CN207655776U - A kind of punching press feeding robot - Google Patents
A kind of punching press feeding robot Download PDFInfo
- Publication number
- CN207655776U CN207655776U CN201721380637.3U CN201721380637U CN207655776U CN 207655776 U CN207655776 U CN 207655776U CN 201721380637 U CN201721380637 U CN 201721380637U CN 207655776 U CN207655776 U CN 207655776U
- Authority
- CN
- China
- Prior art keywords
- large arm
- forearm
- punching press
- link
- feeding robot
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to a kind of punching press feeding robots, further include the control system for controlling upper and lower vertical telecontrol equipment, large arm tumbler, large arm, forearm, paw device and working including pedestal, the telecontrol equipment of vertical up and down being mounted on the base, the large arm tumbler on upper and lower vertical telecontrol equipment, the apparatus for adjusting position on large arm tumbler, the large arm on apparatus for adjusting position, the forearm in large arm, the paw device mounted on forearm end.The utility model can require the extension elongation of adjustment arm according to punching press, it is adaptable, the supporting rigidity of forearm can be improved using secondary support means, reduce its flexural deformation, using gravity balance device balance because large arm installation site changes the unbalance mass, generated, the robust motion and positioning accuracy of arm can be improved；Making it using servo-drive, movement is flexible, speed is fast, positioning accuracy is high.
Description
Technical field
The utility model is related to feeding mechanical equipment technical fields, specifically a kind of punching press feeding robot.
Background technology
Punching press industry working environment is poor, dangerous high, with pressing robot replace be manually punching press industry development certainty
Trend.
Currently, some large enterprises of China gradually replace manual work with robot, it is mostly freely to use more
Revolute robot is spent, although flexibility is good, precision is high, its is inefficient, cost input is higher.Lower-mobility press machine
People is simple in structure, and movement velocity is fast, but its adaptability is poor, and robust motion is poor, and positioning accuracy is low.
Invention content
In order to avoid with solve above-mentioned technical problem, the utility model proposes a kind of punching press feeding robots.
Technical problem to be solved in the utility model is realized using following technical scheme：
A kind of punching press feeding robot, including pedestal, be mounted on the base the telecontrol equipment of vertical up and down, be mounted on up and down
Large arm tumbler on vertical telecontrol equipment, is mounted on position tune at the apparatus for adjusting position on large arm tumbler
Large arm on regulating device, the forearm in large arm, the paw device mounted on forearm end further include controlling up and down
The control system that vertical telecontrol equipment, large arm tumbler, large arm, forearm, paw device work.
The vertical telecontrol equipment up and down includes hoistable platform, several servos for driving hoistable platform oscilaltion
Electric cylinders, several guide posts for being oriented to hoistable platform elevating movement.
The large arm tumbler includes the branch sleeve being connected with apparatus for adjusting position, is mounted on upper and lower vertical sportswear
Set the servo motor I for being drivingly connected sleeve rotation.
The large arm includes large arm link, the flexible dress of the forearm on large arm link for driving forearm flexible
Set, the forearm telescopic device include be mounted on large arm link on ball-screw, to drive ball-screw work watch
The carrier base for taking motor II, being connected with ball-screw and can be slided along large arm link level.
Gravity balance device for balancing forearm weight is installed, the gravity balance device includes flat in the large arm
Weigh block, and the balance weight is placed on one end far from forearm on large arm link, and being equipped on the large arm link can be along
The adjustment block that large arm link level is slided and locked.
The forearm includes forearm link, horizontally rotates device on forearm link, described to horizontally rotate
Device includes synchronous pulley I, the servo motor III for driving the work of synchronous pulley I, the synchronization on synchronous pulley I
Band, the synchronous pulley II being connect with the synchronous belt other end, the axis II being connected on synchronous pulley II and with paw device.
The secondary support means on apparatus for adjusting position, the secondary support means packet are connected on the forearm
The connecting bracket for including two guide rods and being fixedly connected on forearm link, connecting bracket lower end both sides are connected with guide rod,
Guide pad is installed, the guide rod is correspondingly connected on two guide pads on the apparatus for adjusting position.
