CN110523872A - A kind of Quadratic Finite Element manipulator - Google Patents
A kind of Quadratic Finite Element manipulator Download PDFInfo
- Publication number
- CN110523872A CN110523872A CN201910703722.6A CN201910703722A CN110523872A CN 110523872 A CN110523872 A CN 110523872A CN 201910703722 A CN201910703722 A CN 201910703722A CN 110523872 A CN110523872 A CN 110523872A
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- Prior art keywords
- clamping jaw
- clamp arm
- driving device
- opens
- seat
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- 238000009826 distribution Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 57
- 230000003993 interaction Effects 0.000 claims description 35
- 239000000463 material Substances 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 238000004080 punching Methods 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Quadratic Finite Element feeding tool hands.It includes vibration feeding disc, feeding distribution mechanism, horizontal sliding driving device and feeding mechanical hand, feeding mechanical hand includes that clamping jaw opens driving device, clamping jaw opens driving plate and multiple clamping jaws, the left clamp arm and right clamp arm of clamping jaw are arranged along the left and right directions slide switching of horizontal sliding driving device, clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive block, and clamping jaw opens drive block between left clamp arm and right clamp arm.The present invention passes through vibration feeding disc, horizontal sliding driving device, feeding distribution mechanism and feeding mechanical hand, multiple workpiece are continuously conveyed in realization, and the workpiece that a stamping procedure punching press on punching machine is completed can be conveyed to next stamping procedure punching press simultaneously by multiple clamping jaws of feeding mechanical hand, continuous punching can be carried out to multiple workpiece simultaneously so as to punching machine, therefore workpiece transmission efficiency height of the invention, high production efficiency are, it can be achieved that full-automatic continuous high speed production.
Description
Technical field
The present invention relates to the technical field of feeding mechanical hand, in particular to a kind of Quadratic Finite Element feeding tool hand.
Background technique
Existing certain metalworks need the multiple continuous punching of one set of die, and stamping procedure is very more, it is therefore desirable to feeder
Tool hand comes quickly and step ground material grasping and feeding, but existing feeding mechanical hand is that single manipulator, material grasping, feeding speed are slow, nothing
Method meets the requirement of existing stamping die high speed stamping, to causing the production efficiency of stamping die to reduce.
Summary of the invention
The purpose of the present invention can synchronize material grasping and feeding, feeding efficiency, high production efficiency in providing a kind of multiple clamping jaws
Quadratic Finite Element manipulator.Therefore the present invention is able to satisfy the high request of existing stamping die high speed continuous punching.
The object of the present invention is achieved like this:
A kind of Quadratic Finite Element manipulator includes vibration feeding disc, horizontal sliding driving device, feeding distribution mechanism, workbench and feeder
Tool hand；
The vibration feeding disc, for vibrating transportation workpiece to feeding distribution mechanism；
The feeding distribution mechanism, set on the blow tank of vibration feeding disc, for workpiece to be conveyed to feeding mechanical hand one by one；
The horizontal sliding driving device, for driving feeding mechanical hand all around to move；
The feeding mechanical hand is set on horizontal sliding driving device, for grabbing multiple workpiece simultaneously and conveying, the feeding
Manipulator includes that clamping jaw opens driving device, clamping jaw opens driving plate and multiple clamping jaws, and the multiple clamping jaw is along horizontal sliding
The left and right directions arrangement of driving device, which is set to, to be moved forward and backward on seat, and the clamping jaw opens driving plate along horizontal sliding driving device
Front-rear direction sliding is set on horizontal sliding driving device, and is located at the top of clamping jaw.Stating clamping jaw includes left clamp arm and right clamp arm,
The left clamp arm and right clamp arm are arranged along the left and right directions slide switching of horizontal sliding driving device, the left clamp arm and right clamp arm
Between be provided with and close up spring, the clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive blocks, and clamping jaw opens
For drive block between left clamp arm and right clamp arm, the front end that the clamping jaw opens drive block is equipped with two driving inclined-planes, the left folder
The front end that arm and right clamp arm correspond to clamping jaw opening drive block is equipped with the first driven inclined-plane, before the clamping jaw opening driving device is set to
Afterwards on Mobile base, and clamping jaw is driven to open driving plate sliding.When the left and right clamp arm of clamping jaw opens up into maximum, adjacent two
The left clamp arm and right clamp arm of clamping jaw can be abutted together, to prevent left and right clamp arm from continuing to open and clamping jaw is prevented to open driving
Block moves on.
