CN212019183U - Full-automatic punch press type mechanical arm and full-automatic punch press material taking system - Google Patents

Abstract

The utility model discloses a full-automatic punch press formula manipulator, include the arm and install the mechanism of snatching in the arm bottom, snatch the mechanism and include two first fixed arms that the direction is the same, two second fixed arms that the direction is the same, a plurality of sucking discs, first fixed arm and second fixed arm all have at least one sucking disc, two first fixed arms, two second fixed arms constitute the planar diagonal of cuboid, first fixed arm, the second fixed arm can rotate for the pivot around the perpendicular line that rectangular body plane mid point was located. The utility model also discloses a full-automatic punch press reclaiming system who has this full-automatic punch press formula manipulator, still include workstation, support body, elevating system. The utility model has the advantages that the shape of the grabbing surface is changed to match the shape of the surface of the object, so that the technical purposes of stably grabbing the object and feeding the object are realized; the technical purpose of positioning to a certain point on a three-dimensional space for operation is achieved with good stability and high accuracy.

Description

Full-automatic punch press type mechanical arm and full-automatic punch press material taking system

Technical Field

The utility model relates to a full-automatic punch press formula manipulator and full-automatic punch press reclaiming system mainly use the technical field at machining equipment.

Background

At present, the application of manipulators in the manufacturing industry is more and more extensive, and the technology is the most widely practical automatic mechanical device in the technical field of robots, and although different manufacturing industries have different use modes and use purposes, the manipulators have a common characteristic that the manipulators can receive instructions and can be accurately positioned to a certain point on a three-dimensional (or two-dimensional) space for operation. The same is true in the furniture production industry, metal plates with various sizes, shapes and specifications need to be processed, in the process of a punch press, a mechanical arm is usually required to be matched with a power device to grab and convey the punch press for the objects (metal plates), the mechanical arm for executing feeding disclosed by the prior art publication No. CN206344150U for example comprises the punch press and a blanking support arranged on one side of the punch press, one side of the blanking support is provided with a blanking device, the blanking device comprises a support frame and a horizontal moving module arranged on the top of the support frame, the horizontal moving module is provided with a movable plate, the movable plate is provided with a rotating device, the rotating device is matched and connected with a mechanical arm, the tail end of the mechanical arm is provided with a horizontal frame, the horizontal frame is movably hinged with the mechanical arm, the bottom of the horizontal frame is provided with a sucker hanging plate, the bottom of the sucker hanging plate is provided with a plurality of suckers. The robot has the advantages of simple overall structure, reasonable design, small floor area and lower manufacturing cost, realizes the action simulation of a human body, is even better than a human body in terms of the spatial position precision, and greatly reduces the equipment investment cost and the production cost compared with a mode of adopting a robot. It has certain drawbacks: the mode that the sucker adsorbs the surface of an object to be used for grabbing the object is one of grabbing points of the manipulator, a plurality of suckers form a grabbing surface, the shape of the grabbing surface is fixed and unchanged, the actual production condition needs to convey the objects with various shapes, sizes and specifications, and if the shape of the surface of the object is not suitable for the shape of the grabbing surface, the grabbing state of the object by the manipulator is unstable easily, even the situation that the surface of the object is not matched with the shape of the grabbing surface possibly occurs, and the feeding function cannot be executed.

SUMMERY OF THE UTILITY MODEL

One of the to-be-solved technical problems of the utility model is to provide a full-automatic punch press formula manipulator, can match the article surface shape with the mode that changes the shape of snatching face, realized stably snatching the technical purpose of article and execution pay-off.

The utility model discloses a realize through following technical scheme.

The utility model provides a full-automatic punch press formula manipulator, includes the arm and installs the mechanism of snatching in the arm bottom, snatch the mechanism and include two first fixed arms that the direction is the same, two second fixed arms that the direction is the same, a plurality of sucking discs, first fixed arm with the second fixed arm all has at least one sucking disc, two first fixed arm, two the second fixed arm constitutes the planar diagonal of cuboid, first fixed arm the second fixed arm can rotate for the pivot around the perpendicular line that rectangular body plane midpoint place.

The two first fixing arms and the two second fixing arms form a variable rectangular body, so that the variable rectangular body can be matched with the shapes of the surfaces of most objects, and the use universality of the manipulator is enhanced.

Furthermore, snatch mechanism still includes the reference column, fixes the casing in the arm bottom, the casing slip cover is established outside the reference column, first fixed arm with the second fixed arm all is perpendicular to the reference column axial, two first fixed arm by the reference column drives the rotation, first fixed arm with the second fixed arm rotates the opposite direction to the pivoted range is the same.