The apparatus for adjusting position includes the slide being connected on large arm tumbler, on slide driving band
The screw mechanism of dynamic large arm movement.
The paw device includes paw connecting plate and electromagnet, and the paw connecting plate, which is fixedly connected on, horizontally rotates dress
It sets, the long square plate being connected with electromagnet is connected in the groove opened up on the paw connecting plate.
The pedestal lower end is connected with support foot hight regulating device, and the support foot hight regulating device includes stabilizer blade connection
Part, several stabilizer blades are respectively connected with connecting pin on stabilizer blade, and intermediate connector, the intermediate connection are connected on the connecting pin
Adjusting screw rod is housed in the screw hole of part upper end, semicircle briquetting one and semicircle briquetting two, the semicircle are fixed on the adjusting screw rod
Stabilizer blade connector is pressed on adjusting screw rod by briquetting one and semicircle briquetting two, and the stabilizer blade connector is fixedly connected on pedestal
On.
The control system include PLC controller, the touch screen being connected with PLC controller, motion-control module group, with
What motion-control module group was connected watches to what control servomotor I, servo electric cylinders, servo motor II, servo motor III worked
Take driver group.
The motion-control module group includes motion-control module I, motion-control module II, motion-control module III, fortune
Dynamic control module IV；
The servo-driver group includes servo-driver I, servo-driver II, servo-driver III, servo-driver
IV, positive limit sensor I, origin sensor I, negative limit sensor I, positive limit sensor II, origin sensor II, cathode limit
Sensor II, positive limit sensor III, origin sensor III, negative limit sensor III, positive limit sensor IV, origin sensor
IV, limit sensor IV is born.
Touch screen coordinates with PLC controller, is used for human-computer interaction；PLC controller and motion-control module I, motion control
Module II, motion-control module III, motion-control module IV are connected with electromagnet, motion-control module I and I phase of servo-driver
Even, servo-driver I is connected with servo motor I；Motion-control module II is connected with servo-driver II, servo-driver II with
Servo electric cylinders are connected；Motion-control module III is connected with servo-driver III, and servo-driver III is connected with servo motor II；Fortune
Dynamic control module IV is connected with servo-driver IV, and servo-driver IV is connected with servo motor III；Positive limit sensor I, original
Point sensor I, negative limit sensor I are connected with motion-control module I；Positive limit sensor II, origin sensor II, cathode limit
Sensor II is connected with motion-control module II；Positive limit sensor III, origin sensor III, negative limit sensor III and movement
Control module III is connected；Negative limit sensor III, positive limit sensor IV, origin sensor IV, negative limit sensor IV and fortune
Dynamic control module IV is connected.The positive limit sensor I, origin sensor I, negative limit sensor I are fixedly connected on lifting and put down
On platform, the positive limit sensor II, origin sensor II, negative limit sensor II are fixedly connected on base side wall, described
Positive limit sensor III, origin sensor III, negative limit sensor III are fixedly connected on large arm link side, the positive limit
Sensor IV, origin sensor IV, negative limit sensor IV are fixedly connected on bearing spider II.
The utility model has the beneficial effects that：
1. the apparatus for adjusting position of the utility model can adjust the stretching of arm according to the requirement of punching press enterprise working space
Length, while support foot hight regulating device is used, it can change in wide range endoadaptation difference press machine height of table
It is required that adapting it to property greatly improves.
2. the supporting rigidity of forearm can be improved using secondary support means for the utility model, its flexural deformation is reduced, is used
Gravity balance device balance can be improved the robust motion of arm and determine because large arm installation site changes the unbalance mass, generated
Position precision.
3. the utility model uses servo-drive, while configuring ball screw arrangement, linear bearing and linear rolling track
Structure can reduce friction, and making it, movement is flexible, speed is fast, positioning accuracy is high.
