CN106239500B

CN106239500B - A kind of punching press feeding robot

Info

Publication number: CN106239500B
Application number: CN201610795640.5A
Authority: CN
Inventors: 于华; 苏学满; 胡盛财; 周俊; 许德章
Original assignee: Anhui Polytechnic University; Wuhu Anpu Robot Industry Technology Research Institute Co Ltd
Current assignee: Anhui Polytechnic University; Wuhu Anpu Robot Industry Technology Research Institute Co Ltd
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2018-10-16
Anticipated expiration: 2036-08-31
Also published as: CN106239500A

Abstract

The present invention relates to a kind of punching press feeding robots, including vertical telecontrol equipment, forearm telescopic device, forearm end hand grab tumbler in horizontal plane, gravity balance device, control system above and below pedestal, tumbler, large arm.Tumbler is mounted on the base.Vertical telecontrol equipment is connected large arm with tumbler up and down, and above tumbler.Forearm telescopic device is vertically mounted on large arm vertical telecontrol equipment side up and down.Forearm end hand is grabbed tumbler in horizontal plane and is mounted in forearm telescopic device.Gravity balance device is mounted on large arm vertical telecontrol equipment upper end up and down, and is connected with forearm telescopic device, adjusts the balance of forearm telescopic device.Control system is connected with each part mentioned above, for controlling the executing agency in each part mentioned above.The present invention can be mitigated influence of the cantilever gravity to robust motion, when avoiding control system dead electricity, ball screw framework not self-locking and cantilever is caused to glide using the air-pressure balancing device balanced cantilever gravity being in tilted layout.

Description

A kind of punching press feeding robot

Technical field

The present invention relates to feeding mechanical equipment technical field, specifically a kind of punching press feeding robot.

Background technology

Punching production be mechanical processing and manufacturing process in a kind of important molding fabrication techniques, be widely used in automobile, The industries such as machinery, electric appliance, instrument and aviation.Punching press industry is dangerous high and the industry of working environment difference, in urgent need punching press Material robot replaces people to do certain dull, frequent and repetition long workings.

Currently, the use of China's punching press feeding robot is concentrated mainly on some large enterprises, multiple degrees of freedom is widely used Revolute robot, although flexibility is good, precision is high, its is inefficient, cost input is higher.Lower-mobility punching press feeder Device people is simple in structure, and movement velocity is fast, but general light load, positioning accuracy are relatively low.

Invention content

Deficiency in view of the above technology, the present invention propose a kind of punching press feeding robot suitable for capturing big part, adopt With servo-drive, precision is high, and action is fast；Using ball-screw nut mechanism, linear bearing and linear rolling track structure, friction Resistance is small, flexible movements；Using cable-stayed type cylinder balancing cantilevered weights, its stable movement, cantilever bending deformation is made to reduce；Using Four guide posts are oriented to, and larger gravity torque can be born, so as to capture large-mass workpiece.

A kind of punching press feeding robot, including the flexible dress of vertical telecontrol equipment, forearm above and below pedestal, tumbler, large arm It sets, forearm end hand grabs tumbler in horizontal plane, gravity balance device, control system.

The tumbler is mounted on the base.Vertical telecontrol equipment is connected the large arm with tumbler up and down, and position Above tumbler.The forearm telescopic device is vertically mounted on large arm vertical telecontrol equipment side up and down.The forearm end End hand is grabbed tumbler in horizontal plane and is mounted in forearm telescopic device.The gravity balance device is mounted on large arm vertical up and down Telecontrol equipment upper end, and be connected with forearm telescopic device, adjust the balance of forearm telescopic device.The control system with it is above-mentioned each Part is connected, for controlling the executing agency in each part mentioned above.

The tumbler includes servo motor I, retarder, crossed cylindrical roller bearing, turntable, the crossing cylinder rolling Sub- bearing is fixedly installed in by bearing block on pedestal, and the servo motor I is fixed on retarder, and the retarder, which is fixed, to be connected It is connected on bearing block, the turntable is connect by key with reducer output shaft, the turntable and crossed cylindrical roller bearing inner race Fixed, the crossed cylindrical roller bearing outer ring is fixedly connected with the bearing seat.

Vertical telecontrol equipment includes two angular contact ball bearings I, deep groove ball bearing I and passes through company the large arm up and down Joint chair is fixedly connected on the servo motor II of bearing frame upper end, and II front end of the servo motor is equipped with shaft I, the shaft I On shaft coupling I is installed, I front end of the shaft coupling is connected with ball-screw I, and the ball-screw I passes through two angular contact balls Bearing I and deep groove ball bearing I are mounted in bearing rack, and the bearing rack is fixedly connected on connector of rotary disk, described turn Disk connector is fixedly connected on turntable, and ball-screw nut I, the ball-screw nut I are connected on the ball-screw I It is fixed on large arm link, 4 guide posts is connected with by 4 linear bearings on the large arm link, 4 guide posts are solid Surely bearing rack upper and lower ends are connected to.4 guide posts are arranged symmetrically relative to ball-screw I, and symmetrical structure was both Guiding role can be played, and larger gravity torque can be born.

The forearm telescopic device includes two angular contact ball bearings II, deep groove ball bearing II and servo motor III, institute It states servo motor III to be fixedly connected in fulcrum bearing, the fulcrum bearing is fixedly connected on large arm link upper end, the servo electricity III front end of machine is equipped with shaft II, is equipped with shaft coupling II in the shaft II, II front end of the shaft coupling is connected with ball-screw II, the ball-screw II is mounted on by two angular contact ball bearings II and deep groove ball bearing II on large arm link, described Ball-screw nut II is connected on ball-screw II, the ball-screw nut II is fixedly connected on carrier base, the branch Stand is fixedly connected with forearm link, and the forearm link is fixed on linear rolling track sliding block, the straight-line rolling Guide rail slide block is connected on linear rolling track slide, and the linear rolling track slide is fixedly connected under large arm link End.

It includes that deep groove ball bearing III, deep groove ball bearing IV, right angle subtract that forearm end hand, which grabs tumbler in horizontal plane, Fast device and servo motor IV, the servo motor IV are fixedly connected on forearm link left end, IV front end of the servo motor Equipped with shaft III, shaft coupling III is installed in the shaft III, III front end of the shaft coupling is connected with axis, and the axis passes through zanjon Ball bearing III, deep groove ball bearing IV are mounted on forearm link, and the axis front end is connected with right-angle reduction device movement input terminal, The right-angle reduction device is fixedly connected on forearm link right end.

The gravity balance device includes two cylinders, and described two cylinders are articulated with two bearings by two body cradles On, described two bearings are fixedly connected on bearing frame upper end face, and described two cylinder front ends are set there are two piston rod, and described two A piston rod front end is shipped and resell on another market by two to be articulated on large arm link.Described two cylinders are to be in tilted layout, and be symmetrically installed In large arm link both sides, gravity balance device can mitigate influence of the gravity to robust motion, when avoiding control system dead electricity, Moving component glides because of gravity, while can also reduce the change song deformation of cantilever, improves positioning accuracy.

The control system includes control cabinet, power module, PLC controller module, first axle motion-control module, the Two axis motion-control modules, third axis motion-control module, four axes motion control module, first axle driver, the second axis drive Dynamic device, third axis driver, the 4th axis driver, servo motor I, servo motor II, servo motor III, servo motor IV, the One axis reference position sensor, the second axis reference position sensor, third axis reference position sensor, first axle are just limiting sensing Device, the positive limit sensors of the second axis, the positive limit sensors of third axis, first axle bear the negative limit sensing of limit sensors, the second axis Device, third axis bear limit sensors, the power module, PLC controller module, first axle motion-control module, the second axis fortune Dynamic control module, third axis motion-control module, four axes motion control module, first axle driver, the second axis driver, the Three-axis drive device, the 4th axis driver are fixedly connected on control cabinet, and the first axle reference position sensor, first axle are just Limit sensors, first axle are born limit sensors and are fixedly connected on pedestal, the second axis reference position sensor, the second axis Positive limit sensors, the second axis are born limit sensors and are fixedly connected in bearing rack, the third axis reference position sensor, The positive limit sensors of third axis, third axis are born limit sensors and are fixedly connected on above large arm link, in the control cabinet Each module installed is connected with each servo motor and each sensor installed on basic machine by cable.