The first fixing arm and the second fixing arm are used as means for changing the rectangular body in opposite rotating directions, and in addition, the rotating amplitudes are the same, namely the length-width direction of the rectangular body cannot be changed along with the change of the rectangular body.

Furthermore, the grabbing mechanism further comprises a first rotating cylinder and a first rotating member, the first rotating cylinder is hinged to the bottom end of the mechanical arm, the first rotating member is perpendicular to the axial direction of the positioning column, one end of the first rotating member is fixedly connected to the center of the top end face of the positioning column, and the other end of the first rotating cylinder is hinged to a piston rod of the first rotating cylinder.

Furthermore, the lower portion of the positioning column extends out of the shell, a positioning ring is sleeved on the lower portion of the positioning column in a sliding mode, and the inner end of the second fixing arm is fixedly connected to the positioning ring.

Set up the adapting unit of holding ring conduct second fixed arm, its rotation and the rotation of reference column are mutual noninterference, can realize that first fixed arm and second fixed arm rotate the opposite direction.

Further, snatch the mechanism and still include second rotation cylinder, second rotation piece, the second rotation cylinder articulates the bottom of arm, second rotation piece one end with the locating ring is fixed, the other end with the piston rod of second rotation cylinder is articulated.

The second rotating cylinder and the first rotating cylinder are arranged to respectively and independently execute the rotation of the first fixing arm and the second fixing arm, and the telescopic amount of the piston rod is adjusted to control the rotation amplitude of the first fixing arm and the second fixing arm to be the same.

Further, a positioning plate is fixedly mounted on the bottom end face of the positioning column, and the two first fixing arm portions are mounted on the positioning plate.

Set up the adapting unit of locating plate as first fixed arm, can strengthen the connection stability of first fixed arm on the one hand, on the other hand has also reduced the atress load of the lateral wall of reference column.

Further, the bottom of arm is articulated to be provided with the mounting panel, it fixes to snatch the mechanism the bottom face of mounting panel, the arm body of arm is articulated to be provided with swing cylinder, swing cylinder's piston rod with the mounting panel is articulated.

Through the setting of mounting panel and swing cylinder, can make and snatch the mechanism and adjust inclination to the gradient on reply article surface.

The second technical problem to be solved of the utility model is to provide a full-automatic punch press formula manipulator, realized with better stability can and high accuracy nature, carry out the technical purpose of operation with full-automatic punch press formula manipulator location to a certain point on the three-dimensional space.

The utility model provides a full-automatic punch press reclaiming system, includes workstation, support body, elevating system, full-automatic punch press formula manipulator, the support body is installed the workstation can be followed workstation horizontal X is to removing, elevating system installs the support body can be followed support body horizontal Y is to removing, elevating system installs full-automatic punch press formula manipulator can order about the perpendicular Z of full-automatic punch press formula manipulator is to removing.

This full-automatic punch press reclaiming system can make full-automatic punch press formula manipulator three-dimensional movement, can fix a position to three-dimensional space's arbitrary point.

Further, elevating system includes the movable guide rail, lift cylinder, the gag lever post of mount pad, vertical setting, the mount pad is installed the support body, movable guide rail with mount pad sliding fit, the movable guide rail bottom is provided with the fixed plate, the lift cylinder is fixed the mount pad, its piston rod fixed connection the fixed plate, the vertical setting of gag lever post is and installs the mount pad, the bottom of gag lever post can with the up end of fixed plate offsets.

Furthermore, the lifting mechanism further comprises a locking cylinder, the locking cylinder is used for fixing the mounting seat, a piston rod of the locking cylinder is horizontally arranged, and when the limiting rod abuts against the upper end face of the fixing plate, the piston rod of the locking cylinder can extend out and abuts against the lower end face of the fixing plate.

Set up gag lever post and locking cylinder and can snatch the back latched position that the article rises at full-automatic punch press formula manipulator for thereby full-automatic punch press formula manipulator can not appear the shake of vertical direction or the play of vertical direction in X to, Y to the removal in-process and influence the phenomenon that full-automatic punch press formula manipulator snatched article stability.