4. the utility model paw device short transverse size is small, the small requirement of press machine open space can be met.
5. the utility model servo electric cylinders movement output ends can reduce movement interference, two guide posts with link block articulated connection
Weighting load symmetrically can be uniformly reduced with two servo electric cylinders, so that hoistable platform is moved up and down flexible.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the front view of the utility model；
Fig. 2 is the fragmentary sectional view of forearm and large arm；
Fig. 3 is I enlarged drawing in Fig. 2；
Fig. 4 is the structural schematic diagram of the apparatus for adjusting position of the utility model；
Fig. 5 is the fragmentary sectional view of component at B in Fig. 1；
Fig. 6 is the fragmentary sectional view of component at C in Fig. 1；
Fig. 7 is the dimensional structure diagram of paw device；
Fig. 8 is the A partial enlarged views of Fig. 1；
Fig. 9 is the positive limit sensor I, origin sensor I, negative limit sensor I, positive limit sensor of the utility model
II, structural schematic diagram when origin sensor II, the negative installation of limit sensor II；
Figure 10 is when the positive limit sensor III, origin sensor III, negative limit sensor III of the utility model are installed
Structural schematic diagram；
Figure 11 is when the positive limit sensor IV, origin sensor IV, negative limit sensor IV of the utility model are installed
Structural schematic diagram；
Figure 12 is the structural schematic diagram of the gravity balance device of the utility model；
Figure 13 is the control system block diagram of the utility model.
Specific implementation mode
In order to make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, under
It is expanded on further in face of the utility model.
As shown in figure 1 to figure 13, a kind of punching press feeding robot, including pedestal 2, the vertical up and down on pedestal 2
Telecontrol equipment, the large arm tumbler on upper and lower vertical telecontrol equipment, the position tune on large arm tumbler
Regulating device, the large arm on apparatus for adjusting position, the forearm in large arm, the paw mounted on forearm end fill
It sets, further includes the control system for controlling upper and lower vertical telecontrol equipment, large arm tumbler, large arm, forearm, paw device and working
System.
Gravity balance device for balancing forearm weight is installed in the large arm.
The forearm includes forearm link 12, horizontally rotates device on forearm link 12.
The secondary support means on apparatus for adjusting position are connected on the forearm.
2 lower end of the pedestal is equipped with support foot hight regulating device.
The vertical telecontrol equipment up and down includes two servo electric cylinders 3, hoistable platform 27, and the servo electric cylinders 3 fix peace
On pedestal 2,3 movement output ends of servo electric cylinders are hinged with link block 6, and the link block 6 is fixed on hoistable platform 27
On；Two guide posts 4 are connected with by two linear bearings 5 on the hoistable platform 27, two guide posts 4 are vertically installed at pedestal 2
It is interior；Two servo electric cylinders 3 and two guide posts 4 are symmetrically uniformly distributed relative to hoistable platform 27；3 movement output ends of servo electric cylinders with connect
The articulated connection of block 6 can reduce movement interference, symmetrically can uniformly reduce weighting load, so that hoistable platform 27 is moved up and down sensitive.
The large arm tumbler includes servo motor I 29, retarder 28, crossed cylindrical roller bearing 59, turntable 60, institute
It states servo motor I 29 to be fixed on retarder 28, the lifting platform 27 is fixed with bearing block 58, and the retarder 28 is fixedly connected
In on bearing block 58, the turntable 60 is connect by key 56 with the reducer output shaft 57 of retarder 28, installation in bearing block 58
There are crossed cylindrical roller bearing 59, the turntable 60 and the inner ring of crossed cylindrical roller bearing 59 to fix, it is solid on the turntable 60
Surely it is connected with connector of rotary disk 61, branch sleeve 7 is fixedly connected on the connector of rotary disk 61；
The apparatus for adjusting position includes the slide 55 being connected on large arm tumbler, is mounted on slide 55 to band
The dynamic screw mechanism for driving large arm movement.