The pedestal is fixedly connected by 8 bolts with 4 stabilizer blades, and the pedestal lower face is equipped with 4 idler wheels, to protect Supporting stabilizer when demonstrate,proving work, mobile machine are more convenient.

Forearm link front end overhang, which is divided to, to be supported on two balls, and described two balls are supported on two respectively In slide, described two slides are slidably connected in two sleeves, and described two slide lower ends are connected separately with spring, and described two A spring other end is respectively fixedly connected on two support plates, and described two sleeves are fixedly connected on branch together with two support plates On frame, the holder is fixedly connected on large arm link front end.Forearm link can be improved in this structure of forearm link Rigidity reduces the flexural deformation of forearm projecting end, while using ball bearing, can reduce friction, makes the movement spirit of forearm link It is living.

In the control system, power module is PLC controller module, No.1 motion-control module, No. two movement controls Molding block, No. three motion-control modules, No. four motion-control modules, No.1 servo-driven module, No. two servo-driven modules, three Number servo-driven module, No. four servo-driven modules, No.1 reference position sensor, No. two reference position sensors, No. three ginsengs The negative limit of the positive limit sensors of position sensor, No.1, No. two positive limit sensors, No. three positive limit sensors, No.1 is examined to pass Sensor, No. two negative limit sensors, No. three negative limit sensors provide V DC power supplies；The PLC controller module is transported for No.1 Dynamic control module, No. two motion-control modules, No. three motion-control modules, No. four motion-control module configuration parameters simultaneously realize volume Process control；No.1 reference position sensor, No. two reference position sensors, No. three reference position sensors, No.1s are just limiting biography Sensor, No. two positive limit sensors, No. three positive limit sensors, No.1 bear limit sensors, No. two negative limit sensors, No. three The control signal of negative limit sensors respectively with No.1 motion-control module, No. two motion-control modules, No. three motion control moulds The reference position of block, positive limit, negative limit port are correspondingly connected with, No.1 servo-driven module, No. two servo-driven modules, No. three Servo-driven module, the position control port on No. four servo-driven modules, direction controlling port respectively with No.1 motion control Module, No. two motion-control modules, No. three motion-control modules, the position control port of No. four motion-control modules, direction control Port processed is correspondingly connected with, corresponding to receive No.1 motion-control module, No. two motion-control modules, No. three motion-control modules, four The position and direction of number motion-control module control signal.

The beneficial effects of the invention are as follows：

1. it is flat to moving can to mitigate cantilever gravity using the air-pressure balancing device balanced cantilever gravity being in tilted layout by the present invention The influence of stability when avoiding control system dead electricity, causes cantilever to glide because of ball screw framework not self-locking.While cable-stayed type Configuration can reduce the flexural deformation of cantilever, improve its positioning accuracy.

2. the vertical movement of the cantilever of the present invention is oriented to using four guide posts, larger gravity torque can be born, is matched simultaneously It is equipped with air pressure gravity balance device, therefore this punching press feeding robot can capture relatively large load.

3. the present invention uses servo-drive, while configuring ball-screw nut mechanism, linear bearing and linear rolling track Structure, it can be ensured that it is moved, and flexible, speed is fast, positioning accuracy is high.

It is supported on two balls 4. the forearm overhang of the present invention is divided to, the rigidity of forearm can be improved, reduced forearm and overhang The flexural deformation at end, while ball bearing is used, friction can be reduced, keeps forearm movement flexible.

5. the pedestal of the present invention adds idler wheel to design using stabilizer blade, supporting stabilizer when work is not only ensured, but also has moved it conveniently Flexibly.

Description of the drawings

Invention will be further explained below with reference to the drawings and examples..

