat, is fixed with longitudinally disposed screw mandrel in the lifting seat, a horizontal cross plate is fixedly installed in the fixed seat, and the level is horizontal The rotatable sliding sleeve being sleeved on the outside of screw mandrel is installed on plate, the sliding sleeve is driven by the lift servo motor for being attached to horizontal cross plate It is dynamic to rotate and then drive screw mandrel and lifting seat lifting, the first servomotor, the first servo electricity are installed in the lifting seat The output shaft of machine connects the first joint arm, one end connection second of first joint arm away from lifting seat by the first decelerator Joint arm, the second joint arm are driven by the second servomotor and the second decelerator relative to the rotation of the first joint arm, the Two joint arms are provided with rotating disk away from one end of the first joint arm, and the rotating disk is driven by the 3rd servomotor and the 3rd decelerator Rotation, the bottom of the rotating disk connect a sucker and fix iron plate, and the sucker is fixed iron plate bottom and is adsorbed with multiple top bands forever The vacuum slot of magnet.
2. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that first servomotor Output shaft top is also installed by one brake shoes.
3. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that the fixed seat includes vertically The middle cavity surrounded in the side plate of board plane and by side plate, the side plate interior sides wall of the fixed seat are installed with multiple indulging To slide block, lifting seat side wall is fixed with the longitudinal slide rail matched with the longitudinal sliding block.
4. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that the longitudinal sliding block includes 8 It is individual and be divided into two groups and be symmetrically disposed in the relative two side plate interior sides wall of fixed seat.
5. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that the quantity of the vacuum slot There are 8.
6. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that second servomotor and 3rd servomotor may be contained within one end of nearly first joint arm of second joint arm rest, the output shaft of second servomotor with Second decelerator connects, and the output shaft of second decelerator is connected with the first joint arm, the output of the 3rd servomotor Axle connects the 3rd decelerator, and the output shaft of the 3rd decelerator connects a synchronizing wheel, and the synchronizing wheel connects rotating disk by belt.
7. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that also including a controller, institute State controller to be connected with lift servo motor, the first servomotor, the second servomotor and the 3rd servomotor.
8. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that also including being disposed in parallel in two Stock shelf and blanking rack between individual loading and unloading manipulator, the stock shelf slide and are provided with lifting bin, and the feeding sets up Feeding servomotor is equipped with, the feeding servo motor transmission connects a cam, and the cam drive connects a drive block, described Drive block is affixed to lifting bin.
9. the automatic loading and unloading manipulator of punch press according to claim 1, it is characterised in that it is right that the stock shelf is provided with The scalable positioning pin positioned by FPC plates, the connected slide block in bottom of the scalable positioning pin, the slide block slide It is connected in the slideway that stock shelf is provided with and can be fixed by the screw locking through slideway.
10. the automatic loading and unloading manipulator of punch press according to claim 7, it is characterised in that be also arranged on including The limit induction device of bin, can trigger induced signal when lifting bin carrying FPC plates to be punched and rising to specified location makes liter Drop bin stopping to rise, the sucker fixes the bottom setting one of iron plate there are material induction apparatuss, the limit induction device expects sense with having Device is answered to be electrically connected with the controller.
CN201620958357.5U 2016-08-27 2016-08-27 Feeding mechanical arm in automation of punch press Active CN206030055U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620958357.5U CN206030055U (en) 2016-08-27 2016-08-27 Feeding mechanical arm in automation of punch press

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620958357.5U CN206030055U (en) 2016-08-27 2016-08-27 Feeding mechanical arm in automation of punch press

Publications (1)

Publication Number Publication Date
CN206030055U true CN206030055U (en) 2017-03-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106166764A (en) * 2016-08-27 2016-11-30 东莞市本润机器人开发科技有限公司 A kind of automatic loading and unloading manipulator of punch press
WO2019184352A1 (en) * 2018-03-30 2019-10-03 江苏迪佳电子有限公司 Slicing and punching device for mobile phone touch screen

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106166764A (en) * 2016-08-27 2016-11-30 东莞市本润机器人开发科技有限公司 A kind of automatic loading and unloading manipulator of punch press
WO2019184352A1 (en) * 2018-03-30 2019-10-03 江苏迪佳电子有限公司 Slicing and punching device for mobile phone touch screen

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