The screw mechanism includes the leading screw 51 being mounted on slide 55 and 51 screw-thread fit of leading screw and can be along slide 55
The feed screw nut component 52 of level sliding, is connected with hand wheel component 49, the leading screw on the leading screw 51 by shaft coupling III 50
52 top of nut assembly is connected with large arm；
There are two idler wheels 26 for each fixation of 52 down either side of feed screw nut component, and the idler wheel 26 can be in 55 both sides of slide
It is rolled in the guide-track groove of setting, 52 both sides of feed screw nut component are respectively fixed with connecting plate 53, are connected on the connecting plate 53
There are tommyhead bolt 54, the tommyhead bolt 54 to be fixedly connected in the T-slot 73 being arranged on slide 55；
Can be moved it using idler wheel 26 it is light, convenient for adjust.By adjusting large arm installation site, it is suitable for different punching presses
Enterprise's working space requirement, improves its adaptability.
The large arm includes large arm link 23, the forearm for driving forearm flexible on large arm link 23 is stretched
Compression apparatus；
The forearm telescopic device includes 21, two angular contact ball bearings of fulcrum bearing being mounted on large arm link 23
37, deep groove ball bearing I 36 and servo motor II 22, ball-screw 13, carrier base 15, the servo motor II 22 are fixedly connected
In in fulcrum bearing 21, the shaft of the servo motor II 22 is connected by shaft coupling I 38 with ball-screw 13, the ball-screw
13 are mounted on by two angular contact ball bearings 37 and deep groove ball bearing I 36 on large arm link 23, on the ball-screw 13
It is connected with ball-screw nut 14, the ball-screw nut 14 is fixedly connected on carrier base 15, and the carrier base 15 is fixed
It is connected with forearm link 12, the forearm link 12 is fixed on linear rolling track sliding block 16, and the straight-line rolling is led
Rail sliding block 16 is connected with linear rolling track slide 20, and the linear rolling track slide 20 is fixedly connected on large arm link 23
Upper end.
It is described horizontally rotate device include deep groove ball bearing II 32, deep groove ball bearing III 34, right-angle reduction device 18, servo electricity
Machine III 19, the bearing 17 being fixedly connected on forearm link 12, the servo motor III 19 are fixedly connected on right-angle reduction device
On 18, the right-angle reduction device 18 is fixedly connected on bearing 17, and shaft coupling is equipped on the output shaft of the right-angle reduction device 18
The front end of device II 30, the shaft joint II 30 is connected with axis I 31, and the axis I 31 passes through deep groove ball bearing II 32 and deep-groove ball axis
It holds III 34 to be mounted on forearm link 12, synchronous pulley I 33 is fixed on the axis I 31, is connected on the synchronous pulley I 33
There is a synchronous belt 35, one end far from bearing 17 on the forearm link 12 is connected with bearing spider I 43 and bearing spider II 47,
It is connected with adjusting screw I 41 on the bearing spider I 43, bearing I 42, the bearing branch are connected in the adjusting screw I 41
It is corresponding respectively on seat I 43, bearing spider II 47 that taper roll bearing I 44, taper roll bearing II 46, the circular cone rolling are installed
Axis II 48 is installed on sub- bearing I 44, taper roll bearing II 46, synchronous pulley II 45 is fixed on the axis II 48, it is synchronous
35 other end of band is connected on synchronous pulley II 45, and adjusting screw II 40, the adjusting are connected on the bearing spider II 47
Bearing II 39 is connected on screw II 40, the bearing I 42 and bearing II 39 are fixedly connected on forearm link 12；
The paw device includes paw connecting plate 11 and electromagnet 72, and the paw connecting plate 11 is fixedly connected on axis II
On 48, long square plate 71, the long square plate 71 are fixedly connected with by bolt 70 in the groove opened up on the paw connecting plate 11
It is connected with electromagnet 72；The paw device short transverse size is small, is suitable for the small requirement of press machine open space.