Fig. 1 is the front view of the present invention；

Fig. 2 is the enlarged drawing of A in Fig. 1；

Fig. 3 is the enlarged drawing of B in Fig. 1；

Fig. 4 is the front view of the present invention；

Fig. 5 is the enlarged drawing of C in Fig. 4；

Fig. 6 is the enlarged drawing of D in Fig. 5；

Fig. 7 is the enlarged drawing of E in Fig. 6；

Fig. 8 is the inside connection relationship diagram of the control system of the present invention.

Specific implementation mode

In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right The present invention is expanded on further.

As shown in Figures 1 to 8, a kind of punching press feeding robot, including vertical is transported above and below pedestal 10, tumbler, large arm Dynamic device, forearm telescopic device, forearm end hand grab tumbler in horizontal plane, gravity balance device, control system.

The tumbler includes servo motor I 7, retarder 27, crossed cylindrical roller bearing 31, turntable 25, the friendship Fork cylinder roller bearing 31 is fixedly installed in by bearing block 26 on pedestal 10, and the servo motor I 7 is fixed on retarder 27 On, the retarder 27 is fixedly connected on bearing block 26, and the turntable 25 is connect by key 29 with reducer output shaft 30, institute It states turntable 25 to fix with 31 inner ring of crossed cylindrical roller bearing, 31 outer ring of crossed cylindrical roller bearing is fixed with bearing block 26 Connection.

Vertical telecontrol equipment includes two angular contact ball bearings I 20, deep groove ball bearing I 23, Yi Jitong to the large arm up and down The servo motor II 15 that connecting seat 2 is fixedly connected on 3 upper end of bearing rack is crossed, II 15 front end of the servo motor is equipped with shaft I 18, shaft coupling I 19 is installed in the shaft I 18, I 19 front end of the shaft coupling is connected with ball-screw I 21, the ball wire Thick stick I 21 is mounted on by two angular contact ball bearings I 20 and deep groove ball bearing I 23 in bearing rack 3, and the bearing rack 3 is solid Surely it is connected on connector of rotary disk 24, the connector of rotary disk 24 is fixedly connected on turntable 25, is connected on the ball-screw I 21 It is connected to ball-screw nut I 22, the ball-screw nut I 22 is fixed on large arm link 6, on the large arm link 6 4 guide posts 4 are connected with by 4 linear bearings 5,4 guide posts 4 are fixedly connected on bearing 3 upper and lower ends of rack.Described 4 Root guide post 4 is arranged symmetrically relative to ball-screw I 21.

The forearm telescopic device includes two angular contact ball bearings II 44, deep groove ball bearing II 40 and servo motor III 47, the servo motor III 47 is fixedly connected in fulcrum bearing 45, and the fulcrum bearing 45 is fixedly connected on large arm link 6 End, III 47 front end of the servo motor are equipped with shaft II 48, shaft coupling II 46, the shaft coupling are equipped in the shaft II 48 II 46 front ends are connected with ball-screw II 43, and the ball-screw II 43 passes through two angular contact ball bearings II 44 and deep-groove ball axis It holds II 40 to be mounted on large arm link 6, ball-screw nut II 42, the ball wire is connected on the ball-screw II 43 Thick stick nut II 42 is fixedly connected on carrier base 12, and the carrier base 12 is fixedly connected with forearm link 13, and the forearm connects It connects frame 13 to be fixed on linear rolling track sliding block 32, the linear rolling track sliding block 32 is connected to linear rolling track slide On 36, the linear rolling track slide 36 is fixedly connected on 6 lower end of large arm link.

Forearm end hand grab tumbler in horizontal plane include deep groove ball bearing III 41, it is deep groove ball bearing IV 38, straight Angle retarder 39 and servo motor IV 33, the servo motor IV 33 is fixedly connected on 13 left end of forearm link, described to watch It takes IV 33 front end of motor and is equipped with shaft III 34, shaft coupling III 35, III 35 front end of the shaft coupling are installed in the shaft III 34 It is connected with axis 37, the axis 37 is mounted on by deep groove ball bearing III 41, deep groove ball bearing IV 38 on forearm link 13, described 37 front end of axis moves input terminal with right-angle reduction device 39 and is connected, and it is right that the right-angle reduction device 39 is fixedly connected on forearm link 13 End.

