CN210475292U - Two-dimensional manipulator - Google Patents
Two-dimensional manipulator Download PDFInfo
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- CN210475292U CN210475292U CN201921226588.7U CN201921226588U CN210475292U CN 210475292 U CN210475292 U CN 210475292U CN 201921226588 U CN201921226588 U CN 201921226588U CN 210475292 U CN210475292 U CN 210475292U
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Abstract
A two-dimensional manipulator comprises a vibration feeding disc, a horizontal sliding driving device, a material distributing mechanism, a workbench and a feeding manipulator; the vibration feeding plate is used for conveying workpieces to the material distributing mechanism in a vibration mode; the material distribution mechanism is arranged in a discharge chute of the vibration feeding plate and used for conveying the workpieces to the feeding manipulator one by one; and the horizontal sliding driving device is used for driving the feeding manipulator to move forwards, backwards, leftwards and rightwards. The utility model discloses a vibration feed table, horizontal slip drive arrangement, feed mechanism and feeding manipulator realize carrying a plurality of work pieces in succession, and a plurality of clamping jaws of feeding manipulator can be simultaneously with the work piece that a punching press process punching press was accomplished on the punching machine be carried for next punching press process punching press to the ability of punch press carries out continuous punching press to a plurality of work pieces simultaneously, consequently the utility model discloses a work piece transmission efficiency is high, production efficiency is high, can realize full-automatic continuous high-speed production.
Description
Technical Field
The utility model relates to a technical field of feeding manipulator, in particular to quadratic element feeding manipulator.
Background
Some existing metal pieces need one set of die to be continuously stamped for multiple times, stamping processes are very many, and therefore a feeding manipulator is needed to rapidly grab materials and feed materials step by step, but the existing feeding manipulator is a single manipulator, grabs materials and is low in feeding speed, the requirement of high-speed stamping of the existing stamping die cannot be met, and therefore the production efficiency of the stamping die is reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a material and pay-off, pay-off efficiency, the high quadratic element manipulator of production efficiency can be grabbed in step to a plurality of clamping jaws. Therefore the utility model discloses can satisfy the high requirement of the high-speed continuous punching press of current stamping die.
The purpose of the utility model is realized like this:
a two-dimensional manipulator comprises a vibration feeding disc, a horizontal sliding driving device, a material distributing mechanism, a workbench and a feeding manipulator;
the vibration feeding plate is used for conveying workpieces to the material distributing mechanism in a vibration mode;
the material distribution mechanism is arranged in a discharge chute of the vibration feeding plate and used for conveying the workpieces to the feeding manipulator one by one;
the horizontal sliding driving device is used for driving the feeding manipulator to move front and back and left and right;
the feeding mechanical arm is arranged on the horizontal sliding driving device and used for simultaneously grabbing a plurality of workpieces and conveying the workpieces, the feeding mechanical arm comprises a clamping jaw opening driving device, a clamping jaw opening driving plate and a plurality of clamping jaws, the clamping jaws are arranged on the front and back moving seat along the left and right directions of the horizontal sliding driving device, the clamping jaw opening driving plate is arranged on the horizontal sliding driving device along the front and back directions of the horizontal sliding driving device in a sliding mode, and the clamping jaw opening driving plate is located at the top of the clamping jaw. State the clamping jaw and include left arm lock and right arm lock, left side arm lock and right arm lock slide along horizontal slip drive arrangement's left and right direction and open and shut the setting, be provided with between left side arm lock and the right arm lock and fold the spring, the clamping jaw is provided with a plurality of clamping jaws side by side on opening the drive plate and opens the drive block, and the clamping jaw opens the drive block and is located between left arm lock and the right arm lock, the clamping jaw opens the front end of drive block and is equipped with two drive inclined planes, left side arm lock and right arm lock correspond the clamping jaw and open the front end that the drive block was equipped with first driven inclined plane, the clamping jaw opens drive arrangement and locates on the fore-and. When the left clamping arm and the right clamping arm of the clamping jaw are opened to the maximum, the left clamping arm and the right clamping arm of the two adjacent clamping jaws can be abutted together, so that the left clamping arm and the right clamping arm are prevented from being continuously opened, and the clamping jaw is prevented from being continuously advanced by the driving block.