The gravity balance device includes balance weight 25, and the balance weight 25 is placed on large arm link 23 far from forearm
One end, being equipped on the large arm link 23 can be along the adjustment block 102 of the horizontal sliding of large arm link 23, the positioning
Block 102 can be locked at by fixing bolt 24 on large arm link 23；It is flat by using the balance weight 25 and adjusting of different number
The installation site of weighing apparatus block 25, balances the unbalance mass, of arm, improves the robust motion of arm.
The secondary support means include two guide rods 9 and the connecting bracket 10 that is fixedly connected on forearm link 12,
10 lower end both sides of the connecting bracket are connected with guide rod 9, and guide pad 8, institute are equipped on the slide 55 of the apparatus for adjusting position
Guide rod 9 is stated to be correspondingly connected on two guide pads 8；The rigidity of forearm can be improved by the guide rod 9 to stretch with forearm, reduce forearm
Flexural deformation, improve the robust motion and positioning accuracy of arm.
The support foot hight regulating device includes stabilizer blade connector 69, several stabilizer blades 62, is respectively connected on stabilizer blade 62
Outbound 64, is connected with intermediate connector 63 on the connecting pin 64, equipped with adjusting spiral shell in 63 upper end screw hole of the intermediate connector
Bar 65 is fixed with semicircle briquetting 1 and semicircle briquetting 2 68, the semicircle briquetting 1 and semicircle on the adjusting screw rod 65
Stabilizer blade connector 69 is pressed on adjusting screw rod 65 by briquetting 2 68, and the stabilizer blade connector 69 is fixedly connected on pedestal 2；It is logical
It crosses in the hole that connecting pin 64 is inserted into the different height being arranged on stabilizer blade 62, it can be in a wide range of interior adjusting punching press feeding robot
Highly, to meet the different requirement of different press machine height of table.By rotating 65 fine-tuning stabilizer blade 62 of adjusting screw rod
Highly, it is convenient for the leveling of punching press feeding robot.
The control system includes PLC controller 81, the touch screen being connected with PLC controller 81 80, motion control mould
Block group, be connected with motion-control module group to control servomotor I 29, servo electric cylinders 3, servo motor II 22, servo electricity
The servo-driver group that machine III 19 works.
The motion-control module group includes motion-control module I 82, motion-control module II 83, motion-control module III
84, motion-control module IV 85；
The servo-driver group includes servo-driver I 86, servo-driver II 87, servo-driver III 88, servo
Driver IV 89, positive limit sensor I 90, origin sensor I 91, negative limit sensor I 92, positive limit sensor II 93, original
Point sensor II 94, negative limit sensor II 95, positive limit sensor III 96, origin sensor III 97, negative limit sensor III
98, positive limit sensor IV 99, origin sensor IV 100, negative limit sensor IV 101.
Touch screen 80 coordinates with PLC controller 81, is used for human-computer interaction；PLC controller 81 and motion-control module I 82,
Motion-control module II 83, motion-control module III 84, motion-control module IV 85 are connected with electromagnet 72, motion-control module
I 82 are connected with servo-driver I 86, and servo-driver I 86 is connected with servo motor I 29；Motion-control module II 83 and servo
Driver II 87 is connected, and servo-driver II 87 is connected with servo electric cylinders 3；Motion-control module III 84 and servo-driver III 88
It is connected, servo-driver III 88 is connected with servo motor II 22；Motion-control module IV 85 is connected with servo-driver IV 89, watches
Driver IV 89 is taken with servo motor III 19 to be connected；Positive limit sensor I 90, origin sensor I 91, negative limit sensor I 92
It is connected with motion-control module I 82；Positive limit sensor II 93, origin sensor II 94, negative limit sensor II 95 and movement
Control module II 83 is connected；Positive limit sensor III 96, origin sensor III 97, negative limit sensor III 98 and motion control mould
Block III 84 is connected；Negative limit sensor III 98, positive limit sensor IV 99, origin sensor IV 100, negative limit sensor IV
101 are connected with motion-control module IV 85.The positive limit sensor I 90, origin sensor I 91, negative limit sensor I 92 are solid
Surely it is connected on hoistable platform 27, the positive limit sensor II 93, origin sensor II 94, negative limit sensor II 95 are fixed
It is connected on 2 side wall of pedestal, the positive limit sensor III 96, origin sensor III 97, negative limit sensor III 98 are fixed and connected
It is connected on 23 side of large arm link, the positive limit sensor IV 99, origin sensor IV 100, negative limit sensor IV 101 are solid
Surely it is connected on bearing spider II 47.