Workbench, positioned at the front of clamping jaw, for placing workpiece, the workbench is equipped with the first locating slot.
The present invention can also improve further below.
The horizontal sliding driving device includes moving left and right servo motor, moving left and right seat, be moved forward and backward servo motor
And it is moved forward and backward seat, described seat moved left and right and is slidably arranged in pedestal along the left and right directions level of horizontal sliding driving device
On, the servo motor that moves left and right on the pedestal, and with move left and right a screw rod transmission, the back-and-forth motion seat is along level
The front-rear direction level of sliding driving device is slidably arranged on pedestal, and the back-and-forth motion servo motor is set to and moves left and right seat
On, and connect with seat screw rod transmission is moved forward and backward.
The pedestal is equipped with the guide rail that horizontally slips, the back-and-forth motion seat edge along the left and right directions of horizontal sliding driving device
The front-rear direction of horizontal sliding driving device is equipped with and slides back and forth guide rail, and the back-and-forth motion seat, which is slideably positioned in slide back and forth, leads
On rail, the seat that moves left and right is slideably positioned in the guide rail that horizontally slips, so that the horizontal sliding stability of manipulator.
It includes that clamping jaw opens servo motor and sliding block that the clamping jaw, which opens driving device, and the sliding block is along horizontal sliding driving
The left and right directions sliding of device, which is set to, to be moved forward and backward on seat, the clamping jaw open servo motor be set to be moved forward and backward on seat and with cunning
Block screw rod transmission connects, and rotation is equipped with driving idler wheel on the sliding block, and the clamping jaw opening driving plate corresponds to driving idler wheel and is equipped with
Second driven inclined-plane, the driving idler wheel are resisted against on the second driven inclined-plane, the clamping jaw open servo motor driving sliding block and
Driving idler wheel slidably reciprocates, and driving idler wheel presses the second driven inclined-plane, and clamping jaw opens driving plate and clamping jaw opens driving sliding block
Front and back moves back and forth, so that clamping jaw opens and closes up repeatedly.More particularly, due to closing up the elastic force of spring, so that pressing from both sides
Pawl opens driving plate and clamping jaw opens drive block and is always maintained at the trend moved backward.Sliding block is driven when clamping jaw opens servo motor
It slides to the left, when the highest point on driving idler wheel towards the second driven inclined-plane of clamping jaw opening driving plate is slided, driving idler wheel starts to push away
Dynamic clamping jaw opens driving plate and clamping jaw opens drive block forward slip, and clamping jaw, which opens driving plate, to shrink back, when clamping jaw opens
Servo motor driving sliding block slides to the right, and driving idler wheel opens the minimum point sliding on the second driven inclined-plane of driving plate towards clamping jaw
When, driving idler wheel no longer presses the second driven inclined-plane, opens driving plate and clamping jaw opens drive block and can move backward.
The front end that the clamping jaw opens drive block is in triangular prism shape, when clamping jaw opens the front end of drive block toward front slide,
Two driving inclined-planes of triangular prism press the first driven inclined-plane of left and right clamp arm, and left and right clamp arm is opened toward both sides, and then makes
Clamping jaw is obtained to open.
The back-and-forth motion seat is provided with the first guide rail along the front-rear direction of horizontal sliding driving device, and the clamping jaw opens
Driving plate sliding is set on the first guide rail, so that clamping jaw opens driving plate and clamping jaw opens drive block sliding stability.
Synchronous interaction component is equipped between the left clamp arm and right clamp arm, the synchronous interaction component includes synchronous pushes
Plate, the first synchronous interaction plate and the second synchronous interaction plate, the synchronous pushing plate are set to clamping jaw and open on drive block, and described the
One synchronous linkage board and the second synchronous interaction plate are respectively symmetrically set to the arranged on left and right sides of synchronous pushing plate, the described first synchronous connection
The outer end of movable plate and left clamp arm are rotatablely connected, and the outer end of the second synchronous interaction plate and right clamp arm are rotatablely connected, and described first
The inner end for synchronizing plate is connected in synchronous pushing plate with the inner ends thereof of the second synchronous interaction plate.When clamping jaw opens drive block
When past front slide, the synchronous pushing plate of clamping jaw opening drive block drive, the inner end of the first synchronous interaction plate and second are synchronized
Plate inner end is moved along together, and the outer end of the first, second synchronous interaction plate pushes left clamp arm and right folder open toward arranged on left and right sides respectively
Arm, on the contrary, left clamp arm and right clamp arm are being closed when clamping jaw opens driving device and no longer drive clamping jaw opening drive block toward front slide
Hold together under the elastic force effect of spring and close up, left clamp arm and right clamp arm push the first synchronous interaction plate and second synchronous respectively inside simultaneously
The inner end of linkage board, drive block is synchronous slides backward for inner end and the clamping jaw opening of the first, second synchronous interaction plate.Therefore, this hair
Bright synchronous interaction component enable left clamp arm and right clamp arm synchronize close up or synchronize opening.
The left clamp arm, right clamp arm front-end and back-end be equipped with it is described close up spring, close up spring make left clamp arm,
Right clamp arm quickly closes up and clamps workpiece, and workpiece clamps firm stable, at the same time, left clamp arm, right clamp arm first from
Dynamic inclined-plane driving clamping jaw opens drive block and moves backward.
The back-and-forth motion seat is provided with clamping jaw folding guide rail, the left folder along the left and right directions of horizontal sliding driving device
Arm and right clamp arm are slidably arranged on clamping jaw folding guide rail, so that left clamp arm and the sliding of right clamp arm, folding are stablized.
The left clamp arm and the opposite side wall of right clamp arm are equipped with resigning groove, and the clamping jaw, which opens drive block and is located at, steps down
In groove, the first driven inclined-plane is located in left clamp arm and the opposite side wall of right clamp arm.
The multiple clamping jaw is located at the front side for being moved forward and backward seat, and the clamping jaw opens driving device and is located at back-and-forth motion seat
Rear side.
The feeding distribution mechanism includes that distributing base, material splitting cylinder and sub-material push seat, and the sub-material pushes the sliding of seat level
It is set in distributing base, the material splitting cylinder is set in distributing base and is drivingly connected with distributing base, the distributing base
It is equipped with the second locating slot and positioning plate.When workpiece is transported to feeding distribution mechanism by the blow tank of vibration feeding disc, sub-material is pushed
The second locating slot on seat is aligned with the wire casing on blow tank, and the locating plate on workpiece is successfully moved to the second positioning from wire casing
In slot, after material splitting cylinder driving sub-material pushes seat to release workpiece, sub-material push seat the second locating slot and workbench the
A positioning groove alignment, in order to which workpiece can be pushed on workbench by clamping jaw along the second positioning wire casing, the locating plate on workpiece
It is moved in the first locating slot.
Beneficial effects of the present invention are as follows:
The present invention is realized by vibration feeding disc, horizontal sliding driving device, feeding distribution mechanism, workbench and feeding mechanical hand
Multiple workpiece, and the workpiece that multiple clamping jaws of feeding mechanical hand can simultaneously complete a stamping procedure punching press on punching machine is continuously conveyed
Be conveyed to next stamping procedure punching press, thus multiple clamping jaws of the invention can the continuous and multiple workpiece of synchronous transport, so as to punching machine
Continuous punching can be carried out to multiple workpiece simultaneously, therefore workpiece transmission efficiency of the invention is high, high production efficiency is, it can be achieved that complete
Automatic continuous high-speed production.Therefore the present invention is able to satisfy the high request of existing stamping die high speed continuous punching.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Quadratic Finite Element manipulator of the present invention.
Fig. 2 is the structural schematic diagram of another angle of Quadratic Finite Element manipulator of the present invention.
Fig. 3 is the enlarged structure schematic diagram in Fig. 1 at A.
Fig. 4 is the top view of Quadratic Finite Element manipulator of the present invention.
Fig. 5 is the structural schematic diagram of feeding mechanical hand of the invention.
Fig. 6 is the structural schematic diagram of another angle of feeding mechanical hand of the invention.
Fig. 7 is the decomposition texture schematic diagram of feeding mechanical hand of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
Embodiment one, as shown in Figures 1 to 7, a kind of Quadratic Finite Element manipulator include vibration feeding disc 2, horizontal sliding driving
Device 3, feeding distribution mechanism 4, workbench 6 and feeding mechanical hand 5；
The vibration feeding disc 2, for vibrating transportation workpiece to feeding distribution mechanism 4；
The feeding distribution mechanism 4, set on the blow tank 21 of vibration feeding disc 2, for workpiece to be conveyed to feeding mechanical hand 5 one by one；
The horizontal sliding driving device 3, for driving feeding mechanical hand 5 all around to move；
The feeding mechanical hand 5 is set on horizontal sliding driving device 3, described for grabbing multiple workpiece 7 simultaneously and conveying
Feeding mechanical hand 5 includes that clamping jaw opens driving device 51, clamping jaw opens driving plate 52 and multiple clamping jaws 53, the multiple clamping jaw
53 along horizontal sliding driving device 3 left and right directions arrangement be set to horizontal sliding driving device 3 back-and-forth motion seat 34 on, it is described
Clamping jaw opens driving plate 52 and is set on back-and-forth motion seat 34 along the front-rear direction sliding of horizontal sliding driving device 3 and is located at clamping jaw
53 top, the clamping jaw 53 include left clamp arm 54 and right clamp arm 55, and the left clamp arm 54 and right clamp arm 55 are driven along level sliding
The left and right directions slide switching setting of dynamic device 3, is provided between the left clamp arm 54 and right clamp arm 55 and closes up spring 57, described
Clamping jaw, which opens to be arranged side by side in driving plate 52, has multiple clamping jaws to open drive block 56, and clamping jaw opens drive block 56 and is located at left clamp arm 54
Between right clamp arm 55, the front end that the clamping jaw opens drive block 56 is equipped with two driving inclined-planes 58, the left clamp arm 54 and right folder
The front end that the corresponding clamping jaw of arm 55 opens drive block 56 is equipped with the first driven inclined-plane 59, before the clamping jaw opening driving device 51 is set to
Afterwards on Mobile base 34, and drives clamping jaw to open driving plate 52 and slide.It is adjacent when the left and right clamp arm of clamping jaw opens up into maximum
The left clamp arm and right clamp arm of two clamping jaws can be abutted together, to prevent left and right clamp arm from continuing to open and clamping jaw is prevented to open
Drive block moves on.
The workbench 6, positioned at the front of clamping jaw 53, for placing workpiece 7, the workbench 6 is equipped with the first positioning
Slot 61.
As the more specific technical solution of the present invention.
The horizontal sliding driving device 3 includes pedestal 1, moves left and right servo motor 31, two and move left and right seat 32, two
A back-and-forth motion servo motor 33 and back-and-forth motion seat 34, described two seats 32 that move left and right are along horizontal sliding driving device 3
Left and right directions horizontal two sides for being slidably arranged in pedestal 1 respectively, it is described to move left and right servo motor 31 on pedestal 1 and position
It is moved left and right between seat in two, move left and right the motor shaft of servo motor and wherein one moves left and right 32 screw rod transmission of seat, it is described
It is moved forward and backward seat 34 and is slidably arranged on pedestal 1 (the horizontal sliding drive along the front-rear direction level of horizontal sliding driving device 3
The front and rear, left and right direction of dynamic device 3 is consistent with the front and rear, left and right direction of seat is moved forward and backward), described two back-and-forth motion servo electricity
Machine 33 is set to the left and right sides of pedestal, and is located at respectively correspondence and moves left and right on seat 32, and two back-and-forth motion servo motors 33 are equal
It is connect with 34 screw rod transmission of seat is moved forward and backward.
The pedestal 1 is equipped with the guide rail 11 that horizontally slips, the back-and-forth motion along the left and right directions of horizontal sliding driving device 3
Seat 34 is equipped with along the front-rear direction of horizontal sliding driving device 3 and slides back and forth guide rail 12, the sliding of back-and-forth motion seat 34 setting
In sliding back and forth on guide rail 12, the seat 32 that moves left and right is slideably positioned in the guide rail 11 that horizontally slips, so that manipulator water
Smooth dynamic stability.