The workbench is positioned in front of the clamping jaw and used for placing a workpiece, and a first positioning groove is formed in the workbench.
The utility model can be further improved as follows.
The horizontal sliding driving device comprises a left-right moving servo motor, a left-right moving seat, a front-back moving servo motor and a front-back moving seat, wherein the left-right moving seat is horizontally arranged on the base in a sliding mode along the left-right direction of the horizontal sliding driving device, the left-right moving servo motor is arranged on the base and is in screw transmission with the left-right moving seat, the front-back moving seat is horizontally arranged on the base in a sliding mode along the front-back direction of the horizontal sliding driving device, and the front-back moving servo motor is arranged on the left-right moving seat and is in screw transmission connection with the.
The base is equipped with horizontal sliding guide along horizontal sliding drive arrangement's left and right directions, the fore-and-aft movement seat is equipped with fore-and-aft sliding guide along horizontal sliding drive arrangement's fore-and-aft direction, the fore-and-aft movement seat slides and sets up on fore-and-aft sliding guide, the seat that moves about slides and sets up in horizontal sliding guide to make manipulator horizontal slip stable.
The clamping jaw opening driving device comprises a clamping jaw opening servo motor and a sliding block, the sliding block is arranged on the front and back moving seat in a sliding mode along the left and right directions of the horizontal sliding driving device, the clamping jaw opening servo motor is arranged on the front and back moving seat and is in transmission connection with a sliding block screw rod, a driving roller is arranged on the sliding block in a rotating mode, the clamping jaw opening driving plate is provided with a second driven inclined surface corresponding to the driving roller, the driving roller is abutted against the second driven inclined surface, the clamping jaw opening servo motor driving sliding block and the driving roller slide back and forth, the driving roller is abutted against the second driven inclined surface, the clamping jaw opens the driving plate and opens the clamping jaw to drive the sliding block to move back and forth. More specifically, the jaw opening drive plate and the jaw opening drive block always keep the tendency of moving backward due to the elastic force of the closing spring. When the clamping jaw is opened, the servo motor drives the sliding block to slide leftwards, and the driving roller slides towards the highest point of the second driven inclined plane of the clamping jaw opening driving plate, the driving roller starts to push the clamping jaw opening driving plate and the clamping jaw opening driving block to slide forwards, the clamping jaw opening driving plate cannot move backwards, when the clamping jaw is opened, the servo motor drives the sliding block to slide rightwards, and the driving roller slides towards the lowest point of the second driven inclined plane of the clamping jaw opening driving plate, the driving roller does not press against the second driven inclined plane any more, and the opening driving plate and the clamping jaw opening driving block can move backwards.
The front end that the driving block was opened to the clamping jaw is the triangular prism form, and when the front end that the driving block was opened to the clamping jaw was slided forward, the first driven inclined plane of left and right arm lock of two drive inclined planes roof pressure of triangular prism pushed up left and right arm lock, and will left and right arm lock toward both sides roof-open, and then make the clamping jaw open.
The front and rear moving seat is provided with a first guide rail along the front and rear direction of the horizontal sliding driving device, and the clamping jaw opening driving plate is arranged on the first guide rail in a sliding mode, so that the clamping jaw opening driving plate and the clamping jaw opening driving block can slide stably.