The utility model has the advantages that:

the utility model provides a full-automatic punch press formula manipulator uses the sucking disc as grabbing tool to the cuboid is as grabbing the face, and this cuboid changes the length and width and does not change the length and width directional through the rotation of first fixed arm, second fixed arm, and the shape that can match most article surfaces through mediating, has guaranteed that the article is steady under the state of snatching. The utility model discloses the full-automatic punch press reclaiming system that provides in addition can be accurately with full-automatic punch press formula manipulator location to the arbitrary a bit in three-dimensional space to after full-automatic punch press formula manipulator snatchs the article, ensure that it can not appear shaking the condition such as drunkenness and take place at the three-dimensional removal in-process.

Drawings

FIG. 1 is a schematic front view of a full-automatic punch type manipulator according to embodiment 1;

FIG. 2 is a three-dimensional schematic view of a full-automatic punch type robot of embodiment 1;

FIG. 3 is a schematic front view of the grasping mechanism of embodiment 1;

FIG. 4 is a schematic left side view of the grasping mechanism of embodiment 1;

FIG. 5 is a three-dimensional schematic view of the grasping mechanism of embodiment 1;

fig. 6 is a three-dimensional schematic view of the first fixing arm, the second fixing arm and the positioning post in embodiment 1;

fig. 7 is a schematic bottom view of the first fixing arm, the second fixing arm and the positioning plate of embodiment 1;

fig. 8 is a three-dimensional schematic view of a material taking system of a full-automatic punch press in embodiment 2;

fig. 9 is a schematic front view of a material taking system of a full-automatic punch press in embodiment 2;

fig. 10 is a left side partial schematic view of a material taking system of a full-automatic punch press according to embodiment 2;

fig. 11 is a schematic top view of the frame of embodiment 2;

fig. 12 is a three-dimensional schematic diagram of the lifting mechanism and the sliding rod according to embodiment 2.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1:

referring to fig. 1-7, a full-automatic punch press type manipulator comprises a mechanical arm 1 and a grabbing mechanism a, wherein the grabbing mechanism a is installed at the bottom end of the mechanical arm 1 and is used for grabbing and carrying an object, the object is transferred through other equipment matched with the full-automatic punch press manipulator, the object is conveyed to a punching machine to perform punching operation, and then the object is conveyed to the next process. The grabbing mechanism A of the application is used for grabbing an object in a fixed manner by suction, so that the contact part of the object and the grabbing mechanism A is the surface of the object, the plane contact manner needs to consider the inclination angle between the surface of the object and the horizontal plane, and for different inclination angles, if the grabbing surface of the grabbing mechanism A is in a non-parallel state with the surface of the object, on one hand, the adsorption force of the grabbing surface to the surface of the object is unbalanced in the grabbing moment, the possibility of partial grabbing and slipping is easy to occur, if the inclination angle between the grabbing surface and the surface of the object reaches a threshold value, the phenomenon that the object cannot be grabbed occurs locally is generated, on the other hand, even if the grabbing mechanism A can finish the adsorption and grabbing of the object, and the grabbing mechanism A gradually balances the interaction force between the grabbing mechanism A and the object in the lifting process of the mechanical arm 1, however, the gripping mechanism a is still damaged due to uneven stress, and the gripping performance may be affected by damage and deformation of the gripping mechanism a after long-term use. Therefore, the gripping surface of the gripping mechanism a needs to be parallel to the surface of any object to be gripped, that is, the gripping mechanism a can change its inclination angle by adjustment, a mounting plate 11 is disposed at the bottom end of the robot arm 1, the mounting plate 11 is used for mounting and fixing the gripping mechanism a, the robot arm 1 has a mounting groove 10, the mounting groove 10 can be machined on the arm body of the robot arm 1, as in this embodiment, an angle steel is disposed as the robot arm 1, an angle steel groove is disposed as the mounting groove 10, a swing cylinder 12 is disposed in the mounting groove 10, and two hinge seats 13, 14 are disposed on the upper end surface of the mounting plate 11, wherein the hinge seat 13 is hinged to the bottom end of the robot arm 1, and the other hinge seat 14 is hinged to the piston rod of the swing cylinder 12. By driving the swing cylinder 12, the inclination angle of the mounting plate 11, that is, the inclination angle of the grasping mechanism a can be changed.