The gravity balance device includes two cylinders 1, and described two cylinders 1 are articulated with two by two body cradles 17 On bearing 16, described two bearings 16 are fixedly connected on bearing rack 3 upper surface, and 1 front end of described two cylinders sets that there are two living Stopper rod 14,14 front end of described two piston rods are shipped and resell on another market by two and 11 are articulated on large arm link 6.Described two cylinders 1 are It is in tilted layout, and is symmetrically mounted on 6 both sides of large arm link, this arrangement can mitigate shadow of the gravity to robust motion It rings, when avoiding control system dead electricity, moving component glides because of gravity, while can also reduce the change song deformation of cantilever, and it is fixed to improve Position precision.

The control system includes control cabinet 74, power module 60, PLC controller module 66, first axle motion control Module 72, the second axis motion-control module 58, third axis motion-control module 64, four axes motion control module 70, first axle Driver 73, the second axis driver 59, third axis driver 65, the 4th axis driver 71, servo motor I 7, servo motor II 15, servo motor III 47, servo motor IV 33, first axle reference position sensor 56, the second axis reference position sensor 62, The positive limit sensors 55 of three axis reference position sensors 68, first axle, the positive limit sensors 61 of the second axis, third axis are just limiting biography Sensor 67, first axle bear limit sensors 57, the second axis bears limit sensors 63, third axis bears limit sensors 69, the electricity Source module 60, PLC controller module 66, first axle motion-control module 72, the second axis motion-control module 58, three-axis moving Control module 64, four axes motion control module 70, first axle driver 73, the second axis driver 59, third axis driver 65, 4th axis driver 71 is fixedly connected on control cabinet 74, and the first axle reference position sensor 56, first axle just limit Sensor 55, first axle are born limit sensors and 57 are fixedly connected on pedestal 10, the second axis reference position sensor 62, the The positive limit sensors 61 of two axis, the second axis are born limit sensors 63 and are fixedly connected in bearing rack 3, the third axis reference bit Set the positive limit sensors 67 of sensor 68, third axis, third axis is born limit sensors 69 and is fixedly connected on large arm link 6 Side, it is described to control each module installed in cabinet 74 and each servo motor installed on basic machine and each sensor It is connected by cable.

The pedestal 10 is fixedly connected by 8 bolts 8 with 4 stabilizer blades 9, and 10 lower face of the pedestal is equipped with 4 idler wheels 28。

13 front end overhang of the forearm link, which is divided to, to be supported on two balls 53, and described two balls 53 support respectively In two slides 52, described two slides 52 are slidably connected in two sleeves 51, and 52 lower end of described two slides connects respectively It is connected to spring 54,54 other end of described two springs is respectively fixedly connected on two support plates 50, and described two sleeves 51 connect It is fixedly connected on holder 49 with two support plates 50, the holder 49 is fixedly connected on 6 front end of large arm link.

The specific action process of each section：

Reference point establishes process：Reference point instruction is established in PLC controller module (66) transmission, passes through No.1 motion control mould The motion-control module 64 of motion-control module 58, three of block 72, two transmits commands to No.1 servo-driven module 73, two 59, No. three servo-driven modules 65 of servo-driven module, to control servomotor I 7, servo motor II 15, servo motor III 47 movements, when the motion-control module 64 of motion-control module 58, three of No.1 motion-control module 72, two detects that No.1 is joined When examining position sensor 56, No. two reference position sensors, 62, No. three 68 signals of reference position sensor, first axle, the second axis, Third axis reference point locations are established.

Rotation process：PLC controller module 66 sends turned position instruction to the by first axle motion-control module 72 One axis driver 73 starts servo motor I 7, and servo motor I 7 drives retarder 27 to work, and reducer output shaft 30 passes through key 29 Turntable 25 is driven to rotate, turntable 25 drives bearing rack 3 to drive big and small arms to realize rotation fortune by connector of rotary disk 24 It is dynamic.

Vertical motion process above and below large arm：PLC controller module 66 is sent up and down by the second axis motion-control module 58 Shift position instruction starts servo motor II 15 to the second axis driver 59, and servo motor II 15 drives shaft coupling by shaft I 18 The rotation of device I 19, shaft coupling I 19 drive ball-screw I 21 to rotate, and are driven with the ball-screw nut I 22 that ball-screw I 21 matches The large arm link 6 for being secured to connection realizes that vertical movement, movement locus are realized by four guide posts up and down.

Forearm stretching motion process：PLC controller module 66 sends telescopic location by third axis motion-control module 64 Third axis driver 65 is instructed, servo motor III 47 is started, servo motor III 47 drives shaft coupling II 46 by shaft II 48 Rotation, shaft coupling II 46 drive ball-screw II 43 to rotate, and are driven with the ball-screw nut II 42 that ball-screw II 43 matches The carrier base 12 of connection is secured to drive forearm link 13 to realize that forearm stretching motion, movement locus are rolled by straight line The motion track of dynamic guide rail slide block 32 and linear rolling track slide 36 determines.

Forearm end hand grabs rotation process in horizontal plane：PLC controller module 66 passes through four axes motion control module 70 Turned position instruction is sent to the 4th axis driver 71, starts servo motor IV 33, servo motor IV 33 passes through III 34 band of shaft Dynamic shaft coupling III 35 rotates, and III 35 band moving axis 37 of shaft coupling rotates, and axis 37 drives right-angle reduction device 39 to work, right-angle reduction device 39 Drive clamping jaw (not drawn in figure) or sucker (not drawn in figure) work.

Gravity balance device equilibrium principle：By pressure control, two piston rods 14 is made to generate large arm link 6 always One upward pulling force carrys out the gravity of balanced cantilever with this, while can also offset a part because what cantilever gravity generated is turned under Song deformation.

Since two cylinders 1 are hingedly connected on two bearings 16, two piston rods 14 are hingedly connected to large arm link 6 On, therefore, vertical it will not move due to the position of two cylinders 1 is made to interfere above and below large arm.

The present invention uses servo-control system, and above several actions can be according to working space size and the knot of grabbing workpiece Structure feature, it is arbitrary to combine, it overlaps and carries out, adaptability is good, quick action.

When the present invention needs to move, only need to unclamp 8 bolts 89 position of stabilizer blade is moved up into fixation, make 4 idler wheels 28 with Ground contacts, you can punching press feeding robot is pushed to be moved to another operating position from an operating position.In addition, passing through tune The position of whole 8 bolts can adjust the height of 4 stabilizer blades 9, be conducive to the centering of punching press feeding robot.

The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle It is fixed.

Claims

1. a kind of punching press feeding robot, including vertical telecontrol equipment, forearm are flexible up and down for pedestal (10), tumbler, large arm Device, forearm end hand grab tumbler in horizontal plane, gravity balance device, control system, it is characterised in that：

The tumbler is mounted on the base；Vertical telecontrol equipment is connected the large arm with tumbler up and down, and is located at and turns Above dynamic device；The forearm telescopic device is vertically mounted on large arm vertical telecontrol equipment side up and down；Forearm end hand Tumbler in horizontal plane is grabbed to be mounted in forearm telescopic device；The gravity balance device is mounted on large arm vertical movement up and down Device upper end, and be connected with forearm telescopic device, adjust the balance of forearm telescopic device；The control system and each part mentioned above It is connected, for controlling the executing agency in each part mentioned above；

The gravity balance device includes two cylinders (1), and described two cylinders (1) are articulated with two by two body cradles (17) On a bearing (16), described two bearings (16) are fixedly connected on bearing rack (3) upper surface, described two cylinder (1) front ends If there are two piston rod (14), described two piston rod (14) front ends by two ship and resell on another market (11) be articulated with large arm link (6) On；Described two cylinders (1) are to be in tilted layout, and be symmetrically mounted on large arm link (6) both sides.

2. a kind of punching press feeding robot according to claim 1, it is characterised in that：The tumbler includes servo electricity Machine I (7), retarder (27), crossed cylindrical roller bearing (31), turntable (25), the crossed cylindrical roller bearing (31) pass through Bearing block (26) is fixedly installed on pedestal (10), and the servo motor I (7) is fixed on retarder (27), the retarder (27) it is fixedly connected on bearing block (26), the turntable (25) is connect by key (29) with reducer output shaft (30), described Turntable (25) is fixed with crossed cylindrical roller bearing (31) inner ring, crossed cylindrical roller bearing (31) outer ring and bearing block (26) it is fixedly connected.

3. a kind of punching press feeding robot according to claim 1, it is characterised in that：Vertical sportswear above and below the large arm It sets including two angular contact ball bearings I (20), deep groove ball bearing I (23) and bearing machine is fixedly connected on by connecting seat (2) The servo motor II (15) of frame (3) upper end, the servo motor II (15) front end is equipped with shaft I (18), in the shaft I (18) Shaft coupling I (19) is installed, the shaft coupling I (19) front end is connected with ball-screw I (21), and the ball-screw I (21) is logical It crosses two angular contact ball bearings I (20) and deep groove ball bearing I (23) is mounted in bearing rack (3), the bearing rack (3) is solid Surely it is connected on connector of rotary disk (24), the connector of rotary disk (24) is fixedly connected on turntable (25), the ball-screw I (21) ball-screw nut I (22) is connected on, the ball-screw nut I (22) is fixed on large arm link (6), described 4 guide posts (4) are connected with by 4 linear bearings (5) on large arm link (6), 4 guide posts (4) are fixedly connected on branch Hold rack (3) upper and lower ends；4 guide posts (4) are arranged symmetrically relative to ball-screw I (21).

4. a kind of punching press feeding robot according to claim 1, it is characterised in that：The forearm telescopic device includes two A angular contact ball bearing II (44), deep groove ball bearing II (40) and servo motor III (47), the servo motor III (47) are solid Surely it is connected in fulcrum bearing (45), the fulcrum bearing (45) is fixedly connected on large arm link (6) upper end, the servo motor III (47) front end is equipped with shaft II (48), is equipped with shaft coupling II (46) in the shaft II (48), before the shaft coupling II (46) End is connected with ball-screw II (43), and the ball-screw II (43) passes through two angular contact ball bearings II (44) and deep-groove ball axis II (40) are held on large arm link (6), ball-screw nut II (42), institute are connected on the ball-screw II (43) It states ball-screw nut II (42) to be fixedly connected on carrier base (12), the carrier base (12) is fixedly connected with forearm link (13), the forearm link (13) is fixed on linear rolling track sliding block (32), the linear rolling track sliding block (32) It is connected on linear rolling track slide (36), the linear rolling track slide (36) is fixedly connected on large arm link (6) Lower end.

5. a kind of punching press feeding robot according to claim 1, it is characterised in that：Forearm end hand grabs horizontal plane Interior tumbler includes deep groove ball bearing III (41), deep groove ball bearing IV (38), right-angle reduction device (39) and servo motor IV (33), the servo motor IV (33) is fixedly connected on forearm link (13) left end, and the servo motor IV (33) front end is set There is shaft III (34), shaft coupling III (35) is installed in the shaft III (34), the shaft coupling III (35) front end is connected with axis (37), the axis (37) is mounted on by deep groove ball bearing III (41), deep groove ball bearing IV (38) on forearm link (13), institute It states axis (37) front end with right-angle reduction device (39) movement input terminal to be connected, the right-angle reduction device (39) is fixedly connected on forearm company Connect frame (13) right end.

