CN107598000B - Stamping feeding and discharging manipulator - Google Patents
Stamping feeding and discharging manipulator Download PDFInfo
- Publication number
- CN107598000B CN107598000B CN201710954793.4A CN201710954793A CN107598000B CN 107598000 B CN107598000 B CN 107598000B CN 201710954793 A CN201710954793 A CN 201710954793A CN 107598000 B CN107598000 B CN 107598000B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- piston rod
- connecting plate
- telescopic
- waist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007599 discharging Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 191
- 210000000707 wrist Anatomy 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000009471 action Effects 0.000 abstract description 18
- 238000004080 punching Methods 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 4
- 238000013459 approach Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 239000012636 effector Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 244000309464 bull Species 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to the field of manipulator design, and relates to a stamping feeding and discharging manipulator. The waist mechanism is connected with the lifting mechanism, and the telescopic mechanism is arranged on the waist mechanism; one end of the wrist mechanism is connected with the telescopic mechanism in a sliding way, and the other end of the wrist mechanism is connected with the grabbing mechanism; the waist mechanism can drive the telescopic mechanism to rotate, the telescopic mechanism can drive the wrist mechanism and the grabbing mechanism to do telescopic motion, and the wrist mechanism can drive the grabbing mechanism to rotate. The grabbing mechanism drives the wrist mechanism to rotate through the second double-acting air cylinder to realize movement at different angles, the vacuum chuck approaches to or departs from a workpiece through the telescopic action of the single-acting air cylinder, the rotation of the wrist mechanism overcomes the defect that a motor and related equipment are relied on for a long time to meet the requirement of simple angle positions, the universality is strong, the production efficiency is high, and the grabbing mechanism can be applied to carrying operation of loading and unloading of various punching machine beds.
Description
Technical Field
The invention belongs to the field of manipulator design, and particularly relates to a stamping feeding and discharging manipulator.
Background
The electric cooker inner container punching is an extremely important production procedure in electric cooker production, and the punching processing technology comprises six production and processing procedures of stretching, trimming, flanging and lettering, and each processing procedure needs corresponding manual work or mechanical arm to finish carrying work. At present, the large-scale enterprise processes electric rice cooker inner bag and gradually carries out the unloading operation by the manipulator instead of the manual work, and small-size enterprise still adopts the manual work to accomplish the unloading operation. Along with the increase of labor cost, the production scale of enterprises is increased, so that the demand of the stamping feeding and discharging mechanical arm is increased sharply.
The refinement of the stamping process leads to the use of different stamping machines, and different forms of feeding and discharging manipulators are required to be designed. At present, a rectangular coordinate type mechanical arm is adopted for a four-column punching machine, such as a Chinese patent 201420281809.1, and the mechanical arm is a long cantilever modularized loading and unloading rectangular coordinate type mechanical arm, and can meet the processing technology requirements, but the effective stroke of a module is too long, the distance between two punching machines is limited, the space volume is large, and the working reliability is poor; the open punch (such as a single-column punch) adopts a rotary manipulator, such as a Chinese patent 201410590491.X, the wrist adopts a servo motor to control the rotation angle through an encoder, the design is complex, and the open punch is not suitable for a four-column punch and has poor universality.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a stamping feeding and discharging manipulator, effectively solves the problem that the stamping feeding and discharging manipulator has poor universality for a single-column punch and a four-column punch, and provides the stamping feeding and discharging manipulator which has strong universality and relatively high production efficiency.
In order to solve the problems, the technical scheme provided by the invention is as follows: the stamping feeding and discharging manipulator comprises a base, a lifting mechanism, a waist mechanism, a telescopic mechanism, a wrist mechanism and a grabbing mechanism, wherein the lifting mechanism is fixed on the base, the waist mechanism is connected with the lifting mechanism, and the telescopic mechanism is arranged on the waist mechanism; one end of the wrist mechanism is slidably connected with the telescopic mechanism, and the other end of the wrist mechanism is connected with the grabbing mechanism; the waist mechanism can drive the telescopic mechanism to rotate, the telescopic mechanism can drive the wrist mechanism and the grabbing mechanism to do telescopic motion, and the wrist mechanism can drive the grabbing mechanism to rotate.
In the invention, the feeding and discharging manipulator provided by the invention is fixedly arranged in the middle of two stamping machine tools, and the lifting mechanism drives other mechanisms to perform lifting action through the waist mechanism, so that the function of vertical movement of the manipulator is realized; the waist mechanism drives the telescopic mechanism, the wrist mechanism and the grabbing mechanism to perform rotary motion, so that the function of rotating the manipulator in different directions is realized; the telescopic mechanism drives the wrist mechanism and the grabbing mechanism to perform telescopic action, so that the horizontal movement function of the manipulator is realized; the wrist rotation mechanism is provided with a second connecting plate, and the grabbing mechanism is driven to rotate through the second connecting plate II, so that the end effector, namely the vacuum chuck, can change at different working angles; the grabbing mechanism is provided with a single-acting cylinder, the end effector, namely the vacuum chuck, is driven to move through the telescopic function of the single-acting cylinder, and the aim of quickly grabbing or releasing a workpiece to a set position can be achieved under the combined action of the mechanisms.
Further, the lifting mechanism comprises a plurality of support columns and a first double-acting air cylinder; the first double-acting air cylinder comprises a cylinder body and an air cylinder piston rod, the cylinder body is fixed on the base, one end of the air cylinder piston rod is connected with the cylinder body, and the other end of the air cylinder piston rod is connected with the waist mechanism; the support column comprises an upper column, a buffer spring and a lower column from top to bottom; the upper column is fixedly connected with the waist mechanism, one end of the buffer spring is connected with the upper column, the other end of the buffer spring is connected with the lower column, and the other end of the lower column is fixedly connected with the base; the first double-acting cylinder is laterally provided with a plurality of support columns. The telescopic action of the first double-acting cylinder drives the waist mechanism seat to move up and down, and the elasticity of the buffer spring is utilized to effectively lighten the inertia force of the whole mechanism, so that the bearing force of the first double-acting cylinder is lightened.
Further, the waist mechanism comprises a frame, an outer cylinder, a servo motor, a pinion, a large gear and a transmission shaft, wherein the bottom of the frame is connected with the lifting mechanism, and the servo motor is arranged at the top of the frame; one end of the outer cylinder is connected with the top of the frame, and the other end of the outer cylinder is connected with the telescopic mechanism; the pinion and the large gear are transversely arranged in the frame, an output shaft of the servo motor is connected with the pinion, the large gear is fixed on the transmission shaft, and the large gear is meshed with the pinion; the transmission shaft is vertically arranged in the frame and the outer sleeve, and one end of the transmission shaft is fixedly connected with the telescopic mechanism. The pinion is driven to rotate through the servo motor and meshed with the bull gear, so that the bull gear is driven to rotate, the bull gear is fixedly connected with the transmission shaft, the transmission shaft is driven to rotate, and the transmission shaft is fixedly connected with the telescopic mechanism, so that the rotation of the telescopic mechanism can be controlled by controlling the rotation angle of the transmission shaft.
Further, the waist mechanism also comprises a first angular contact ball bearing and a second angular contact ball bearing, and the transmission shaft is connected with the outer cylinder through the first angular contact ball bearing and the second angular contact ball bearing.
Further, the telescopic mechanism comprises a cross beam frame, a supporting frame, a speed reducer, a coupler, a supporting seat, a bearing with a seat, a ball screw, a screw nut seat and a sliding table; the transverse beam frame is connected with the waist mechanism, the support frame is fixed at one end of the transverse beam frame, the speed reducer is arranged on the support frame, the speed reducer is connected with the ball screw through the coupler, two ends of the ball screw are connected with the support seat through the bearing with the seat, and the support seat is fixedly arranged on the transverse beam frame; the sliding table is connected with the screw nut seat, and the screw nut seat is connected with the ball screw in a matched manner; the beam frame on be equipped with bellied guide rail, the slip table on be equipped with the recess of being connected with the guide rail cooperation, the slip table pass through recess and guide rail and beam frame sliding connection. Preferably, the beam frame is also fixedly provided with a guide plate, the outer cylinder is fixedly connected with the guide plate, and the transmission shaft is fixedly connected with the beam frame; the guide plate is arranged to limit the horizontal movement of the cross beam frame. Preferably, the length value of the sliding table is larger than that of the screw nut seat, so that the installation is convenient.
In the invention, the speed reducer drives the ball screw to rotate through the coupler, and the ball screw is connected with the sliding table, so that the sliding table can reciprocate along the guide rail on the cross beam frame.
Further, the wrist mechanism comprises a connecting arm, a second double-acting cylinder, a first connecting plate and a second connecting plate; one end of the connecting arm is connected with the sliding table, the second double-acting cylinder comprises a cylinder body and a cylinder piston rod, the cylinder body is fixedly arranged on the connecting arm, one end of the cylinder piston rod is connected with the cylinder body, the other end of the cylinder piston rod is rotationally connected with the first connecting plate through a first connecting piece, the other end of the first connecting plate is connected with the second connecting plate through a second connecting piece, and the second connecting piece is rotationally connected with the first connecting plate and fixedly connected with the second connecting plate; one end of the second connecting plate is rotationally connected with one end, far away from the sliding table, of the connecting arm through a third connecting piece.
Preferably, the first connecting plate comprises a first short plate and a second short plate, and the first short plate and the second short plate are connected at 60-120 degrees.
In the invention, in the static initial state, the second connecting plate and the connecting arm in the horizontal direction form a certain acute angle clockwise, and the angle can be set according to the rotation angle of the wrist mechanism; the second double-acting cylinder drives the first connecting plate to do telescopic motion through the cylinder piston cylinder, and the first connecting plate is of an integrally formed structure of two plates which are mutually angled, so that the second connecting plate can be driven to rotate around the connecting arm within a certain angle range, and the rotation of the grabbing mechanism is realized.
Preferably, the second double-acting cylinder and the first connecting plate are arranged on the edge side of the connecting arm and on one side of a clockwise angle formed by the second connecting plate and the connecting arm. The rotating angle of the second connecting plate is increased, and the setting of more angle actions can be completed, so that the application range of the manipulator is wider.
Further, thrust self-aligning roller bearings are arranged between the first connecting piece and the first connecting plate, between the second connecting piece and the first connecting plate, and between the third connecting piece and the connecting arm as well as between the third connecting piece and the second connecting plate.
Further, the grabbing mechanism comprises a first connecting rod, a second connecting rod, a single-acting cylinder and a plurality of vacuum chucks; the single-acting cylinder comprises a cylinder body and a cylinder piston rod; one end of the first connecting rod is fixedly connected with the second connecting plate, and the other end of the first connecting rod is fixedly connected with the cylinder body of the single-acting cylinder; one end of the cylinder piston rod is connected with the cylinder body, the other end of the cylinder piston rod is fixedly connected with the second connecting rod, and the vacuum chuck is connected with the second connecting rod and/or the cylinder piston rod. The telescopic reciprocating motion of the cylinder piston rod of the single-acting cylinder drives the second connecting rod to realize the grabbing actions of different positions of the vacuum chuck and the motion of keeping away from or approaching to the workpiece.
Preferably, the vacuum chuck is further provided with a buffer body, and the vacuum chuck is connected with the second connecting rod and/or the cylinder piston rod through the buffer body. The buffer body is arranged to slow down the impact force of the vacuum chuck when the workpiece is grabbed and contacted with the workpiece, so that the damage to the vacuum chuck is reduced.
Preferably, the servo motor is also provided with an absolute value encoder; and the feedback of the position of the waist mechanism is realized.
Preferably, limit switches are arranged at the first double-acting air cylinder, the second double-acting air cylinder and the single-acting air cylinder, and the telescopic distances of the air cylinder piston rods of the first double-acting air cylinder, the second double-acting air cylinder and the single-acting air cylinder are controlled through the limit switches, so that grabbing actions at different positions are realized.
Further, the robot is also provided with a controller, the controller is respectively connected with the lifting mechanism, the waist mechanism, the telescopic mechanism, the wrist mechanism and the grabbing mechanism, and the movement of each mechanism can be controlled according to production requirements through the controller, so that accurate grabbing actions are realized.
Compared with the prior art, the beneficial effects are that: according to the feeding and discharging manipulator provided by the invention, the grabbing mechanism drives the wrist mechanism to rotate through the second double-acting cylinder to realize movement at different angles, the vacuum sucker approaches to or departs from a workpiece through the telescopic action of the single-acting cylinder, so that the vertical column collision of the vacuum sucker with a punching machine tool is avoided, the manipulator is generally used for a single-column punching machine and a four-column punching machine, the rotation of the wrist mechanism overcomes the requirement of long-term dependence on a motor and related equipment to meet the simple angle position, the wrist mechanism simplifies the design complexity, the rotation angle can meet the requirement of the manipulator on feeding and discharging of a punching machine bed, the universality is strong, the production efficiency is relatively high, and the manipulator can be applied to carrying operation of feeding and discharging of various punching machine beds.
Drawings
Fig. 1 and 2 are schematic views of the overall structure of the present invention.
Fig. 3 is a cross-sectional view of the present invention.
Fig. 4 is a schematic view of the first state of the present invention.
Fig. 5 is a schematic view of a second state of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.
As shown in fig. 1, the stamping feeding and discharging manipulator comprises a base 1, a lifting mechanism 2, a waist mechanism 3, a telescopic mechanism 4, a wrist mechanism 5 and a grabbing mechanism 6, wherein the lifting mechanism 2 is fixed on the base 1, the waist mechanism 3 is connected with the lifting mechanism 2, and the telescopic mechanism 4 is arranged on the waist mechanism 3; one end of the wrist mechanism 5 is slidably connected with the telescopic mechanism 4, and the other end is connected with the grabbing mechanism 6; the waist mechanism 3 can drive the telescopic mechanism 4 to rotate, the telescopic mechanism 4 can drive the wrist mechanism 5 and the grabbing mechanism 6 to do telescopic motion, and the wrist mechanism 5 can drive the grabbing mechanism 6 to rotate. In the invention, the feeding and discharging manipulator provided by the invention is fixedly arranged in the middle of two stamping machine tools, and the lifting mechanism 2 drives other mechanisms to perform lifting actions through the waist mechanism 3, so that the function of vertical movement of the manipulator is realized; the waist mechanism 3 drives the telescopic mechanism 4, the wrist mechanism 5 and the grabbing mechanism 6 to perform rotation, so that the function of rotating the manipulator in different directions is realized; the telescopic mechanism 4 drives the wrist mechanism 5 and the grabbing mechanism 6 to perform telescopic action, so that the horizontal movement function of the manipulator is realized; the wrist rotation mechanism is provided with a second connecting plate 54, and the second connecting plate 54 II drives the grabbing mechanism 6 to rotate, so that the end effector, namely the vacuum chuck 64, can change in different working angles; the grabbing mechanism 6 is provided with a single-acting cylinder 63, and the end effector, namely the vacuum chuck 64, is driven to move through the telescopic function of the single-acting cylinder 63, so that the aim of quickly grabbing or releasing a workpiece to a set position can be fulfilled under the combined action of the mechanisms.
As shown in fig. 2 and 3, the lifting mechanism 2 comprises a plurality of support columns 21 and a first double-acting air cylinder 22; the first double-acting air cylinder 22 comprises a cylinder body and an air cylinder piston rod, wherein the cylinder body is fixed on the base 1, one end of the air cylinder piston rod is connected with the cylinder body, and the other end of the air cylinder piston rod is connected with the waist mechanism 3; the support column 21 includes an upper column 211, a buffer spring 212, and a lower column 213 from top to bottom; the upper column 211 is fixedly connected with the waist mechanism 3, one end of the buffer spring 212 is connected with the upper column 211, the other end of the buffer spring is connected with the lower column 213, and the other end of the lower column 213 is fixedly connected with the base 1; the first double acting cylinder 22 is laterally provided with a plurality of support columns. The telescopic action of the first double-acting air cylinder 22 drives the waist mechanism 3 seat to move up and down, and the elasticity of the buffer spring 212 can be utilized to effectively relieve the inertia force of the whole mechanism, so that the bearing force of the first double-acting air cylinder 22 is relieved.
The waist mechanism 3 includes a frame 31, an outer tube 32, a servo motor 33, a pinion 34, a large gear 35, and a transmission shaft 36, wherein the bottom of the frame 31 is connected to the lifting mechanism 2, and the servo motor 33 is provided on the top of the frame 31; one end of the outer cylinder 32 is connected with the top of the frame 31, and the other end is connected with the telescopic mechanism 4; the pinion 34 and the large gear 35 are transversely arranged in the frame 31, an output shaft of the servo motor 33 is connected with the pinion 34, the large gear 35 is fixed on the transmission shaft 36, and the large gear 35 is meshed with the pinion 34; the transmission shaft 36 is vertically arranged in the frame 31 and the outer sleeve, and one end of the transmission shaft 36 is fixedly connected with the telescopic mechanism 4. The pinion 34 is driven to rotate by the servo motor 33, the pinion 34 is meshed with the large gear 35, so that the large gear 35 is driven to rotate, the large gear 35 is fixedly connected with the transmission shaft 36, the transmission shaft 36 is driven to rotate, and the transmission shaft 36 is fixedly connected with the telescopic mechanism 4, so that the rotation of the telescopic mechanism 4 can be controlled by controlling the rotation angle of the transmission shaft 36.
In some embodiments, the lumbar mechanism 3 further comprises a first angular contact ball bearing 37, a second angular contact ball bearing 38, and the drive shaft 36 is connected to the outer barrel 32 by the first angular contact ball bearing 37, the second angular contact ball bearing 38.
Specifically, the telescopic mechanism 4 includes a cross beam 41, a support frame 42, a speed reducer 43, a coupler 44, a support seat 45, a seated bearing 46, a ball screw 47, a screw nut seat 48, and a slide table 49; the beam frame 41 is connected with the waist mechanism 3, the support frame 42 is fixed at one end of the beam frame 41, the speed reducer 43 is arranged on the support frame 42, the speed reducer 43 is connected with the ball screw 47 through the coupler 44, both ends of the ball screw 47 are connected with the support seat 45 through the bearing 46 with a seat, and the support seat 45 is fixedly arranged on the beam frame 41; the sliding table 49 is connected with a screw nut seat 48, and the screw nut seat 48 is connected with the ball screw 47 in a matching way; the beam frame 41 is provided with a raised guide rail, the sliding table 49 is provided with a groove which is matched and connected with the guide rail, and the sliding table 49 is in sliding connection with the beam frame 41 through the groove and the guide rail. Preferably, a guide plate is fixedly arranged on the beam frame 41, the outer cylinder 32 is fixedly connected with the guide plate, and the transmission shaft 36 is fixedly connected with the beam frame 41; the guide plate is provided to restrict the horizontal movement of the cross frame 41. Preferably, the length of the sliding table 49 is greater than that of the screw nut seat 48, so that the installation is convenient. In the invention, the speed reducer 43 drives the ball screw 47 to rotate through the coupler 44, and the ball screw 47 is connected with the sliding table 49, so that the sliding table 49 can reciprocate along the guide rail on the beam frame 41.
Wherein the wrist mechanism 5 comprises a connecting arm 51, a second double-acting cylinder 52, a first connecting plate 53 and a second connecting plate 54; one end of the connecting arm 51 is connected with the sliding table 49, the second double-acting air cylinder 52 comprises a cylinder body and an air cylinder piston rod, the cylinder body is fixedly arranged on the connecting arm 51, one end of the air cylinder piston rod is connected with the cylinder body, the other end of the air cylinder piston rod is rotationally connected with the first connecting plate 53 through a first connecting piece, the other end of the first connecting plate 53 is rotationally connected with the second connecting plate 54 through a second connecting piece, and the second connecting piece is rotationally connected with the first connecting plate 53 and fixedly connected with the second connecting plate 54; one end of the second connecting plate 54 is rotatably connected to one end of the connecting arm 51 remote from the slide table 49 through a third connecting member.
In some embodiments, the first connection plate 53 includes a first short plate and a second short plate, the first short plate being connected at 90 ° to the second short plate.
In the present invention, in the stationary initial state, the second connection plate 54 forms an acute angle with the horizontal connection arm 51 clockwise, and the angle can be set according to the rotation angle of the wrist mechanism 5; the second double-acting cylinder 52 drives the first connecting plate 53 to do telescopic motion through the cylinder piston cylinder, and as the first connecting plate 53 is of an integrally formed structure of two plates which are mutually angled, the second connecting plate 54 can be driven to rotate around the connecting arm 51 within a certain angle range, so that the rotation of the grabbing mechanism 6 is realized.
In some embodiments, as shown in fig. 4 and 5, the second double-acting cylinder 52 and the first connecting plate 53 are disposed on the edge side of the connecting arm 51, and on the side of the second connecting plate 54 forming a clockwise angle with the connecting arm 51. The rotation angle of the second connecting plate 54 is increased, and the setting of more angle actions can be completed, so that the application range of the manipulator is wider. Thrust self-aligning roller bearings 55 are provided between the first link and the first link plate 53, between the second link and the first link plate 53, and between the third link and the link arms 51 and the second link plate 54.
Specifically, the grasping mechanism 6 includes a first connecting rod 61, a second connecting rod 62, a single-acting cylinder 63, and a plurality of vacuum chucks 64; the single-acting cylinder 63 includes a cylinder body and a cylinder rod; one end of the first connecting rod 61 is fixedly connected with the second connecting plate 54, and the other end is fixedly connected with the cylinder body of the single-acting cylinder 63; one end of the cylinder piston rod is connected with the cylinder body, the other end of the cylinder piston rod is fixedly connected with the second connecting rod 62, and the vacuum chuck 64 is connected with the second connecting rod 62 and/or the cylinder piston rod. The telescopic reciprocating motion of the cylinder piston rod of the single-acting cylinder 63 drives the second connecting rod 62 to realize the grabbing actions of different positions of the vacuum chuck 64 and the motion of moving away from or approaching to the workpiece. The vacuum chuck 64 is also provided with a buffer body 65, and the vacuum chuck 64 is connected with the second connecting rod 62 and/or the cylinder piston rod through the buffer body 65. The buffer body 65 can reduce the impact force of the vacuum chuck 64 when the workpiece is gripped and contacted with the workpiece, thereby reducing damage to the vacuum chuck 64.
In some embodiments, the servo motor 33 is also provided with an absolute value encoder; feedback of the position of the lumbar mechanism 3 is achieved. Limit switches are arranged at the positions of the first double-acting air cylinder 22, the second double-acting air cylinder 52 and the single-acting air cylinder 63, and the telescopic distances of the cylinder piston rods of the first double-acting air cylinder 22, the second double-acting air cylinder 52 and the single-acting air cylinder 63 are controlled through the limit switches, so that grabbing actions at different positions are realized. The device is further provided with a controller, the controller is respectively connected with the lifting mechanism 2, the waist mechanism 3, the telescopic mechanism 4, the wrist mechanism 5 and the grabbing mechanism 6, and the motion of each mechanism can be controlled according to production requirements through the controller, so that accurate grabbing actions are realized.
As shown in fig. 4 and 5, the second double-acting cylinder 52 of the wrist mechanism 5 is fixedly mounted on the connecting arm 51 through a supporting block, wherein the connecting arm 51 is of a rectangular tubular structure, the picking mechanism is fixedly connected with the second connecting plate 54 of the wrist mechanism 5 through a first connecting rod 61 and two connecting rods, and when the cylinder piston rod of the second double-acting cylinder 52 is at the cylinder bottom, the second connecting plate 54 and the grabbing mechanism 6 are placed at one side of the limiting position; when the cylinder piston rod of the second double-acting cylinder 52 moves to the middle position, the first connecting plate 53 extends out through the cylinder piston rod of the second double-acting cylinder 52 to rotate, so as to drive the second connecting plate 54 and the grabbing mechanism 6 to rotate, and at this time, the cylinder piston rod of the second double-acting cylinder 52 is parallel to the cylinder piston rod of the single-acting cylinder 63; when the cylinder piston rod of the second double-acting cylinder 52 moves to the cylinder top, the second connecting plate 54 and the grasping mechanism 6 rotate to the other side limit position; when the cylinder piston rod of the second double-acting cylinder 52 is retracted to the neutral position, the second connection plate 54 and the gripping mechanism 6 are rotated by the rotation of the first connection plate 53, at which time the cylinder piston rod of the second double-acting cylinder 52 is parallel to the cylinder piston rod of the single-acting cylinder 63; when the cylinder piston of the second double-acting cylinder 52 is retracted to the cylinder bottom, the second connecting plate 54 and the gripper mechanism 6 are returned to the one-side limit position again, and so forth and repeatedly moved.
The working principle of the invention is as follows:
1. as shown in fig. 1 to 5, when the start button is pressed, the first double-acting cylinder 22 is charged, and the device on the cylinder piston rod driving frame 31 is lifted to a set position, and then the charging is stopped;
2. the second double-acting cylinder 52 is charged, and the charging is stopped when the cylinder piston rod moves to the cylinder middle position, and at this time, the gripping mechanism 6 rotates to the axis of the single-acting cylinder 63 parallel to the axis of the second double-acting cylinder 52 by the rotation of the first connecting plate 53;
3. the servo motor 33 is powered to rotate positively, the transmission shaft 36 rotates through the meshing transmission of the pinion 34 and the large gear 35, and then the servo motor 33 is powered off after driving the guide plate and other devices on the beam frame 41 to rotate for a certain angle; then the speed reducer 43 is powered to rotate positively, the ball screw is driven to rotate through the coupler 44, and then the sliding table 49 and other parts on the sliding table 49 are driven to move for a certain distance along the guide rail on the beam frame 41, and then the speed reducer 43 is powered off;
4. the cylinder piston rod of the second double-acting cylinder 52 moves to the cylinder bottom, the first connecting plate 53 rotates by the retraction of the cylinder piston rod, and the grasping mechanism 6 rotates to one-side limit position; then the single-acting cylinder 63 is used for air intake, the vacuum chuck 64 component stretches out along with the piston rod, and air intake is stopped when the vacuum chuck 64 component reaches a limit switch on a punching machine bed;
5. the first double-acting cylinder 22 is exhausted, and the exhaust is stopped when the vacuum chuck 64 assembly moves down to the surface of the workpiece, and at this time, the vacuum chuck 64 assembly sucks the workpiece through the vacuum generator air intake and pauses for a few seconds (the pause time can be set according to the requirement);
6. the first double-acting air cylinder 22 is used for air intake, and the vacuum chuck 64 assembly is used for stopping air intake after sucking a workpiece to rise a certain distance; then the cylinder piston rod of the single-acting cylinder 63 moves to the cylinder bottom, and the vacuum chuck 64 component retracts along with the cylinder piston rod;
7. the second double-acting cylinder 52 is charged, and the charging is stopped when the cylinder piston rod moves to the neutral position, and the gripping mechanism 6 is rotated again by the rotation of the first connecting plate 53 until the axis of the single-acting cylinder 63 is parallel to the axis of the second double-acting cylinder 52; then the speed reducer 43 is powered to reverse, and after the screw nut seat 48 drives the sliding table 49 and other devices on the sliding table 49 to retract for a certain distance, the speed reducer 43 is powered off;
8. the servo motor 33 is powered to rotate reversely, and after the transmission shaft 36 drives the guide plate and other devices on the beam frame 41 to rotate for a certain angle, the servo motor 33 is powered off;
9. the speed reducer 43 is powered to rotate forward, and after the screw nut seat 48 drives the sliding table 49 and other devices on the sliding table 49 to extend out a certain distance, the speed reducer 43 is powered off;
10. the second double-acting cylinder 52 is charged, and when the cylinder piston rod moves to the cylinder top, the charging is stopped, and the grabbing mechanism 6 moves to the other side limit position; then the single-acting cylinder 63 is used for air intake, the vacuum chuck 64 component stretches out along with the piston rod, and air intake is stopped when the vacuum chuck 64 component reaches a limit switch on another punching machine bed;
11. the first double-acting air cylinder 22 is used for exhausting, and the vacuum chuck 64 assembly drives the workpiece to move downwards until the workpiece is placed in a male die of a stamping machine tool, and then the first double-acting air cylinder 22 stops exhausting; secondly, the vacuum chuck 64 assembly is exhausted through a vacuum generator, the workpiece is released and the workpiece is paused for a few seconds (the pause time can be set according to the production requirement); then the first double-acting cylinder 22 is charged, and the vacuum chuck 64 assembly stops charging after moving upwards for a certain distance;
12. the cylinder piston rod of the single-acting cylinder 63 moves to the bottom of the cylinder, and the cylinder piston rod drives the vacuum chuck 64 assembly to retract; finally, the lifting mechanism 2, the waist mechanism 3, the telescopic mechanism 4 and the wrist mechanism 5 sequentially act to reset, so as to prepare for grabbing the next workpiece, and the cycle is repeated.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. The stamping feeding and discharging manipulator is characterized by comprising a base (1), a lifting mechanism (2), a waist mechanism (3), a telescopic mechanism (4), a wrist mechanism (5) and a grabbing mechanism (6), wherein the lifting mechanism (2) is fixed on the base (1), the waist mechanism (3) is connected with the lifting mechanism (2), and the telescopic mechanism (4) is arranged on the waist mechanism (3); one end of the wrist mechanism (5) is slidably connected with the telescopic mechanism (4), and the other end of the wrist mechanism is connected with the grabbing mechanism (6); the waist mechanism (3) can drive the telescopic mechanism (4) to rotate, the telescopic mechanism (4) can drive the wrist mechanism (5) and the grabbing mechanism (6) to do telescopic motion, and the wrist mechanism (5) can drive the grabbing mechanism (6) to rotate; the wrist mechanism (5) comprises a connecting arm (51), a second double-acting cylinder (52), a first connecting plate (53) and a second connecting plate (54); one end of the connecting arm (51) is connected with the sliding table (49), the second double-acting air cylinder (52) comprises an air cylinder body and an air cylinder piston rod, the air cylinder body is fixedly arranged on the connecting arm (51), one end of the air cylinder piston rod is connected with the air cylinder body, the other end of the air cylinder piston rod is rotationally connected with the first connecting plate (53) through a first connecting piece, the other end of the first connecting plate (53) is connected with the second connecting plate (54) through a second connecting piece, and the second connecting piece is rotationally connected with the first connecting plate (53) and fixedly connected with the second connecting plate (54); one end of the second connecting plate (54) is rotationally connected with one end of the connecting arm (51) far away from the sliding table (49) through a third connecting piece; thrust self-aligning roller bearings (55) are arranged between the first connecting piece and the first connecting plate (53), between the second connecting piece and the first connecting plate (53), and between the third connecting piece and the connecting arm (51) and between the third connecting piece and the second connecting plate (54).
2. The stamping loading and unloading manipulator according to claim 1, wherein the lifting mechanism (2) comprises a plurality of support columns (21) and a first double-acting cylinder (22); the first double-acting air cylinder (22) comprises a cylinder body and an air cylinder piston rod, the cylinder body is fixed on the base (1), one end of the air cylinder piston rod is connected with the cylinder body, and the other end of the air cylinder piston rod is connected with the waist mechanism (3); the support column (21) comprises an upper column (211), a buffer spring (212) and a lower column (213) from top to bottom; the upper column (211) is fixedly connected with the waist mechanism (3), one end of the buffer spring (212) is connected with the upper column (211), the other end of the buffer spring is connected with the lower column (213), and the other end of the lower column (213) is fixedly connected with the base (1); the first double-acting cylinder (22) is laterally provided with a plurality of support columns (21).
3. The stamping feeding and discharging manipulator according to claim 1, wherein the waist mechanism (3) comprises a frame (31), an outer cylinder (32), a servo motor (33), a pinion (34), a large gear (35) and a transmission shaft (36), the bottom of the frame (31) is connected with the lifting mechanism (2), and the servo motor (33) is arranged at the top of the frame (31); one end of the outer cylinder (32) is connected with the top of the frame (31), and the other end of the outer cylinder is connected with the telescopic mechanism (4); the pinion (34) and the large gear (35) are transversely arranged in the frame (31), an output shaft of the servo motor (33) is connected with the pinion (34), the large gear (35) is fixed on the transmission shaft (36), and the large gear (35) is in meshed connection with the pinion (34); the transmission shaft (36) is vertically arranged in the frame (31) and the outer sleeve, and one end of the transmission shaft (36) is fixedly connected with the telescopic mechanism (4).
4. A stamping feeding and discharging manipulator according to claim 3, characterized in that the waist mechanism (3) further comprises a first angular contact ball bearing (37) and a second angular contact ball bearing (38), and the transmission shaft (36) is connected with the outer cylinder (32) through the first angular contact ball bearing (37) and the second angular contact ball bearing (38).
5. The stamping loading and unloading manipulator according to claim 1, wherein the telescopic mechanism (4) comprises a beam frame (41), a supporting frame (42), a speed reducer (43), a coupler (44), a supporting seat (45), a bearing with seat (46), a ball screw (47), a screw nut seat (48) and a sliding table (49); the waist-supporting device is characterized in that the cross beam frame (41) is connected with the waist mechanism (3), the supporting frame (42) is fixed at one end of the cross beam frame (41), the speed reducer (43) is arranged on the supporting frame (42), the speed reducer (43) is connected with the ball screw (47) through the coupler (44), two ends of the ball screw (47) are connected with the supporting seat (45) through the bearing with seat (46), and the supporting seat (45) is fixedly arranged on the cross beam frame (41); the sliding table (49) is connected with the screw nut seat (48), and the screw nut seat (48) is connected with the ball screw (47) in a matching way; the beam frame (41) is provided with a raised guide rail, the sliding table (49) is provided with a groove which is connected with the guide rail in a matched mode, and the sliding table (49) is connected with the beam frame (41) in a sliding mode through the groove and the guide rail.
6. The stamping feeding and discharging manipulator according to claim 1, wherein the first connecting plate (53) comprises a first short plate and a second short plate, and the first short plate is connected with the second short plate at 60-120 degrees.
7. The stamping loading and unloading manipulator according to claim 1, wherein the grabbing mechanism (6) comprises a first connecting rod (61), a second connecting rod (62), a single-acting cylinder (63) and a plurality of vacuum chucks (64); the single-acting cylinder (63) comprises a cylinder body and a cylinder piston rod; one end of the first connecting rod (61) is fixedly connected with the second connecting plate (54), and the other end of the first connecting rod is fixedly connected with the cylinder body of the single-acting cylinder (63); one end of the cylinder piston rod is connected with the cylinder body, the other end of the cylinder piston rod is fixedly connected with the second connecting rod (62), and the vacuum chuck (64) is connected with the second connecting rod (62) and/or the cylinder piston rod.
8. The stamping feeding and discharging manipulator according to claim 7, wherein the vacuum chuck (64) is further provided with a buffer body (65), and the vacuum chuck (64) is connected with the second connecting rod (62) and/or the cylinder piston rod through the buffer body (65).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954793.4A CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954793.4A CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107598000A CN107598000A (en) | 2018-01-19 |
| CN107598000B true CN107598000B (en) | 2023-11-21 |
Family
ID=61077216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710954793.4A Active CN107598000B (en) | 2017-10-13 | 2017-10-13 | Stamping feeding and discharging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107598000B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501005B (en) * | 2018-02-01 | 2021-08-20 | 广州锐兴数控钣金有限公司 | Positioning and grabbing device for L-shaped sheet metal parts |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
| CN108274451A (en) * | 2018-03-20 | 2018-07-13 | 湖北乾奥建设工程有限公司 | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator and operating method |
| CN108839007A (en) * | 2018-07-02 | 2018-11-20 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of intelligence fishing machinery arm |
| CN108925516A (en) * | 2018-07-02 | 2018-12-04 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of modified intelligence fishing machinery arm |
| CN108789483A (en) * | 2018-07-02 | 2018-11-13 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of multidimensional adjustable type intelligence fishing machinery arm |
| CN108818110B (en) * | 2018-08-27 | 2020-06-02 | 安徽省卓创信息科技服务有限公司 | Unloader that machining used |
| CN110053070A (en) * | 2019-05-06 | 2019-07-26 | 胡杰 | A kind of joint of robot device of the flexible driving of imitative muscle |
| CN110405100A (en) * | 2019-08-18 | 2019-11-05 | 无锡市华光金属科技有限公司 | A kind of manipulator general assembly |
| CN214110418U (en) * | 2020-11-11 | 2021-09-03 | 昆山合德欣精密模具有限公司 | Automatic discharging manipulator of punch press |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
| CN113351780B (en) * | 2021-06-01 | 2022-04-29 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| CN117484526B (en) * | 2023-12-29 | 2024-03-19 | 泓浒(苏州)半导体科技有限公司 | Mechanical arm linkage structure for conveying wafers and control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| DE202012008988U1 (en) * | 2012-09-19 | 2012-10-25 | Alpha-Tec Krimpmann Gmbh | Handling device with a manipulator for pieces of material |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| CN202642852U (en) * | 2012-07-12 | 2013-01-02 | 浙江工业大学 | Simple industrial manipulator |
| CN104192567A (en) * | 2014-08-04 | 2014-12-10 | 河南省中原内配股份有限公司 | Cylinder sleeve workblank transfer device |
| CN204867161U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Five punching press machinery hands |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206356486U (en) * | 2017-01-04 | 2017-07-28 | 福州承昌机械有限公司 | A kind of Multi-station punching machine capture apparatus |
| CN207288688U (en) * | 2017-10-13 | 2018-05-01 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
-
2017
- 2017-10-13 CN CN201710954793.4A patent/CN107598000B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| CN202642852U (en) * | 2012-07-12 | 2013-01-02 | 浙江工业大学 | Simple industrial manipulator |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| DE202012008988U1 (en) * | 2012-09-19 | 2012-10-25 | Alpha-Tec Krimpmann Gmbh | Handling device with a manipulator for pieces of material |
| CN104192567A (en) * | 2014-08-04 | 2014-12-10 | 河南省中原内配股份有限公司 | Cylinder sleeve workblank transfer device |
| CN204867161U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Five punching press machinery hands |
| CN105436339A (en) * | 2015-12-16 | 2016-03-30 | 嵊州市银海机械有限公司 | Manipulator for stamping equipment |
| CN206356486U (en) * | 2017-01-04 | 2017-07-28 | 福州承昌机械有限公司 | A kind of Multi-station punching machine capture apparatus |
| CN207288688U (en) * | 2017-10-13 | 2018-05-01 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107598000A (en) | 2018-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107598000B (en) | Stamping feeding and discharging manipulator | |
| CN207288688U (en) | A kind of punching press loading and unloading manipulator | |
| CN103963071B (en) | A kind of mechanical hand | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| CN102672713B (en) | Bionic manipulator | |
| CN103802095B (en) | Four-degree-of-freedom servo manipulator | |
| CN203697022U (en) | Delicate manipulator gripper | |
| CN203697000U (en) | Four-freedom-degree servo manipulator | |
| CN203665529U (en) | Mechanical arm with crossed and staggered mechanical fingers | |
| CN105945931B (en) | A kind of backing conveying robot | |
| CN110978019B (en) | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot | |
| CN105750437A (en) | Automatic manipulator | |
| CN204431245U (en) | A kind of circular cylindrical coordinate machinery hand being applicable to workpiece handling | |
| CN102283765A (en) | Rectangular coordinate and joint type combined traditional Chinese massage robot | |
| CN105881489A (en) | Multifunctional carrying device | |
| CN110817403B (en) | Open press machine connecting-line type automatic feeding and discharging system and application thereof | |
| CN104772767A (en) | Connecting rod type gripper of robot | |
| CN204604346U (en) | A kind of link-type handgrip of robot | |
| US4621516A (en) | Transfer feed press with transfer feed system | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN211945322U (en) | A go up unloading sucking disc manipulator for digit control machine tool | |
| CN215789956U (en) | Forearm retractable joint manipulator | |
| CN201998175U (en) | Planar articulated robot arm component | |
| CN215363723U (en) | Manipulator is transported to material | |
| CN209887588U (en) | Multiple mobile manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Hu Jiezhen Inventor after: Wang Kun Inventor after: Wang Gui Inventor after: Deng Peichang Inventor after: Tian Yuwan Inventor before: Wang Kun Inventor before: Wang Gui Inventor before: Hu Jiezhen Inventor before: Deng Peichang Inventor before: Tian Yuwan |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |