CN211360400U - Feeding and discharging mechanism of punch robot - Google Patents
Feeding and discharging mechanism of punch robot Download PDFInfo
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- CN211360400U CN211360400U CN201921759713.0U CN201921759713U CN211360400U CN 211360400 U CN211360400 U CN 211360400U CN 201921759713 U CN201921759713 U CN 201921759713U CN 211360400 U CN211360400 U CN 211360400U
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Abstract
The utility model discloses an upper and lower feeding mechanism of punch press robot, including the clamping jaw mechanism of rigid coupling on six robots. The clamping jaw mechanism comprises a base, a driving cylinder, a driving arm, a connecting rod part, a detection part and a clamping part. The driving arm is positioned in the base, and one end of the driving arm is fixedly connected with the driving cylinder for driving the driving arm to move. One end of the connecting rod part is connected with the driving arm, and the other end of the connecting rod part is connected with the clamping part. Be equipped with in the base and be located actuating arm one side's fixed column, the cover is equipped with on the fixed column and follows a fixed column pivoted the detection portion. One end of the detection part is hinged with the driving arm to form a connecting end, and the other end of the detection part extends out of the base to form a detection end. The distance between detection end and the fixed column is greater than the distance between link and the fixed column. The utility model discloses a mechanical cooperation can detect the product clamp when pressing from both sides and get whether correct, avoids the influence of product mistake centre gripping to the later process.
Description
Technical Field
The utility model relates to a punch press robot field especially relates to a last unloading mechanism of punch press robot.
Background
Along with the development of industrial robots, more and more machines are used in a matched manner related to the industrial robots, wherein the feeding and discharging mechanism is an indispensable machine for realizing automation of the punch robot. During stamping, the loading and unloading mechanism generally clamps the non-processing surface of the product and moves the product to a processing station for processing. However, for a product with a small size, the product is prone to deflection or turnover during stacking, and the feeding and discharging mechanism clamps the product at the moment and possibly mistakenly clamps a processing surface of the product, so that the subsequent processing procedure cannot be normally performed.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects, the utility model aims to provide an upper and lower feeding mechanism of punch robot can detect whether the product clamp is got correctly when getting through the mechanical cooperation, avoids the influence of product mistake centre gripping to the later process.
In order to achieve the above purpose, the utility model discloses a technical scheme is: a feeding and discharging mechanism of a punch robot comprises a clamping jaw mechanism fixedly connected to a six-axis robot. The clamping jaw mechanism comprises a base, a driving cylinder, a driving arm, a connecting rod part, a detection part and a clamping part. The driving arm is positioned in the base, and one end of the driving arm is fixedly connected with the driving cylinder for driving the driving arm to move. The connecting rod part is used for driving the clamping part to clamp or loosen a product, one end of the connecting rod part is connected with the driving arm, and the other end of the connecting rod part is connected with the clamping part. Be equipped with in the base and be located actuating arm one side's fixed column, the cover is equipped with on the fixed column and follows a fixed column pivoted the detection portion. One end of the detection part is hinged with the driving arm to form a connecting end, and the other end of the detection part extends out of the base to form a detection end. The distance between detection end and the fixed column is greater than the distance between link and the fixed column.
Furthermore, the driving arm is provided with a waist-shaped hole which is communicated with the upper end surface and the lower end surface of the driving arm in an inclined way; the connecting rod portion comprises a connecting rod perpendicular to the driving arm, a bolt penetrating through the waist-shaped hole is fixedly connected to one end of the connecting rod, and a connecting column used for connecting the clamping portion is fixedly connected to the other end of the connecting rod. The bolt is movable along the kidney hole. The waist-shaped hole which is obliquely arranged can drive the bolt to move in the waist-shaped hole when the driving arm moves, so that the connecting rod is driven to move along the direction vertical to the driving arm.
Further, a pair of second fixing columns located on two sides of the connecting column are arranged on the base. The clamping part comprises a pair of clamping arms which are oppositely arranged and correspond to the second fixing columns one by one. The clamping arm is rotatably sleeved on the second fixing column corresponding to the clamping arm, one end of the clamping arm is provided with a clamping jaw for clamping a product, and the other end of the clamping arm is provided with a bending part forming a bending structure with the clamping jaw. The bending parts of the pair of clamping arms are rotatably sleeved on the connecting column. When the connecting rod moves along the direction vertical to the driving arm, the connecting column moves along with the connecting rod, and then the connecting rod can drive the pair of clamping arms to synchronously rotate along the second fixing column corresponding to the clamping arms, so that the pair of clamping jaws are opened or closed.
Further, the gripping portion and the detecting portion are located on the same side of the driving arm.
Further, the detection end is provided with a sensor for detecting the moving distance of the detection end.
Furthermore, the clamping arm is also provided with a spray hole for spraying lubricant.
Further, the driving cylinder comprises a cylinder body, one end of the cylinder body is fixedly connected with the six-axis robot through a first connecting plate, and the other end of the cylinder body is fixedly connected with the base through a second connecting plate; the cylinder body is internally provided with a piston rod fixedly connected with the driving arm, and the outer wall of the cylinder body is provided with a gas supply nozzle used for being connected with an external gas source.
The beneficial effects of the utility model reside in that: when the driving cylinder drives the driving arm to move, the connecting rod drives the clamping part to clamp a product, and the detection end of the detection part rotates along the first fixing column; when the clamping part clamps different parts (processing surfaces or non-processing surfaces) of the product, the moving strokes of the driving arms are different, and whether the clamping part is correctly clamped on the non-processing surfaces of the product can be indirectly judged through the difference of the rotation amplitudes of the detection ends; for the product with small size difference between the machined surface and the non-machined surface, the distance between the detection end and the first fixing column is larger than the distance between the connecting end and the first fixing column, so that the stroke of the connecting end moving along with the driving arm can be amplified, and the difference of the rotation amplitude of the detection end when different parts of the product are clamped can be observed more intuitively. The utility model discloses an go up unloading mechanism can detect the product clamp when pressing from both sides through mechanical cooperation and get whether correct, avoid the influence of product mistake centre gripping to the later process.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic perspective view of a clamping jaw mechanism according to an embodiment of the present invention;
fig. 3 is a sectional schematic structural view of the gripper mechanism according to the embodiment of the present invention;
fig. 4 is a schematic structural view illustrating a connection of the driving arm, the connecting rod portion and the clamping portion according to the embodiment of the present invention;
fig. 5 is a schematic structural view illustrating a connection of the driving arm, the connecting rod portion, and the clamping portion according to the embodiment of the present invention.
In the figure:
1-six axis robot; 2-a base; 21-first fixed column; 22-second fixed column; 3, driving a cylinder; 31-cylinder body; 311-air supply nozzle; 32-a connection plate; 33-connecting plate II; 34-a piston rod; 4-a drive arm; 41-kidney shaped hole; 5-a link portion; 51-a connecting rod; 52-bolt; 53-connecting column; 6-a detection part; 61-a detection end; 62-a sensor; 7-a clamping part; 71-a clamping arm; 711-spraying holes; 72-a jaw; 73-bending part; 8-products.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.
Examples
Referring to fig. 1-3, the feeding and discharging mechanism of the punching robot of the present invention includes a gripper mechanism fixed on a six-axis robot 1. The clamping jaw mechanism comprises a base 2, a driving cylinder 3, a driving arm 4, a connecting rod part 5, a detection part 6 and a clamping part 7. The driving arm 4 is located in the base 2, and one end of the driving arm is fixedly connected with the driving cylinder 3 for driving the driving arm to move. The connecting rod part 5 is used for driving the clamping part 7 to clamp or loosen a product 8, one end of the connecting rod part 5 is connected with the driving arm 4, and the other end of the connecting rod part is connected with the clamping part 7. Be equipped with in base 2 and be located actuating arm 4 one side No. one fixed column 21, No. one fixed column 21 is gone up the cover and is equipped with the ability along a fixed column 21 pivoted detection portion 6. One end of the detection part 6 is hinged with the driving arm 4 to form a connecting end, and the other end extends out of the base 2 to form a detection end 61. The distance between the detection end 61 and the first fixing column 21 is larger than the distance between the connecting end and the first fixing column 21.
By adopting the structure, the six-axis robot 1 can drive the clamping jaw mechanism to move to different positions, when the driving cylinder 3 is started, the driving arm 4 moves in the base 2, and then the connecting rod part 5 is driven to drive the clamping part 7 to clamp or loosen a product 8; at the moment, the connecting end of the detection part 6 moves along with the driving arm 4, and then the detection end 61 is driven to rotate along the first fixing column 21; when the clamping part 7 clamps the machined surface or the non-machined surface of the product 8, the moving strokes of the driving arms 4 are different, so that whether the clamping part 7 is correctly clamped on the non-machined surface of the product 8 can be indirectly judged by detecting the rotation amplitude of the end 61; and the distance between the detection end 61 and the first fixing column 21 is set to be larger than the distance between the connecting end and the first fixing column 21 by adopting a lever principle, so that the stroke of the connecting end moving along with the driving arm 4 is amplified by the detection end 61, and the difference of the rotation amplitude of the detection end 61 when the product 8 is clamped to a processing surface or a non-processing surface is conveniently and visually observed.
It should be noted that the six-axis robot 1 is a prior art, and is used for implementing multi-directional movement of the gripper mechanism, and for the sake of saving text, the structure of the six-axis robot is not described in detail herein.
In the present embodiment, referring to fig. 3, the driving cylinder 3 includes a cylinder 31, and one end of the cylinder 31 is fixedly connected to the six-axis robot 1 through a first connecting plate 32, and the other end is fixedly connected to the base 2 through a second connecting plate 33. A piston rod 34 fixedly connected with the driving arm 4 is arranged in the cylinder body 31, and an air supply nozzle 311 used for connecting an external air source is arranged on the outer wall of the cylinder body 31.
In the present embodiment, referring to fig. 4-5, the connection relationship between the link portion 5 and the driving arm 4 and the clamping portion 7 is as follows: the driving arm 4 is provided with a waist-shaped hole 41 which is communicated with the upper end surface and the lower end surface of the driving arm 4 in an inclined way. The connecting rod portion 5 comprises a connecting rod 51 perpendicular to the driving arm 4, a bolt 52 penetrating through the kidney-shaped hole 41 and capable of moving along the kidney-shaped hole 41 is fixedly connected to one end of the connecting rod 51, and a connecting column 53 used for connecting the clamping portion 7 is fixedly connected to the other end of the connecting rod 51. A pair of second fixing posts 22 located on two sides of the connecting post 53 are fixedly connected to the base 2. The clamping portion 7 comprises a pair of clamping arms 71 which are oppositely arranged and correspond to the second fixing columns 22 one by one. The clamping arm 71 is rotatably sleeved on the second fixing column 22 corresponding to the clamping arm. One end of the clamping arm 71 is provided with a clamping jaw 72 for clamping a product, and the other end of the clamping arm is provided with a bending part 73 forming a bending structure with the clamping jaw. The bending parts 73 of the pair of clamping arms 71 are rotatably sleeved on the connecting column 53. Preferably, the bending portion 73 is integrally formed with the clip arm 71.
When the driving arm 4 moves under the action of the driving cylinder 3, the kidney-shaped hole 41 can move along with the driving arm, and the bolt 52 positioned in the kidney-shaped hole 41 is stressed to move along the kidney-shaped hole 41 in a direction perpendicular to the moving direction of the driving arm 4, so that the connecting rod 51 is driven to move in a direction perpendicular to the driving arm 4; the connecting column 53 fixedly connected with the connecting rod 51 moves along with the connecting rod, and drives the pair of clamping arms 71 to synchronously rotate along the second fixing column 21 corresponding to the pair of clamping arms, so that the pair of clamping jaws 72 are opened or closed, and the product 8 is loosened or tensioned.
Referring to fig. 2, products or machines need to be lubricated during the process of the punching machine, so in this embodiment, a spray hole 711 for spraying a lubricant is further provided on the clamping arm 71, and the spray hole 711 is connected to an external lubricant supply system through a pipeline.
In this embodiment, the detection end 61 is provided with a sensor 62 for detecting the moving distance of the detection end 61, and the moving distance of the detection end 61 can be timely fed back to the controller of the feeding and discharging mechanism through the sensor 62, so that the controller can conveniently carry out the next step of instruction.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (7)
1. A feeding and discharging mechanism of a punch robot comprises a clamping jaw mechanism fixedly connected to a six-axis robot (1); the method is characterized in that: the clamping jaw mechanism comprises a base (2), a driving cylinder (3), a driving arm (4), a connecting rod part (5), a detection part (6) and a clamping part (7); the driving arm (4) is positioned in the base (2), and one end of the driving arm is fixedly connected with the driving cylinder (3) for driving the driving arm to move; the connecting rod part (5) is used for driving the clamping part (7) to clamp or loosen a product (8), one end of the connecting rod part is connected with the driving arm (4), and the other end of the connecting rod part is connected with the clamping part (7); a first fixing column (21) positioned on one side of the driving arm (4) is arranged in the base (2), and the first fixing column (21) is sleeved with the detection part (6) capable of rotating along the first fixing column (21); one end of the detection part (6) is hinged with the driving arm (4) to form a connecting end, and the other end of the detection part extends out of the base (2) to form a detection end (61); the distance between the detection end (61) and the first fixing column (21) is larger than the distance between the connection end and the first fixing column (21).
2. The loading and unloading mechanism of claim 1, wherein: the driving arm (4) is obliquely provided with a waist-shaped hole (41) which is communicated with the upper end surface and the lower end surface of the driving arm (4); the connecting rod part (5) comprises a connecting rod (51) which is perpendicular to the driving arm (4), one end of the connecting rod (51) is fixedly connected with a bolt (52) which is arranged in the kidney-shaped hole (41) in a penetrating mode, and the other end of the connecting rod (51) is fixedly connected with a connecting column (53) which is used for connecting the clamping part (7); the bolt (52) is movable along the kidney-shaped hole (41).
3. The loading and unloading mechanism of claim 2, wherein: a pair of second fixing columns (22) positioned at two sides of the connecting column (53) are arranged on the base (2); the clamping part (7) comprises a pair of clamping arms (71) which are oppositely arranged and correspond to the second fixing columns (22) one by one; the clamping arm (71) is rotatably sleeved on the corresponding second fixing column (22), one end of the clamping arm is provided with a clamping jaw (72) for clamping a product, and the other end of the clamping arm is provided with a bending part (73) forming a bending structure with the clamping jaw; the bending parts (73) of the pair of clamping arms (71) are rotatably sleeved on the connecting column (53).
4. The loading and unloading mechanism of any one of claims 1-3, wherein: the clamping part (7) and the detection part (6) are positioned on the same side of the driving arm (4).
5. The loading and unloading mechanism of claim 4, wherein: the detection end (61) is provided with a sensor (62) for detecting the moving distance of the detection end (61).
6. The loading and unloading mechanism of claim 3, wherein: and the clamping arm (71) is also provided with a spray hole (711) for spraying a lubricant.
7. The loading and unloading mechanism of claim 1, wherein: the driving cylinder (3) comprises a cylinder body (31), one end of the cylinder body (31) is fixedly connected with the six-axis robot (1) through a first connecting plate (32), and the other end of the cylinder body (31) is fixedly connected with the base (2) through a second connecting plate (33); a piston rod (34) fixedly connected with the driving arm (4) is arranged in the cylinder body (31), and a gas supply nozzle (311) used for being connected with an external gas source is arranged on the outer wall of the cylinder body (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921759713.0U CN211360400U (en) | 2019-10-18 | 2019-10-18 | Feeding and discharging mechanism of punch robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921759713.0U CN211360400U (en) | 2019-10-18 | 2019-10-18 | Feeding and discharging mechanism of punch robot |
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| Publication Number | Publication Date |
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| CN211360400U true CN211360400U (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921759713.0U Active CN211360400U (en) | 2019-10-18 | 2019-10-18 | Feeding and discharging mechanism of punch robot |
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| CN (1) | CN211360400U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112642984A (en) * | 2020-11-05 | 2021-04-13 | 安徽红桥金属制造有限公司 | Product processing equipment |
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2019
- 2019-10-18 CN CN201921759713.0U patent/CN211360400U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112642984A (en) * | 2020-11-05 | 2021-04-13 | 安徽红桥金属制造有限公司 | Product processing equipment |
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