Be equipped with the synchronous linkage subassembly between left arm lock and the right arm lock, the synchronous linkage subassembly includes synchronous catch plate, first synchronous linkage board and the synchronous linkage board of second, synchronous catch plate is located on the clamping jaw opens the drive block, the left and right both sides of synchronous catch plate are located to first synchronous linkage board and the synchronous linkage board symmetry respectively, the outer end and the left arm lock of first synchronous linkage board rotate to be connected, the outer end and the right arm lock of the synchronous linkage board of second rotate to be connected, the inner of first synchronous linkage board and the inner of the synchronous linkage board of second rotate to be connected on synchronous catch plate. When the clamping jaw opens the driving block and slides forward, the clamping jaw opens the driving block and drives the synchronous pushing plate, the inner end of the first synchronous linkage plate and the inner end of the second synchronous linkage plate to move forward together, the outer ends of the first and second synchronous linkage plates push the left clamping arm and the right clamping arm away to the left and right sides respectively, conversely, when the clamping jaw opens the driving device and does not drive the clamping jaw to open the driving block and slide forward any more, the left clamping arm and the right clamping arm are folded under the elastic action of the folding spring, the left clamping arm and the right clamping arm push the inner ends of the first synchronous linkage plate and the second synchronous linkage plate inward simultaneously respectively, and the inner ends of the first and second synchronous linkage plates and the clamping jaw open the driving block to slide backward synchronously. Therefore, the utility model discloses a synchronous linkage subassembly makes left arm lock and right arm lock fold in step or open in step.
The front end and the rear end of the left clamping arm and the right clamping arm are respectively provided with the folding spring, the folding spring enables the left clamping arm and the right clamping arm to be quickly folded to clamp a workpiece, the workpiece is firmly and stably clamped, and meanwhile, the first driven inclined surfaces of the left clamping arm and the right clamping arm drive the clamping jaw to open the driving block to move backwards.
The front and back moving seat is provided with a clamping jaw opening and closing guide rail along the left and right directions of the horizontal sliding driving device, and the left clamping arm and the right clamping arm are arranged on the clamping jaw opening and closing guide rail in a sliding mode, so that the left clamping arm and the right clamping arm are stable in sliding and opening.
Be equipped with the recess of stepping down on the relative lateral wall of left side arm lock and right arm lock, the clamping jaw opens the drive block and is located the recess of stepping down, first driven inclined plane is located left arm lock and right arm lock relative lateral wall.
The clamping jaws are located on the front side of the front-rear moving seat, and the clamping jaw opening driving device is located on the rear side of the front-rear moving seat.
The material distributing mechanism comprises a material distributing base, a material distributing cylinder and a material distributing pushing base, the material distributing pushing base is horizontally and movably arranged on the material distributing base, the material distributing cylinder is arranged on the material distributing base and is in driving connection with the material distributing base, and a second positioning groove and a positioning plate are arranged on the material distributing base. When the discharge chute of the vibration feeding plate conveys the workpiece to the distributing mechanism, the second positioning groove on the distributing pushing seat is aligned with the wire groove on the discharge chute, the positioning sheet on the workpiece smoothly moves into the second positioning groove from the wire groove, and after the distributing cylinder drives the distributing pushing seat to push the workpiece out, the second positioning groove of the distributing pushing seat is aligned with the first positioning groove of the workbench, so that the clamping jaw can push the workpiece onto the workbench along the second positioning wire groove, and the positioning sheet on the workpiece moves into the first positioning groove.
The utility model has the advantages as follows:
the utility model discloses a vibration feeding plate, horizontal slip drive arrangement, feed mechanism, workstation and feeding manipulator realize carrying a plurality of work pieces in succession, and a plurality of clamping jaws of feeding manipulator can be simultaneously with the work piece that a stamping process punching press was accomplished on the punching machine be carried for next stamping process punching press, consequently the utility model discloses a plurality of clamping jaws can be in succession and carry a plurality of work pieces in step to the punching press can carry out continuous punching press to a plurality of work pieces simultaneously, consequently the utility model discloses a work piece transmission is efficient, production efficiency is high, can realize full-automatic continuous high-speed production. Therefore the utility model discloses can satisfy the high requirement of the high-speed continuous punching press of current stamping die.
Drawings
Fig. 1 is a schematic structural diagram of the two-dimensional manipulator of the present invention.
Fig. 2 is a schematic structural view of another angle of the two-dimensional manipulator of the present invention.