It includes that clamping jaw opens servo motor 511 and sliding block 512,512 edge of sliding block that the clamping jaw, which opens driving device 51,
The left and right directions sliding of horizontal sliding driving device 3, which is set to, to be moved forward and backward on seat 34, and the clamping jaw opens servo motor 511 and is set to
It is moved forward and backward on seat 34 and is connect with 512 screw rod transmission of sliding block, rotation is equipped with driving idler wheel 514, the folder on the sliding block 512
Pawl opens the corresponding driving idler wheel 514 of driving plate 52 and is equipped with driven ramp blocks 510, the driven ramp blocks 510 be equipped with second from
Dynamic inclined-plane 513, the second driven inclined-plane 513 are resisted against the second driven inclined-plane 513 towards driving idler wheel 514, the driving idler wheel 514
On, the clamping jaw opens servo motor 511 and sliding block 512 and driving idler wheel 514 is driven to slidably reciprocate, and driving idler wheel 514 presses
Second driven inclined-plane 513, clamping jaw opens driving plate 52 and clamping jaw opens before and after driving sliding block 512 and moves back and forth, so that folder
Pawl 53 opens and closes up repeatedly.More particularly, due to closing up the elastic force of spring 57, so that clamping jaw opens driving plate 52 and clamping jaw
It opens drive block 56 and is always maintained at the trend moved backward.Sliding block 512 is driven to slide to the left when clamping jaw opens servo motor 511,
When the highest point for driving idler wheel 514 towards the second driven inclined-plane 513 of clamping jaw opening driving plate 52 is slided, driving idler wheel 514 starts
Clamping jaw is pushed to open driving plate 52 and clamping jaw opening 56 forward slip of drive block, clamping jaw, which opens driving plate 52, to shrink back, when
Clamping jaw open servo motor 511 drive sliding block 512 slide to the right, driving idler wheel 514 towards clamping jaw open driving plate 52 second from
When the minimum point sliding on dynamic inclined-plane 513, driving idler wheel 514 no longer presses the second driven inclined-plane 513, opens driving plate and clamping jaw
Opening drive block 56 can move backward.
The front end that the clamping jaw opens drive block 56 is in triangular prism shape, when clamping jaw opens the front end of drive block 56 toward front slide
When, two driving inclined-planes 58 of triangular prism press the first driven inclined-plane 59 of left and right clamp arm 54,55, by left and right clamp arm 54,55
It is opened toward both sides, so that clamping jaw 53 is opened.
The back-and-forth motion seat 34 is provided with the first guide rail 35 along the front-rear direction of horizontal sliding driving device 3, and first leads
Sliding is provided with sliding shoe 351 on rail 35, and the clamping jaw opens the sliding of driving plate 52 and is set on sliding shoe 351, so that folder
Pawl opens driving plate 52 and clamping jaw opens 56 sliding stability of drive block.
Synchronous interaction component 515 is equipped between the left clamp arm 54 and right clamp arm 55, the synchronous interaction component 515 includes
Synchronous pushing plate 516, first synchronizes plate 517 and the second synchronous interaction plate 518, the synchronous pushing plate 516 are set to folder
Pawl opens on drive block 56, and the first synchronous interaction plate 517 is respectively symmetrically set to synchronous push with the second synchronous interaction plate 518
The arranged on left and right sides of plate 516, the outer end of the first synchronous interaction plate 517 and left clamp arm 54 are rotatablely connected, the described second synchronous connection
The outer end of movable plate 518 and right clamp arm 55 are rotatablely connected, the inner end of the first synchronous interaction plate 517 and the second synchronous interaction plate
518 inner ends thereof is connected in synchronous pushing plate 516.When clamping jaw opens drive block 56 toward front slide, clamping jaw opens driving
Block 56 drives the inner end of the synchronous synchronous interaction of pushing plate 516, first plate 517 and the second synchronous interaction 518 inner end of plate past together
The outer end of preceding movement, the first, second synchronous interaction plate 517,518 pushes left clamp arm 54 and right clamp arm 55 open toward arranged on left and right sides respectively,
On the contrary, when clamping jaw opens driving device 51 and no longer drive clamping jaw opening drive block 56 toward front slide, left clamp arm 54 and right clamp arm
55 close up under the elastic force effect for closing up spring 57, and left clamp arm 54 and right clamp arm 55 push the first synchronous interaction respectively inside simultaneously
The inner end of plate 517 and the second synchronous interaction plate 518, the inner end of the first, second synchronous interaction plate 517,518 and clamping jaw are opened and are driven
The synchronization of block 56 is slided backward.Therefore, synchronous interaction component 515 of the invention enables left clamp arm 54 is synchronous with right clamp arm 55 to close
Hold together or synchronize opening.
The left clamp arm 54, right clamp arm 55 front-end and back-end be equipped with it is described close up spring 57, close up spring 57 and make
Left clamp arm 54, right clamp arm 55 quickly close up and clamp workpiece 7, and workpiece 7 clamps firm stable, at the same time, left clamp arm 54,
The driven inclined-plane 59 of the first of right clamp arm 55 drives clamping jaw to open drive block 56 and moves backward.
The back-and-forth motion seat 34 is provided with clamping jaw folding guide rail 36, institute along the left and right directions of horizontal sliding driving device 3
It states left clamp arm 54 and right clamp arm 55 is slidably arranged on clamping jaw folding guide rail 36, so that left clamp arm 54 and right clamp arm 55 are sliding
Dynamic, folding is stablized.
The left clamp arm 54 and the opposite side wall of right clamp arm 55 are equipped with resigning groove 519, and the clamping jaw opens drive block
56 are located in resigning groove 519, and the first driven inclined-plane 59 is located in left clamp arm 54 and the opposite side wall of right clamp arm 55.
The multiple clamping jaw 53 is located at the front side for being moved forward and backward seat 34, and the clamping jaw opens driving device 51 and is located at front and back shifting
The rear side of dynamic seat 34.
The feeding distribution mechanism 4 includes that distributing base, material splitting cylinder 42 and sub-material push seat 43, and the sub-material pushes 43 water of seat
Flat to be slideably positioned in distributing base 41, the material splitting cylinder 42, which is set in distributing base 41 and drives with distributing base 41, to be connected
It connects, the distributing base 41 is equipped with the second locating slot 44 and positioning plate 45.When the blow tank 21 of vibration feeding disc 2 is by workpiece 7
When being transported to feeding distribution mechanism 4, sub-material pushes the second locating slot 44 on seat 43 to be aligned with the wire casing 22 on blow tank 21, workpiece 7
On locating plate be successfully moved in the second locating slot 44 from wire casing, when material splitting cylinder 42 drives sub-material to push seat 43 by workpiece
After 7 release, sub-material pushes the second locating slot 44 of seat 43 to be aligned with the first locating slot 61 of workbench, in order to which clamping jaw 53 can be suitable
The second locating slot 44 workpiece 7 is pushed on workbench 6, the locating plate on workpiece 7 is moved in the first locating slot 61.
Workpiece of the invention is the copper plug of plug, and the present invention realizes mold to continuous and Multi-step forming the work of copper plug
Make.
The working principle of the invention:
When the invention works, vibration feeding disc 2 starts vibration output workpiece 7 to feeding distribution mechanism 4, and workpiece 7 is moved to sub-material promotion
On seat 43, the locating plate on workpiece 7 successfully out of, wire casing 22 is moved to that sub-material pushes seat 43 the second locating slot 44, then divides
Expect that mechanism 4 starts, after material splitting cylinder 42 drives sub-material that seat 43 is pushed to release workpiece 7, sub-material pushes the second locating slot of seat 43
44 are aligned with the first locating slot 61 of workbench, and then move left and right servo motor 31 and drive entire feeding mechanical hand 5 is past to move to left
Dynamic, so that the leftmost clamping jaw 53 of feeding mechanical hand 5 is aligned with the workpiece 7, then clamping jaw opens servo motor 511 and starts, folder
Pawl opens servo motor 511 and sliding block 512 is driven to slide to the left, and driving idler wheel 514 opens the second driven of driving plate 52 towards clamping jaw
When the highest point sliding on inclined-plane 513, driving idler wheel 514 pushes clamping jaw to open driving plate 52 and clamping jaw to open drive block 56 to advancing slip
Dynamic, two driving inclined-planes 58 that clamping jaw opens the front end of drive block 56 press the first driven inclined-plane 59 of left and right clamp arm 54,55,
To open left and right clamp arm 54,55 toward both sides, so that all clamping jaws 53 are all opened, it is then moved forward and backward servo motor
The 33 entire feeding mechanical hands 5 of driving are moved along, the workpiece 7 be located at 5 leftmost first clamping jaws 53 of feeding mechanical hand a left side,
Between right clamp arm 54,55, and then, clamping jaw opens the driving driving idler wheel 514 of servo motor 511 and opens the of driving plate 52 towards clamping jaw
The minimum point on two driven inclined-planes 513 is slided, and due to closing up the elastic force of spring 57, left and right clamp arm 54,55 closes up and clamps the workpiece
7, left and right clamp arm 54,55 pushes clamping jaw opening driving plate 52 and clamping jaw to open drive block 56 and moves backward, and and then, left and right is moved
Dynamic servo motor 31 drives entire feeding mechanical hand 5 toward moving right, which is turned right and be delivered to workbench by first clamping jaw 53
In the first stamping station on 6, at the same time, second clamping jaw 53 can grab workpiece 7 made in the first stamping station
In the second stamping station on workbench 6, subsequent clamping jaw 53 can also synchronize feeding, finally, feeding mechanical in the manner described above
Upper last clamping jaw 53 can walk the folder of workpiece 7 in the last stamping station on workbench 6, and all clamping jaws 53 complete a feeding
Later, it can reset, then repeat step and grab on the workpiece 7 to next stamping station of a upper stamping station, therefore the present invention
Multiple clamping jaws can continuous synchronization conveys multiple workpiece forward simultaneously, so that punching machine can carry out continuous punching to multiple workpiece simultaneously
Pressure, therefore workpiece transmission efficiency height, high production efficiency of the invention is, it can be achieved that full-automatic continuous high speed production.
Claims (10)
1. a kind of Quadratic Finite Element manipulator includes vibration feeding disc, horizontal sliding driving device, feeding distribution mechanism and feeding mechanical
Hand；
The vibration feeding disc, for vibrating transportation workpiece to feeding distribution mechanism；
The feeding distribution mechanism, set on the blow tank of vibration feeding disc, for workpiece to be conveyed to feeding mechanical hand one by one；
The horizontal sliding driving device, for driving feeding mechanical hand all around to move；
The feeding mechanical hand is set on horizontal sliding driving device, for grabbing multiple workpiece simultaneously and conveying, the feeding
Manipulator includes that clamping jaw opens driving device, clamping jaw opens driving plate and multiple clamping jaws, and the multiple clamping jaw is along horizontal sliding
The left and right directions arrangement of driving device, which is set to, to be moved forward and backward on seat, and the clamping jaw opens driving plate along horizontal sliding driving device
Front-rear direction sliding is set on horizontal sliding driving device, and the clamping jaw includes left clamp arm and right clamp arm, the left clamp arm and the right side
Clamp arm is arranged along the left and right directions slide switching of horizontal sliding driving device, is provided with and closes up between the left clamp arm and right clamp arm
Spring, the clamping jaw, which opens to be arranged side by side in driving plate, has multiple clamping jaws to open drive block, and clamping jaw opens drive block and is located at left folder
Between arm and right clamp arm, the front end that the clamping jaw opens drive block is equipped with two driving inclined-planes, and the left clamp arm and right clamp arm are corresponding
The front end that clamping jaw opens drive block is equipped with the first driven inclined-plane, and the clamping jaw opens driving device and is set on back-and-forth motion seat, and
Clamping jaw is driven to open driving plate sliding.
2. Quadratic Finite Element manipulator according to claim 1, it is characterised in that: be equipped with and synchronize between the left clamp arm and right clamp arm
Linkage unit, the synchronous interaction component includes synchronizing pushing plate, the first synchronous interaction plate and the second synchronous interaction plate, described
Synchronous pushing plate is set to clamping jaw and opens on drive block, and the first synchronous interaction plate and the second synchronous interaction plate are respectively symmetrically set to
The arranged on left and right sides of synchronous pushing plate, the outer end of the first synchronous interaction plate and left clamp arm are rotatablely connected, the described second synchronous connection
The outer end of movable plate and right clamp arm are rotatablely connected, the inner ends thereof of the inner end of the first synchronous interaction plate and the second synchronous interaction plate
It is connected in synchronous pushing plate.
3. Quadratic Finite Element manipulator according to claim 2, it is characterised in that: the horizontal sliding driving device include pedestal,
Dynamic servo motor moves left and right seat, is moved forward and backward servo motor and is moved forward and backward seat, the seat that moves left and right along level sliding
The left and right directions level of driving device is slidably arranged on pedestal, the servo motor that moves left and right on the pedestal, and with a left side
A screw rod transmission is moved right, the back-and-forth motion seat is slidably arranged in pedestal along the front-rear direction level of horizontal sliding driving device
On, the back-and-forth motion servo motor is set to and moves left and right on seat, and connect with seat screw rod transmission is moved forward and backward.
4. Quadratic Finite Element manipulator according to claim 1 or claim 2, it is characterised in that: it includes folder that the clamping jaw, which opens driving device,
Pawl opens servo motor and sliding block, and the sliding block is set to along the left and right directions sliding of horizontal sliding driving device and is moved forward and backward seat
On, the clamping jaw opens servo motor and is set on back-and-forth motion seat and connect with sliding block screw rod transmission, and rotation is set on the sliding block
There is driving idler wheel, the clamping jaw opens the corresponding driving idler wheel of driving plate and is equipped with the second driven inclined-plane, and the driving idler wheel is resisted against
On second driven inclined-plane.
5. Quadratic Finite Element manipulator according to claim 4, it is characterised in that: the back-and-forth motion seat slides driving dress along level
The left and right directions set is provided with clamping jaw folding guide rail, and the left clamp arm and right clamp arm are slidably arranged on clamping jaw folding guide rail.
6. Quadratic Finite Element manipulator according to claim 2, it is characterised in that: in the left clamp arm and the opposite side wall of right clamp arm
Equipped with resigning groove, the clamping jaw opens drive block and is located in resigning groove, and the first driven inclined-plane is located at left clamp arm and the right side
On the opposite side wall of clamp arm.
7. Quadratic Finite Element manipulator according to claim 3, it is characterised in that: the pedestal is along a left side for horizontal sliding driving device
Right direction is equipped with the guide rail that horizontally slips, and the back-and-forth motion seat is equipped with along the front-rear direction of horizontal sliding driving device and slides back and forth
Guide rail, the back-and-forth motion seat, which is slideably positioned in, to slide back and forth on guide rail, it is described move left and right seat and be slideably positioned in horizontally slip
Guide rail.
8. Quadratic Finite Element manipulator according to claim 4, it is characterised in that: the back-and-forth motion seat slides driving dress along level
The front-rear direction set is provided with the first guide rail, and the clamping jaw opens driving plate sliding and is set on the first guide rail.
9. Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the front end that the clamping jaw opens drive block is in trigone
Column.
10. Quadratic Finite Element manipulator according to claim 1, it is characterised in that: the feeding distribution mechanism includes distributing base, sub-material
Cylinder and sub-material push seat, and the sub-material pushes seat level to be slideably positioned in distributing base, and the material splitting cylinder is set to sub-material
It is drivingly connected on pedestal and with distributing base, the distributing base is equipped with locating slot and positioning plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703722.6A CN110523872A (en) | 2019-07-31 | 2019-07-31 | A kind of Quadratic Finite Element manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703722.6A CN110523872A (en) | 2019-07-31 | 2019-07-31 | A kind of Quadratic Finite Element manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110523872A true CN110523872A (en) | 2019-12-03 |
Family
ID=68661088
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910703722.6A Pending CN110523872A (en) | 2019-07-31 | 2019-07-31 | A kind of Quadratic Finite Element manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390375A (en) * | 2020-04-14 | 2020-07-10 | 首都航天机械有限公司 | Automatic clamping and feeding device of large-scale melon petal wallboard robot |
| CN113695675A (en) * | 2021-09-17 | 2021-11-26 | 商丘金振源电子科技有限公司 | Grooving equipment |
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