6. a kind of punching press feeding robot according to claim 1, it is characterised in that：The control system includes switch board Body (74), power module (60), PLC controller module (66), first axle motion-control module (72), the second axis motion control mould Block (58), third axis motion-control module (64), four axes motion control module (70), first axle driver (73), the second axis Driver (59), third axis driver (65), the 4th axis driver (71), servo motor I (7), servo motor II (15), servo Motor III (47), servo motor IV (33), first axle reference position sensor (56), the second axis reference position sensor (62), Third axis reference position sensor (68), the positive limit sensors of first axle (55), the positive limit sensors of the second axis (61), third axis Positive limit sensors (67), first axle bear limit sensors (57), the second axis is born the negative limit of limit sensors (63), third axis and passed Sensor (69), the power module (60), PLC controller module (66), first axle motion-control module (72), the movement of the second axis Control module (58), third axis motion-control module (64), four axes motion control module (70), first axle driver (73), Second axis driver (59), third axis driver (65), the 4th axis driver (71) are fixedly connected on control cabinet (74), institute First axle reference position sensor (56), the positive limit sensors of first axle (55), first axle is stated to bear limit sensors (57) and fix It is connected on pedestal (10), the second axis reference position sensor (62), the positive limit sensors of the second axis (61), the second axis are negative Limit sensors (63) are fixedly connected in bearing rack (3), and the third axis reference position sensor (68), third axis just limit Level sensor (67), third axis are born limit sensors (69) and are fixedly connected on above large arm link (6), the control cabinet (74) each module installed in is connected with each servo motor and each sensor installed on basic machine by cable.

7. a kind of punching press feeding robot according to claim 6, it is characterised in that：The pedestal (10) passes through 8 spiral shells Bolt (8) is fixedly connected with 4 stabilizer blades (9), and pedestal (10) lower face is equipped with 4 idler wheels (28).

8. a kind of punching press feeding robot according to claim 5, it is characterised in that：Forearm link (13) front end Overhang, which is divided to, to be supported on two balls (53), and described two balls (53) are supported on respectively in two slides (52), and described two A slide (52) is slidably connected in two sleeves (51), and described two slide (52) lower ends are connected separately with spring (54), institute It states two spring (54) other ends to be respectively fixedly connected on two support plates (50), described two sleeves (51) are together with two branch Board (50) is fixedly connected on holder (49), and the holder (49) is fixedly connected on large arm link (6) front end.

9. a kind of punching press feeding robot according to claim 6, it is characterised in that：In the control system, power supply Module (60) is PLC controller module (66), No.1 motion-control module (72), No. two motion-control modules (58), No. three fortune Dynamic control module (64), No. four motion-control modules (70), No.1 servo-driven module (73), No. two servo-driven modules (59), No. three servo-driven modules (65), No. four servo-driven modules (71), No.1 reference position sensor (56), No. two ginsengs Examine position sensor (62), No. three reference position sensors (68), the positive limit sensors of No.1 (55), No. two positive limit sensors (61), No. three positive limit sensors (67), No.1 bear limit sensors (57), No. two negative limit sensors (63), No. three negative limits Level sensor (69) provides 24V DC power supplies；The PLC controller module (66) be No.1 motion-control module (72), No. two Motion-control module (58), No. three motion-control modules (64), No. four motion-control modules (70)) it configures parameter and realizes programming Control；No.1 reference position sensor (56), No. two reference position sensors (62), No. three reference position sensors (68), one Number positive limit sensors (55), No. two positive limit sensors (61), No. three positive limit sensors (67), the negative limit sensors of No.1 (57), No. two negative limit sensors (63), No. three negative limit sensors (69) control signal respectively with No.1 motion control mould Block (72), No. two motion-control modules (58), the reference position of No. three motion-control modules (64), positive limit, negative limit port Be correspondingly connected with, No.1 servo-driven module (73), No. two servo-driven modules (59), No. three servo-driven modules (65), No. four Position control port, direction controlling port on servo-driven module (71) respectively with No.1 motion-control module (72), No. two Motion-control module (58), No. three motion-control modules (64), the position control port of No. four motion-control modules (70), direction Control port is correspondingly connected with, corresponding to receive No.1 motion-control module (72), No. two motion-control modules (58), No. three movement controls Molding block (64), No. four motion-control modules (70) position and direction control signal.