Fig. 3 is an enlarged schematic view of a structure at a in fig. 1.
Fig. 4 is a plan view of the two-dimensional manipulator of the present invention.
Fig. 5 is a schematic structural view of the feeding manipulator of the present invention.
Fig. 6 is a schematic structural view of another angle of the feeding manipulator of the present invention.
Fig. 7 is an exploded schematic view of the feeding manipulator of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
In a first embodiment, as shown in fig. 1 to 7, a two-dimensional manipulator includes a vibration feeding tray 2, a horizontal sliding driving device 3, a material separating mechanism 4, a worktable 6 and a feeding manipulator 5;
the vibration feeding tray 2 is used for conveying workpieces to the material distributing mechanism 4 in a vibration mode;
the material distribution mechanism 4 is arranged in a discharge chute 21 of the vibration feeding plate 2 and used for conveying the workpieces to the feeding manipulator 5 one by one;
the horizontal sliding driving device 3 is used for driving the feeding manipulator 5 to move front and back and left and right;
the feeding mechanical arm 5 is arranged on the horizontal sliding driving device 3 and used for simultaneously grabbing a plurality of workpieces 7 and conveying the workpieces, the feeding mechanical arm 5 comprises a clamping jaw opening driving device 51, a clamping jaw opening driving plate 52 and a plurality of clamping jaws 53, the clamping jaws 53 are arranged on the front and back moving seat 34 of the horizontal sliding driving device 3 along the left and right directions of the horizontal sliding driving device 3, the clamping jaw opening driving plate 52 is arranged on the front and back moving seat 34 along the front and back directions of the horizontal sliding driving device 3 in a sliding manner and is positioned at the top of the clamping jaw 53, the clamping jaw 53 comprises a left clamping arm 54 and a right clamping arm 55, the left clamping arm 54 and the right clamping arm 55 are arranged in an opening and closing manner along the left and right directions of the horizontal sliding driving device 3, a folding spring 57 is arranged between the left clamping arm 54 and the right clamping arm 55, a plurality of clamping, the clamping jaw opening driving block 56 is located between the left clamping arm 54 and the right clamping arm 55, two driving inclined planes 58 are arranged at the front end of the clamping jaw opening driving block 56, first driven inclined planes 59 are arranged at the front ends of the left clamping arm 54 and the right clamping arm 55 corresponding to the clamping jaw opening driving block 56, and the clamping jaw opening driving device 51 is arranged on the front and rear moving seat 34 and drives the clamping jaw opening driving plate 52 to slide. When the left clamping arm and the right clamping arm of the clamping jaw are opened to the maximum, the left clamping arm and the right clamping arm of the two adjacent clamping jaws can be abutted together, so that the left clamping arm and the right clamping arm are prevented from being continuously opened, and the clamping jaw is prevented from being continuously advanced by the driving block.
The workbench 6 is located in front of the clamping jaw 53 and used for placing the workpiece 7, and a first positioning groove 61 is formed in the workbench 6.
As a more specific technical solution of the present invention.
The horizontal sliding driving device 3 comprises a base 1, a left-right moving servo motor 31, two left-right moving seats 32, two front-back moving servo motors 33 and front-back moving seats 34, wherein the two left-right moving seats 32 are respectively arranged on two sides of the base 1 in a horizontal sliding manner along the left-right direction of the horizontal sliding driving device 3, the left-right moving servo motor 31 is arranged on the base 1 and positioned between the two left-right moving seats, a motor shaft of the left-right moving servo motor is in screw transmission with one of the left-right moving seats 32, the front-back moving seats 34 are horizontally arranged on the base 1 in a sliding manner along the front-back direction of the horizontal sliding driving device 3 (the front-back and left-right directions of the horizontal sliding driving device 3 are consistent with the front-back and left-right directions of the front-back moving seats), the two front-back, the two front and back moving servo motors 33 are in transmission connection with the front and back moving seats 34 through a screw rod.
The base 1 is equipped with horizontal sliding guide 11 along the left and right directions of horizontal sliding drive arrangement 3, the fore-and-aft movement seat 34 is equipped with fore-and-aft sliding guide 12 along the fore-and-aft direction of horizontal sliding drive arrangement 3, the fore-and-aft movement seat 34 slides and sets up on fore-and-aft sliding guide 12, the left and right sides removes the seat 32 and slides and set up in horizontal sliding guide 11 to make manipulator horizontal slip stable.
The jaw opening drive means 51 comprises a jaw opening servomotor 511 and a slider 512, the slide block 512 is slidably mounted on the forward/backward movement base 34 in the left/right direction of the horizontal slide driving device 3, the clamping jaw opening servo motor 511 is arranged on the front-back moving seat 34 and is in transmission connection with the sliding block 512 through a screw rod, the slide block 512 is provided with a driving roller 514 in a rotating way, the clamping jaw opening driving plate 52 is provided with a driven inclined plane block 510 corresponding to the driving roller 514, the driven slope block 510 is provided with a second driven slope 513, the second driven slope 513 faces the driving roller 514, the driving roller 514 abuts against the second driven inclined surface 513, the clamping jaw opening servo motor 511 drives the sliding block 512 and the driving roller 514 to slide back and forth, the driving roller 514 abuts against the second driven inclined surface 513, and the clamping jaw opening driving plate 52 and the clamping jaw opening driving sliding block 512 move back and forth so that the clamping jaws 53 can be opened and closed repeatedly. More specifically, the jaw opening drive plate 52 and the jaw opening drive block 56 always keep a tendency to move backward due to the elastic force of the folding spring 57. When the jaw opening servo motor 511 drives the sliding block 512 to slide leftwards, and the driving roller 514 slides towards the highest point of the second driven inclined surface 513 of the jaw opening driving plate 52, the driving roller 514 starts to push the jaw opening driving plate 52 and the jaw opening driving block 56 to slide forwards, the jaw opening driving plate 52 cannot move backwards, when the jaw opening servo motor 511 drives the sliding block 512 to slide rightwards, and the driving roller 514 slides towards the lowest point of the second driven inclined surface 513 of the jaw opening driving plate 52, the driving roller 514 does not press against the second driven inclined surface 513 any more, and the jaw opening driving plate and the jaw opening driving block 56 can move backwards.
The front end of the clamping jaw opening driving block 56 is triangular prism-shaped, when the front end of the clamping jaw opening driving block 56 slides forwards, two driving inclined planes 58 of the triangular prism press against first driven inclined planes 59 of the left clamping arm 54 and the right clamping arm 55, so that the left clamping arm 54 and the right clamping arm 55 are pressed open towards two sides, and the clamping jaw 53 is opened.
The front and rear moving base 34 is provided with a first guide rail 35 along the front and rear direction of the horizontal slide driving device 3, a slide block 351 is slidably provided on the first guide rail 35, and the jaw opening driving plate 52 is slidably provided on the slide block 351, so that the jaw opening driving plate 52 and the jaw opening driving block 56 are slidably stabilized.
Be equipped with synchronous linkage subassembly 515 between left arm lock 54 and the right arm lock 55, synchronous linkage subassembly 515 includes synchronous catch plate 516, first synchronous linkage board 517 and the synchronous linkage board 518 of second, synchronous catch plate 516 is located the clamping jaw and is opened on the drive block 56, the left and right both sides of synchronous catch plate 516 are located to first synchronous linkage board 517 and the synchronous linkage board 518 of second symmetry respectively, the outer end and the left arm lock 54 of first synchronous linkage board 517 rotate to be connected, the outer end and the right arm lock 55 of the synchronous linkage board 518 of second rotate to be connected, the inner of first synchronous linkage board 517 and the inner of the synchronous linkage board 518 rotate to be connected on synchronous catch plate 516. When the clamping jaw opening driving block 56 slides forwards, the clamping jaw opening driving block 56 drives the synchronous pushing plate 516, the inner end of the first synchronous linkage plate 517 and the inner end of the second synchronous linkage plate 518 to move forwards together, the outer ends of the first and second synchronous linkage plates 517 and 518 push the left clamping arm 54 and the right clamping arm 55 away towards the left and right sides respectively, conversely, when the clamping jaw opening driving device 51 does not drive the clamping jaw opening driving block 56 to slide forwards any more, the left clamping arm 54 and the right clamping arm 55 are folded under the elastic force of the folding spring 57, the left clamping arm 54 and the right clamping arm 55 simultaneously push the inner ends of the first synchronous linkage plate 517 and the second synchronous linkage plate 518 inwards respectively, and the inner ends of the first and second synchronous linkage plates 517 and 518 and the clamping jaw opening driving block 56 synchronously slide backwards. Therefore, the utility model discloses a synchronous linkage subassembly 515 makes left arm lock 54 and right arm lock 55 fold in step or open in step.
The folding springs 57 are arranged at the front ends and the rear ends of the left clamping arm 54 and the right clamping arm 55, the left clamping arm 54 and the right clamping arm 55 are quickly folded by the folding springs 57 to clamp the workpiece 7, the workpiece 7 is firmly and stably clamped, and meanwhile, the first driven inclined surfaces 59 of the left clamping arm 54 and the right clamping arm 55 drive the clamping jaw opening driving block 56 to move backwards.
The front and rear moving seat 34 is provided with a clamping jaw opening and closing guide rail 36 along the left and right direction of the horizontal sliding driving device 3, and the left clamping arm 54 and the right clamping arm 55 are slidably arranged on the clamping jaw opening and closing guide rail 36, so that the left clamping arm 54 and the right clamping arm 55 are stable in sliding and opening and closing.
Be equipped with on the relative lateral wall of left side arm lock 54 and right arm lock 55 and let a recess 519, the clamping jaw opens drive block 56 and is located and lets a recess 519, first driven inclined plane 59 is located the relative lateral wall of left arm lock 54 and right arm lock 55.
The plurality of gripping jaws 53 are located on the front side of the forward/rearward movable base 34, and the gripping jaw opening drive means 51 is located on the rear side of the forward/rearward movable base 34.
The material distributing mechanism 4 comprises a material distributing base, a material distributing air cylinder 42 and a material distributing pushing seat 43, the material distributing pushing seat 43 is horizontally arranged on the material distributing base 41 in a sliding manner, the material distributing air cylinder 42 is arranged on the material distributing base 41 and is in driving connection with the material distributing base 41, and a second positioning groove 44 and a positioning plate 45 are arranged on the material distributing base 41. When the discharge chute 21 of the vibration feeding tray 2 conveys the workpiece 7 to the material distributing mechanism 4, the second positioning slot 44 on the material distributing pushing seat 43 is aligned with the wire slot 22 on the discharge chute 21, the positioning sheet on the workpiece 7 smoothly moves into the second positioning slot 44 from the wire slot, after the material distributing cylinder 42 drives the material distributing pushing seat 43 to push the workpiece 7 out, the second positioning slot 44 of the material distributing pushing seat 43 is aligned with the first positioning slot 61 of the workbench, so that the clamping jaw 53 can push the workpiece 7 onto the workbench 6 along the second positioning slot 44, and the positioning sheet on the workpiece 7 moves into the first positioning slot 61.
The utility model discloses a work piece is the copper inserted sheet of plug, the utility model discloses realize the work of mould to the continuous and many times punching press of copper inserted sheet.
The utility model discloses a theory of operation:
the utility model discloses during operation, vibration feed table 2 begins vibration output work piece 7 and gives feed mechanism 4, work piece 7 removes to dividing material and pushes away on the seat 43, the spacer on the work piece 7 removes to dividing in the second constant head tank 44 of material and pushing away seat 43 from wire casing 22 smoothly, then feed mechanism 4 starts, divide material cylinder 42 drive to divide material and push away the seat 43 and push away work piece 7 back, divide material and push away second constant head tank 44 of seat 43 and the first constant head tank 61 of workstation and align, servo motor 31 is controlled to left and right to follow and drive whole feeding manipulator 5 and move left, so that feeding manipulator 5 leftmost clamping jaw 53 aligns with this work piece 7, then the clamping jaw opens servo motor 511 and starts, the clamping jaw opens servo motor 511 drive slider 512 and slides left, when drive roller 514 slides towards the peak of the second driven inclined plane 513 of clamping jaw opening drive plate 52, drive roller 514 promotes the clamping jaw and opens drive plate 52 and clamping jaw drive block 56 and slides forward, two driving inclined planes 58 at the front end of the clamping jaw opening driving block 56 press against first driven inclined planes 59 of the left and right clamping arms 54 and 55, so that the left and right clamping arms 54 and 55 are opened towards two sides, all the clamping jaws 53 are opened, then the front-and-back moving servo motor 33 drives the whole feeding manipulator 5 to move forwards, the workpiece 7 is positioned between the left and right clamping arms 54 and 55 of the first clamping jaw 53 at the leftmost side of the feeding manipulator 5, then the clamping jaw opening servo motor 511 drives the driving roller 514 to slide towards the lowest point of the second driven inclined plane 513 of the clamping jaw opening driving block 52, due to the elasticity of the folding spring 57, the left and right clamping arms 54 and 55 fold and clamp the workpiece 7, the left and right clamping arms 54 and 55 push the clamping jaw opening driving block 52 and the clamping jaw opening driving block 56 to move backwards and then move leftwards and rightwards, the servo motor 31 drives the whole feeding manipulator 5 to move rightwards, the first jaw 53 conveys the workpiece 7 to the right to a first punching station on the table 6, meanwhile, the second clamping jaw 53 will grab the workpiece 7 punched on the first punching station to the second punching station on the workbench 6, the clamping jaws 53 at the back will also feed synchronously in the above manner, finally, the last clamping jaw 53 on the feeding machine will clamp away the workpiece 7 on the last punching station on the workbench 6, and after all the clamping jaws 53 finish one-time feeding, they will reset, then the steps are repeated to grab the workpiece 7 of the previous punching station to the next punching station, so that the clamping jaws of the utility model can simultaneously and continuously and synchronously convey a plurality of workpieces forwards, so that the punch press can continuously punch a plurality of workpieces simultaneously, therefore, the utility model discloses a work piece transmission efficiency is high, production efficiency is high, can realize full-automatic continuous high-speed production.
Claims (10)
1. A two-dimensional manipulator comprises a vibration feeding disc, a horizontal sliding driving device, a material distributing mechanism and a feeding manipulator;
the vibration feeding plate is used for conveying workpieces to the material distributing mechanism in a vibration mode;
the material distribution mechanism is arranged in a discharge chute of the vibration feeding plate and used for conveying the workpieces to the feeding manipulator one by one;
the horizontal sliding driving device is used for driving the feeding manipulator to move front and back and left and right;
the feeding mechanical arm is arranged on a horizontal sliding driving device and used for simultaneously grabbing a plurality of workpieces and conveying the workpieces, the feeding mechanical arm comprises a clamping jaw opening driving device, a clamping jaw opening driving plate and a plurality of clamping jaws, the clamping jaws are arranged on a front and back moving seat along the left and right directions of the horizontal sliding driving device, the clamping jaw opening driving plate is arranged on the horizontal sliding driving device along the front and back directions of the horizontal sliding driving device in a sliding manner, the clamping jaws comprise a left clamping arm and a right clamping arm, the left clamping arm and the right clamping arm are arranged in a sliding manner along the left and right directions of the horizontal sliding driving device in an opening and closing manner, a folding spring is arranged between the left clamping arm and the right clamping arm, a plurality of clamping jaw opening driving blocks are arranged on the clamping jaw opening driving plate side by side, the clamping jaw opening driving blocks are located between the, the front end that left arm lock and right arm lock correspond the clamping jaw and open the drive block is equipped with first driven inclined plane, the clamping jaw opens drive arrangement and locates on the fore-and-aft movement seat to the drive clamping jaw opens the drive plate and slides.
2. A two-dimensional manipulator according to claim 1, wherein: be equipped with the synchronous linkage subassembly between left arm lock and the right arm lock, the synchronous linkage subassembly includes synchronous catch plate, first synchronous linkage board and the synchronous linkage board of second, synchronous catch plate is located on the clamping jaw opens the drive block, the left and right both sides of synchronous catch plate are located to first synchronous linkage board and the synchronous linkage board symmetry respectively, the outer end and the left arm lock of first synchronous linkage board rotate to be connected, the outer end and the right arm lock of the synchronous linkage board of second rotate to be connected, the inner of first synchronous linkage board and the inner of the synchronous linkage board of second rotate to be connected on synchronous catch plate.
3. A two-dimensional manipulator according to claim 2, wherein: the horizontal sliding driving device comprises a base, a movable servo motor, a left and right movable seat, a front and back movable servo motor and a front and back movable seat, wherein the left and right movable seat is horizontally arranged on the base in a sliding mode along the left and right directions of the horizontal sliding driving device, the left and right movable servo motor is arranged on the base and is in transmission with a screw rod of the left and right movable seat, the front and back movable seat is horizontally arranged on the base in a sliding mode along the front and back directions of the horizontal sliding driving device, and the front and back movable servo motor is arranged on the left and right movable seat and is in transmission connection with the.
4. A two-dimensional robot as claimed in claim 1 or 2, wherein: the clamping jaw opening driving device comprises a clamping jaw opening servo motor and a sliding block, the sliding block is arranged on the front and back moving seat in a sliding mode along the left and right directions of the horizontal sliding driving device, the clamping jaw opening servo motor is arranged on the front and back moving seat and is connected with a sliding block screw rod in a transmission mode, a driving roller is arranged on the sliding block in a rotating mode, the clamping jaw opening driving plate is provided with a second driven inclined surface corresponding to the driving roller, and the driving roller is abutted to the second driven inclined surface.
5. A two-dimensional manipulator according to claim 4, wherein: the front and rear moving seat is provided with a clamping jaw opening and closing guide rail along the left and right directions of the horizontal sliding driving device, and the left clamping arm and the right clamping arm are arranged on the clamping jaw opening and closing guide rail in a sliding mode.
6. A two-dimensional manipulator according to claim 2, wherein: be equipped with the recess of stepping down on the relative lateral wall of left side arm lock and right arm lock, the clamping jaw opens the drive block and is located the recess of stepping down, first driven inclined plane is located left arm lock and right arm lock relative lateral wall.
7. A two-dimensional manipulator according to claim 3, wherein: the base is equipped with horizontal sliding guide along horizontal sliding drive arrangement's left and right directions, the fore-and-aft movement seat is equipped with fore-and-aft sliding guide along horizontal sliding drive arrangement's fore-and-aft direction, the fore-and-aft movement seat slides and sets up on fore-and-aft sliding guide, the seat that moves about slides and sets up in horizontal sliding guide.
8. A two-dimensional manipulator according to claim 4, wherein: the front and back moving seat is provided with a first guide rail along the front and back direction of the horizontal sliding driving device, and the clamping jaw opening driving plate is arranged on the first guide rail in a sliding mode.
9. A two-dimensional manipulator according to claim 1, wherein: the front end of the clamping jaw opening driving block is triangular prism-shaped.
10. A two-dimensional manipulator according to claim 1, wherein: the material distributing mechanism comprises a material distributing base, a material distributing cylinder and a material distributing pushing base, the material distributing pushing base is horizontally and movably arranged on the material distributing base, the material distributing cylinder is arranged on the material distributing base and is in driving connection with the material distributing base, and a positioning groove and a positioning plate are arranged on the material distributing base.
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| CN201921226588.7U CN210475292U (en) | 2019-07-31 | 2019-07-31 | Two-dimensional manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
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