The specific action process of each section：
Installation and adjustment process：Hand wheel component 49 is rotated, drives leading screw 51 to rotate by shaft coupling III 50, matches with leading screw 51
Feed screw nut component 52 drive be secured to connection large arm link 23 move, to change the extension elongation of large arm, use
Idler wheel 26 can move it light.After being adjusted in place, the tommyhead bolt 54 being connected in the T-slot of slide 55 is fastened, by large arm
Position locks；According to large arm extension elongation, the balance weight 25 of respective numbers is selected, large arm is fixed in by fixing bolt 24
Corresponding position on link 23；According to press machine height of table, connecting pin 64 is inserted into the hole of 62 corresponding height of stabilizer blade
In, while the height that adjusting screw rod 65 finely tunes stabilizer blade 62 is rotated, with leveling feeding robot.
Upper and lower vertical motion process：According to the control instruction of control system, start servo electric cylinders 3, servo electric cylinders 3 pass through company
Connecing block 6 drives hoistable platform 27 to realize vertical movement up and down.
Rotation process：According to the control instruction of control system, start servo motor I 29, servo motor I 29 drives retarder
28 work, reducer output shaft 57 drive turntable 60 to rotate by key 56, and turntable 60 drives connector sleeve by connector of rotary disk 61
Cylinder 7, to drive big and small arms to realize rotary motion.
Forearm stretching motion process：According to the control instruction of control system, start servo motor II 22, servo motor II 22
Shaft drives shaft coupling I 38 to rotate, and shaft coupling I 38 drives ball-screw 13 to rotate, the ball-screw to match with ball-screw 13
Nut 14, which drives, is secured to the carrier base 15 of connection to drive forearm link 12 to realize forearm stretching motion, moves rail
Mark is determined by linear rolling track sliding block 16 and the motion track of linear rolling track slide 20.
Forearm end hand grabs rotation process in horizontal plane：According to the control instruction of control system, start servo motor III 19,
Servo motor III 19 drives right-angle reduction device 18 to work, and 18 output shaft of right-angle reduction device drives shaft coupling II 30 to rotate, shaft coupling
II 30 band moving axis I 31 rotate, and axis I 31 drives the synchronous pulley I 33 for being secured to connection to rotate, and synchronous pulley I 33 passes through synchronization
Band 35 drives synchronous pulley II 45 to rotate, and synchronous pulley II 45 drives the axis II 48 for being secured to connection to rotate, and axis II 48 drives
Connection paw connecting plate 11 is secured to rotate.
Paw device adjustment process：It is of different sizes according to absorption workpiece size, long square plate 71 is adjusted in paw connecting plate
Position in 11 grooves can also install the electromagnet 72 of different number according to the quality difference of workpiece.
The control system course of work：Robot motion's parameter is set by touch screen 80, PLC controller 81 is respectively each axis
Kinematic parameter is sent to corresponding motion-control module I 82, motion-control module II 83, motion-control module III 84, movement control
Molding block IV 85, motion-control module I 82 send the pulse to servo-driver I 86 and servo motor I 29 are driven to move, motion control
Module II 83 sends the pulse to servo-driver II 87 and servo electric cylinders 3 is driven to move, and motion-control module III 84 is sent the pulse to
Servo-driver III 88 drives servo motor II 22 to move, and motion-control module IV 85 sends the pulse to the drive of servo-driver IV 89
Dynamic servo motor III 19 moves；PLC controller 81 controls electromagnet 72 by IO and acts；Positive limit sensor I 90 and cathode limit
Sensor I 92 determines that the motion range of servo motor I 29, origin sensor I 91 determine the origin position of servo motor I 29；Just
Limit sensor II 93 and negative limit sensor II 95 determine that the motion range of servo electric cylinders 3, the determination of origin sensor II 94 are watched
Take the origin position of electric cylinders 3；Positive limit sensor III 96 and negative limit sensor III 97 determine the movement model of servo motor II 22
It encloses, origin sensor III 96 determines the origin position of servo motor II 22；Positive limit sensor IV 99 and negative limit sensor IV
101 determine that the motion range of servo motor III 19, origin sensor IV 100 determine the origin position of servo motor III 19.