The grabbing mechanism a includes a positioning column 21, a housing 22, two first fixing arms 23, two second fixing arms 24, four suction cups 25, a first rotating cylinder 261, a first rotating member 262, a positioning ring 27, a second rotating cylinder 281, and a second rotating member 282. The housing 22 is slidably sleeved outside the positioning column 21, in this embodiment, the housing 22 is configured as a bearing, the positioning column 21 partially extends from the bottom end of the housing 22, two mounting pieces 221 are fixedly arranged at the top end of the housing 22, the mounting pieces 221 are configured as vertical plates, and the top ends thereof are fixed on the lower end surface of the mounting plate 11, and the two mounting pieces 221 are symmetrically arranged about the housing 22 in consideration of the connection stability and firmness of the grabbing mechanism a. The length directions of the two first fixing arms 23 are the same, the length directions of the two second fixing arms 24 are the same, the first fixing arms 23 and the second fixing arms 24 are respectively provided with a long groove 230, 240 along the length directions thereof, the long grooves 230, 240 are respectively provided with a suction cup 25, the suction cups 25 are detachably mounted, so that the mounting positions of the suction cups 25 in the long grooves 230, 240 can be adjusted, in this embodiment, one suction cup 25 is mounted in each long groove 230, 240, and the number of the suction cups 25 can be set according to the weight of the object to be gripped.

The suction cup 25 may be a vacuum cup 25 or an electromagnetic cup 25. Generally, because of its relatively low cost, the use of vacuum cups 25 is an economical option for grasping articles, the variety of vacuum cups 25 is large, the vacuum cups 25 commonly used are rubber articles, the rubber vacuum cups 25 also have the ability to operate at high temperatures, which is a good feature for heat treated articles, and the cups 25 made of silicone rubber are well suited for grasping rough surface articles. In actual production, if oil resistance is required for the vacuum chuck 25, it is conceivable to manufacture the chuck 25 using a material such as polyurethane, nitrile rubber, or a vinyl-containing polymer. Generally, in order to prevent the surface of the product from being scratched, it is preferable to select a material of the suction cup 25 with bellows made of nitrile rubber or silicone rubber, which is made of nitrile rubber, has a large breaking force, and thus is widely used in various vacuum holding apparatuses. And electromagnetic chuck 25 is a with the electromagnetism principle, through making the inside coil circular telegram produce magnetic force, through the magnetic conduction panel, will contact the work piece on the panel surface and tightly hold, through the coil outage, the demagnetization is realized to the magnetic force disappearance, a machine tool accessory product of principle and production of taking off the work piece, electromagnetic chuck 25's advantage lies in can snatching the article fast to provide comparatively stable snatching force, the shortcoming lies in having the requirement to the material of snatching the article, and the cost is higher than vacuum chuck 25, the economic nature is relatively poor.

Two first fixed arm 23, two second fixed arm 24 constitute the planar diagonal of cuboid, first fixed arm 23, second fixed arm 24 can wind the axial of reference column 21 rotates, first fixed arm 23 with second fixed arm 24 all is perpendicular to the reference column 21 axial, two first fixed arm 23 is driven by reference column 21 and rotates, first fixed arm 23 with second fixed arm 24 rotates the opposite direction to the amplitude that rotates is the same. The shapes and sizes of the surfaces of different objects to be grabbed by the punch press are different, the rectangular body formed by the two first fixing arms 23 and the two second fixing arms 24 can be adjusted, the length and the width of the rectangular body can be matched with the surfaces of most objects, and the adjustment only changes the length and the width of the rectangular body and does not change the directions of the length and the width of the rectangular body.

For the connection relationship between the two first fixing arms 23, the bottom end surface of the positioning column 21 is fixedly installed with a positioning plate 211, in this embodiment, the positioning plate 211 is fixed on the bottom end surface of the positioning column 21 by four symmetrically arranged fasteners 211-a. The positioning plate 211 is provided with at least one arc-shaped groove 211-B corresponding to each first fixing arm 23, in this embodiment, two arc-shaped grooves 211-B are provided, the inner end to the middle of each first fixing arm 23 is fixedly connected to the arc-shaped groove 211-B through a fastener 211-B, and the middle end to the outer end of each first fixing arm 23 is located outside the positioning plate 211. The first fixing arm 23 is indirectly fixed to the positioning post 21, and the first fixing arm 23 can be detached from the positioning plate 211 when the positioning post 21 needs to be replaced or maintained after long-term use, so that on one hand, the operation is convenient, on the other hand, the direct acting force of the side wall of the positioning post 21 is reduced, the rotation of the positioning post 21 in the housing 22 is more smooth and stable, the damage to the side wall of the positioning post 21 can be reduced, and the service life of the positioning post 21 is prolonged.

For the power setting of the first fixing arm 23, the first rotating cylinder 261 is hinged to the lower end surface of the mounting plate 11 through a seat body 261-a, the first rotating member 262 is perpendicular to the axial direction of the positioning column 21, one end of the first rotating member 262 is fixedly connected to the center of the top end surface of the positioning column 21 through a fastener 262-a, the other end of the first rotating member is hinged to the piston rod of the first rotating cylinder 261, when the pointing directions of the two first fixing arms 23 need to be changed, the first rotating cylinder 261 is driven, and the first rotating member 262 drives the positioning column 21 to rotate, so as to drive the two first fixing arms 23 to rotate.

To two second fixed arm 24's relation of connection, holding ring 27 slides the cover and establishes the reference column 21 exposes the part of casing 22 bottom, holding ring 27's upper portion has round flange 271, holding ring 27's longitudinal section is the ladder shape, the equal fixed connection in inner of second fixed arm 24 is in holding ring 27's lower part, holding ring 27's rotation is for independently rotating, with reference column 21's rotation complementary interference, can realize first fixed arm 23 with second fixed arm 24's direction of rotation is opposite.

For the power setting of the second fixing arm 24, the second rotating cylinder 281 is hinged to the lower end face of the mounting plate 11 through a seat 281-a, the second rotating element 282 is vertically disposed, one end of the second rotating cylinder is fixedly connected to the flange 271 of the positioning ring 27, and the other end of the second rotating cylinder 281 is hinged to the piston rod of the second rotating cylinder 281, when the pointing direction of two second fixing arms 24 needs to be changed, the second rotating element 282 drives the positioning ring 27 to rotate, so as to drive two second fixing arms 24 to rotate, and when the first rotating cylinder 261 and the second rotating cylinder 281 are driven, the amount of expansion and contraction of the piston rod under two driving needs to be controlled, so that the rotation amplitude of the first fixing arm 23 is the same as that of the second fixing arm 24.

Example 2:

referring to fig. 8-12, a material taking system for a full-automatic punch press includes a worktable 101, a frame 102, a lifting mechanism 103, and a full-automatic punch press type manipulator 104. The full-automatic punch type manipulator 104 is as described in embodiment 1, the frame 102 is mounted on the workbench 101 and can move along the horizontal X direction of the workbench 101, the lifting mechanism 103 is mounted on the frame 102 and can move along the horizontal Y direction of the frame 102, the lifting mechanism 103 is mounted on the full-automatic punch type manipulator 104 and can drive the full-automatic punch type manipulator 104 to move vertically in the Z direction, and the full-automatic punch type manipulator 104 can be moved to any specified position by the three moving methods.

The table top of the workbench 101 is provided with two guide rails 101-1 along the X direction, a gear rack 101-2 along the X direction is arranged between the two guide rails 101-1, the frame body 102 is arranged along the Y direction, two groups of sliding blocks 102-1 are arranged on the bottom surface of the inner end of the frame body 102, the two groups of sliding blocks 102-1 are respectively assembled on the two guide rails 101-1 in a sliding manner, a servo speed reduction motor 102-2 is arranged at the inner end of the frame body 102, an output gear 102-3 is arranged at the bottom of the servo speed reduction motor 102-2 through the frame body 102, and the output gear 102-3 is meshed with the gear rack 101-2.

The rack body 102 is provided with two slide bars 102-4 along a Y direction, the two slide bars 102-4 are symmetrically arranged relative to the rack body 102, the lifting mechanism 103 comprises an installation base 103-1, a vertically arranged moving guide rail 103-2, a lifting cylinder 103-3 and a limiting rod 103-4, the left end and the right end of the installation base 103-1 are provided with cylinder bodies 103-5, the two cylinder bodies 103-5 are slidably sleeved on the two slide bars 102-4 respectively, the outer end of the rack body 102 is fixedly provided with a Y-direction driving cylinder 102-5, and a piston rod of the Y-direction driving cylinder 102-5 is fixedly connected with the installation base 103-1 along the Y direction. The movable guide rail 103-2 is in sliding fit with the mounting base 103-1, the bottom of the movable guide rail 103-2 is provided with a fixing plate 103-6, the lifting cylinder 103-3 is fixed on the mounting base 103-1, a piston rod of the lifting cylinder is fixedly connected with the fixing plate 103-6, the limiting rod 103-4 is vertically arranged and mounted on the mounting base 103-1, and the bottom end of the limiting rod 103-4 can abut against the upper end face of the fixing plate 103-6. The lifting mechanism 103 further comprises a locking cylinder 103-7, the mounting seat 103-1 is fixed by the locking cylinder 103-7, a piston rod of the locking cylinder 103-7 is horizontally arranged, when the limiting rod 103-4 abuts against the upper end face of the fixing plate 103-6, the piston rod of the locking cylinder 103-7 can extend out and abut against the lower end face of the fixing plate 103-6, the full-automatic punch type manipulator 104 can be fixed in two vertical directions when being lifted to the highest position through the limiting rod 103-4 and the fixing plate 103-6, the full-automatic punch type manipulator 104 is prevented from moving in the X, Y direction after grabbing objects, and the stable grabbing state of the objects in the feeding process of the punch is ensured.

The above embodiments are only for illustrating the technical conception and the 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, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims (10)

1. The utility model provides a full-automatic punch press formula manipulator, its characterized in that includes the arm and installs the mechanism of snatching in the arm bottom, it includes two first fixed arms that the direction is the same, two second fixed arms that the direction is the same, a plurality of sucking discs to snatch the mechanism, first fixed arm with the second fixed arm all has at least one sucking disc, two first fixed arm, two the second fixed arm constitutes the planar diagonal of cuboid, first fixed arm the second fixed arm can rotate for the pivot around the perpendicular line that rectangular body plane midpoint place.

2. The manipulator according to claim 1, wherein the grasping mechanism further includes a positioning column and a housing fixed at a bottom end of the mechanical arm, the housing is slidably sleeved outside the positioning column, the first and second fixing arms are perpendicular to an axial direction of the positioning column, the two first fixing arms are driven by the positioning column to rotate, and the rotation directions of the first and second fixing arms are opposite and the rotation amplitudes are the same.

3. The full-automatic punch manipulator according to claim 2, wherein the grabbing mechanism further comprises a first rotating cylinder and a first rotating member, the first rotating cylinder is hinged to the bottom end of the mechanical arm, the first rotating member is perpendicular to the axial direction of the positioning column, one end of the first rotating cylinder is fixedly connected to the center of the top end face of the positioning column, and the other end of the first rotating cylinder is hinged to a piston rod of the first rotating cylinder.

4. The full-automatic punch manipulator according to claim 2, wherein the lower portion of the positioning column extends out of the housing, a positioning ring is slidably sleeved on the lower portion of the positioning column, and inner ends of the second fixing arms are fixedly connected to the positioning ring.

5. The manipulator according to claim 4, wherein the grasping mechanism further comprises a second rotating cylinder and a second rotating member, the second rotating cylinder is hinged to the bottom end of the mechanical arm, one end of the second rotating member is fixed to the positioning ring, and the other end of the second rotating member is hinged to a piston rod of the second rotating cylinder.

6. The full automatic punch manipulator according to claim 2, wherein a positioning plate is fixedly mounted on a bottom end surface of the positioning column, and the two first fixed arm portions are mounted on the positioning plate.

7. The full-automatic punch mechanical arm according to claim 1, wherein a mounting plate is hinged to the bottom end of the mechanical arm, the gripping mechanism is fixed to the bottom end face of the mounting plate, a swing cylinder is hinged to the arm body of the mechanical arm, and a piston rod of the swing cylinder is hinged to the mounting plate.

8. The full-automatic punch press material taking system is characterized by comprising a workbench, a rack body, a lifting mechanism and the full-automatic punch press mechanical hand according to any one of claims 1 to 7, wherein the rack body is installed on the workbench and can move along the horizontal X direction of the workbench, the lifting mechanism is installed on the rack body and can move along the horizontal Y direction of the rack body, and the lifting mechanism is installed on the full-automatic punch press mechanical hand and can drive the full-automatic punch press mechanical hand to move vertically in the Z direction.

9. The full-automatic punch press reclaiming system as claimed in claim 8, wherein the lifting mechanism comprises a mounting seat, a vertically arranged moving guide rail, a lifting cylinder and a limiting rod, the mounting seat is mounted on the frame body, the moving guide rail is in sliding fit with the mounting seat, a fixing plate is arranged at the bottom of the moving guide rail, the lifting cylinder is fixed on the mounting seat, a piston rod of the lifting cylinder is fixedly connected with the fixing plate, the limiting rod is vertically arranged and mounted on the mounting seat, and the bottom end of the limiting rod can abut against the upper end face of the fixing plate.

10. The full-automatic punch press reclaiming system as claimed in claim 9, wherein the lifting mechanism further comprises a locking cylinder, the mounting seat is fixed by the locking cylinder, a piston rod of the locking cylinder is horizontally arranged, and when the limiting rod abuts against the upper end face of the fixing plate, the piston rod of the locking cylinder can extend out and abut against the lower end face of the fixing plate.

Images