In addition, also vacuum cup or Pneumatic clamping jaw can be mounted on connecting plate 11.
The utility model punching press feeding robot uses servo-control system, and above several actions can be big according to working space
Small and grabbing workpiece design feature, it is arbitrary to combine, it overlaps and carries out, adaptability is good, and speed is fast.
Basic principles, main features, and advantages of the present invention has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these changes and improvements are both fallen in claimed the utility model.The requires of the utility model is protected
Range is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of punching press feeding robot, it is characterised in that：Including pedestal (2), the vertical up and down being mounted on pedestal (2) movement
Device, the large arm tumbler on upper and lower vertical telecontrol equipment, the position on large arm tumbler adjust dress
It sets, the large arm on apparatus for adjusting position, the forearm in large arm, the paw device mounted on forearm end, also
It include the control system for controlling upper and lower vertical telecontrol equipment, large arm tumbler, large arm, forearm, paw device and working.
2. a kind of punching press feeding robot according to claim 1, it is characterised in that：The vertical telecontrol equipment packet up and down
Include hoistable platform (27), several servo electric cylinders (3) for driving hoistable platform (27) oscilaltion, for hoistable platform
(27) several guide posts (4) that elevating movement is oriented to.
3. a kind of punching press feeding robot according to claim 1, it is characterised in that：The large arm tumbler include with
The connected branch sleeve (7) of apparatus for adjusting position, on upper and lower vertical telecontrol equipment being drivingly connected sleeve (7) rotation
Servo motor I (29).
4. a kind of punching press feeding robot according to claim 1, it is characterised in that：The large arm includes large arm link
(23), the forearm telescopic device on large arm link (23) for driving forearm flexible, the forearm telescopic device packet are mounted on
Include the ball-screw (13) on large arm link (23), the servo motor II to drive ball-screw (13) to work
(22), the carrier base (15) that is connected with ball-screw (13) and can be slided along large arm link (23) level.
5. a kind of punching press feeding robot according to claim 1 or 4, it is characterised in that：It is installed in the large arm useful
In the gravity balance device of balance forearm weight, the gravity balance device includes balance weight (25), and the balance weight (25) is put
One end far from forearm on large arm link (23) is set, being equipped on the large arm link (23) can be along large arm link
(23) the horizontal adjustment block (102) slided and locked.
6. a kind of punching press feeding robot according to claim 1, it is characterised in that：The forearm includes forearm link
(12), be mounted on forearm link (12) and horizontally rotate device, it is described horizontally rotate device include synchronous pulley I (33),
For drive synchronous pulley I (33) work servo motor III (19), be mounted on synchronous pulley I (33) on synchronous belt (35),
The synchronous pulley II (45) that is connect with synchronous belt (35) other end is mounted on synchronous pulley II (45) and is connected with paw device
Axis II (48).
7. a kind of punching press feeding robot according to claim 1, it is characterised in that：It is connected with and is mounted on the forearm
Secondary support means on apparatus for adjusting position, the secondary support means include two guide rods (9) and are fixedly connected on forearm
Connecting bracket (10) on link (12), connecting bracket (10) the lower end both sides are connected with guide rod (9), and the position is adjusted
Guide pad (8) is installed, the guide rod (9) is correspondingly connected on two guide pads (8) on device.
8. a kind of punching press feeding robot according to claim 1, it is characterised in that：The apparatus for adjusting position includes connecting
Slide (55), the screw mechanism on slide (55) to drive drive large arm to move being connected on large arm tumbler.
9. a kind of punching press feeding robot according to claim 1, it is characterised in that：The paw device includes that paw connects
Fishplate bar (11) and electromagnet (72), the paw connecting plate (11), which is fixedly connected on, to be horizontally rotated on device, the paw connection
The long square plate (71) being connected with electromagnet (72) is connected in the groove opened up on plate (11).
10. a kind of punching press feeding robot according to claim 1, it is characterised in that：Pedestal (2) lower end is connected with
Support foot hight regulating device, the support foot hight regulating device include stabilizer blade connector (69), several stabilizer blades (62), stabilizer blade
(62) it is respectively connected with connecting pin (64) on, intermediate connector (63), the intermediate connector are connected on the connecting pin (64)
(63) adjusting screw rod (65) is housed in the screw hole of upper end, semicircle briquetting one (66) and semicircle pressure are fixed on the adjusting screw rod (65)
Stabilizer blade connector (69) is pressed on adjusting screw rod (65) by block two (68), the semicircle briquetting one (66) and semicircle briquetting two (68)
On, the stabilizer blade connector (69) is fixedly connected on pedestal (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721380637.3U CN207655776U (en) | 2017-10-25 | 2017-10-25 | A kind of punching press feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721380637.3U CN207655776U (en) | 2017-10-25 | 2017-10-25 | A kind of punching press feeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207655776U true CN207655776U (en) | 2018-07-27 |
Family
ID=62938423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721380637.3U Active CN207655776U (en) | 2017-10-25 | 2017-10-25 | A kind of punching press feeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207655776U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A kind of punching press feeding robot |
-
2017
- 2017-10-25 CN CN201721380637.3U patent/CN207655776U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A kind of punching press feeding robot |
| CN107552670B (en) * | 2017-10-25 | 2023-10-20 | 安徽工程大学 | Stamping feeding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208100378U (en) | A kind of industrial robot | |
| CN106239500B (en) | A kind of punching press feeding robot | |
| CN105836481B (en) | A kind of setting machine and code blank technology | |
| CN102848379A (en) | Automatic manipulator of caster support press line | |
| CN207915182U (en) | A kind of double industrial robot sanding and polishing work stations | |
| CN105772594A (en) | Mechanical arm of punch | |
| CN205852800U (en) | A kind of three freedom degree manipulator | |
| CN110744324A (en) | High-efficiency multifunctional elastic chuck for numerical control lathe | |
| CN201338425Y (en) | Centering and positioning system structure of full-automatic flat glass printing machine | |
| CN207655776U (en) | A kind of punching press feeding robot | |
| CN107552670A (en) | A kind of punching press feeding robot | |
| CN202805194U (en) | Automatic manipulator for trundle bracket press line | |
| CN104019785A (en) | Measuring instrument for measuring circularity of large-size bearing assembly | |
| CN101543991A (en) | Three-dimensional mechanical hand | |
| CN112478580A (en) | Intelligent plate raw material processing equipment for plastic product production | |
| CN204975090U (en) | Last feeding mechanical arm arm system of thin sheet part stamping processing | |
| CN104441049B (en) | Decoration material cutting system | |
| CN217201888U (en) | Lifting device for automatic drill rod conveying trolley for blast furnace | |
| CN110216339A (en) | A kind of commercial vehicle cross axle Gear Processing positioning device | |
| CN215824660U (en) | Splicing tool for elevator car base | |
| CN206048197U (en) | A kind of punching press feeding robot | |
| CN208912995U (en) | Four axis pressing robots | |
| CN203944883U (en) | Large-scale three dimensional drilling machine three-dimensional adjustment platform mechanism | |
| CN209175049U (en) | One kind is for the mach tapping machine that slows down | |
| CN110293188A (en) | A kind of thin machine of the rotation of vacuum cup |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |