CN206048197U - A kind of punching press feeding robot - Google Patents

Abstract

This utility model is related to a kind of punching press feeding robot, including the upper and lower vertical telecontrol equipment of base, tumbler, large arm, forearm retractor device, forearm end handss grab tumbler in horizontal plane, gravity balance device, control system.Tumbler is arranged on base.The upper and lower vertical telecontrol equipment of large arm is connected with tumbler, and is located above tumbler.Forearm retractor device is vertically mounted on the upper and lower vertical telecontrol equipment side of large arm.Forearm end handss are grabbed tumbler in horizontal plane and are arranged in forearm retractor device.Gravity balance device is arranged on the upper and lower vertical telecontrol equipment upper end of large arm, and is connected with forearm retractor device, adjusts the balance of forearm retractor device.Control system is connected with each part mentioned above, for controlling the actuator in each part mentioned above.This utility model can mitigate impact of the cantilever gravity to robust motion, it is to avoid during control system dead electricity using the air-pressure balancing device balanced cantilever gravity that is in tilted layout, ball screw framework not self-locking and cause cantilever to glide.

Description

A kind of punching press feeding robot

Technical field

This utility model is related to feeding mechanical equipment technical field, specifically a kind of punching press feeding robot.

Background technology

Punching production is a kind of important molding fabrication techniques in machining and manufacture process, be widely used in automobile, The industries such as machinery, electrical equipment, instrument and aviation.Punching press industry is the industry of dangerous high and poor working environment, in urgent need punching press Material robot replaces people to do some long workings that are dull, frequent and repeating.

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

The content of the invention

For the deficiency of above-mentioned technology, the utility model proposes a kind of punching press feeding machine suitable for capturing big part People, using servo-drive, high precision, action are fast；Tied using ball-screw nut mechanism, linear bearing and linear rolling track Structure, frictional resistance are little, flexible movements；Using cable-stayed type cylinder balancing cantilevered weights so as to stable movement, cantilever bending deformation subtracts It is few；It is oriented to using four guide pillars, larger gravity torque can be born, so as to large-mass workpiece can be captured.

A kind of punching press feeding robot, including the flexible dress of the upper and lower vertical telecontrol equipment of base, tumbler, large arm, forearm Put, forearm end handss grab tumbler in horizontal plane, gravity balance device, control system.

The tumbler is arranged on base.The upper and lower vertical telecontrol equipment of the large arm is connected with tumbler, and position Above tumbler.The forearm retractor device is vertically mounted on the upper and lower vertical telecontrol equipment side of large arm.The forearm end End handss are grabbed tumbler in horizontal plane and are arranged in forearm retractor device.The gravity balance device is arranged on the upper and lower vertical of large arm Telecontrol equipment upper end, and be connected with forearm retractor device, adjust the balance of forearm retractor device.The control system is each with above-mentioned Part is connected, for controlling the actuator in each part mentioned above.

The tumbler includes servomotor I, decelerator, crossed cylindrical roller bearing, rotating disk, the crossing cylinder rolling Sub- bearing is fixedly installed on base by bearing block, and the servomotor I is fixed on decelerator, and the decelerator is fixed and connected It is connected on bearing block, the rotating disk is connected with reducer output shaft by key, the rotating disk and crossed cylindrical roller bearing inner race Fixed, the crossed cylindrical roller bearing outer ring is fixedly connected with the bearing seat.

The upper and lower vertical telecontrol equipment of the large arm includes two angular contact ball bearings I, deep groove ball bearing I, and by connecting Joint chair is fixedly connected on the servomotor II of supporting frame upper end, and II front end of the servomotor is provided with rotating shaft I, the rotating shaft I On shaft coupling I is installed, I front end of the shaft coupling is connected with ball-screw I, and the ball-screw I passes through two angular contact balls Bearing I and deep groove ball bearing I are arranged in supporting frame, and the supporting frame is fixedly connected on connector of rotary disk, described turn Disk connector is fixedly connected on rotating disk, and ball-screw nut I, the ball-screw nut I are connected with the ball-screw I Being fixed on large arm link, on the large arm link, 4 guide pillars being connected with by 4 linear bearings, 4 guide pillars are solid Surely supporting frame upper and lower ends are connected to.4 guide pillars are arranged symmetrically relative to ball-screw I, and symmetrical structure was both Guide effect can be played, larger gravity torque can be born again.

The forearm retractor device includes two angular contact ball bearings II, deep groove ball bearing II and servomotor III, institute State servomotor III to be fixedly connected in fulcrum bearing, the fulcrum bearing is fixedly connected on large arm link upper end, the servo electricity III front end of machine is provided with rotating shaft II, and shaft coupling II is provided with the rotating shaft II, and II front end of the shaft coupling is connected with ball-screw II, the ball-screw II passes through two angular contact ball bearings II and deep groove ball bearing II is arranged on large arm link, described Ball-screw nut II is connected with ball-screw II, the ball-screw nut II is fixedly connected on carrier base, described Stand is fixedly connected with forearm link, and the forearm link is fixed on linear rolling track slide block, the straight-line rolling Guide rail slide block is connected on linear rolling track slide, and the linear rolling track slide is fixedly connected under large arm link End.

Forearm end handss grab tumbler in horizontal plane includes that deep groove ball bearing III, deep groove ball bearing IV, right angle subtract Fast device and servomotor IV, the servomotor IV are fixedly connected on forearm link left end, IV front end of the servomotor Rotating shaft III is provided with, shaft coupling III is installed in the rotating shaft III, III front end of the shaft coupling is connected with axle, and the axle passes through zanjon Ball bearing III, deep groove ball bearing IV are arranged on forearm link, and the axle front end is connected with right-angle reduction device motion input, The right-angle reduction device is fixedly connected on forearm link right-hand member.

The gravity balance device includes two cylinders, and described two cylinders are articulated with two bearings by two body cradles On, described two bearings are fixedly connected on supporting frame upper end face, and described two cylinder front ends are provided with two piston rods, and described two Shipped and resell on another market by two and be articulated with large arm link in individual piston rod front end.Described two cylinders are to be in tilted layout, and are symmetrically installed In large arm link both sides, gravity balance device can mitigate impact of the gravity to robust motion, it is to avoid during control system dead electricity, Moving component glides because of gravity, while the bent deformation of the change that can also reduce cantilever, improves positioning precision.

The control system include controlling cabinet, power module, PLC module, first axle motion-control module, the Two axle motion-control modules, three-axis moving control module, four axes motion control module, first axle driver, the second axle drive Dynamic device, Three-axis drive device, the 4th axle driver, servomotor I, servomotor II, servomotor III, servomotor IV, One axle reference position sensor, the second axle reference position sensor, the 3rd axle reference position sensor, the just spacing sensing of first axle Device, the positive limit sensors of the second axle, the positive limit sensors of the 3rd axle, first axle are born limit sensors, the second axle and bear spacing sensing Device, the 3rd axle bear limit sensors, the power module, PLC module, first axle motion-control module, the second axle fortune Dynamic control module, three-axis moving control module, four axes motion control module, first axle driver, the second axle driver, Three-axis drive device, the 4th axle driver are fixedly connected on control cabinet, and the first axle reference position sensor, first axle are just The negative limit sensors of limit sensors, first axle are fixedly connected on base, the second axle reference position sensor, the second axle The negative limit sensors of positive limit sensors, the second axle are fixedly connected in supporting frame, the 3rd axle reference position sensor, The negative limit sensors of the positive limit sensors of 3rd axle, the 3rd axle are fixedly connected on above large arm link, in the control cabinet The each module installed is connected by cable with each servomotor and each sensor for being installed on basic machine.

The base is fixedly connected with 4 legs by 8 bolts, and the base lower surface is equipped with 4 rollers, to protect Supporting stabilizer during card work, mobile machine are more convenient.

The forearm link front end overhang is divided to and is supported on two balls, and described two balls are supported on two respectively In slide, described two slides are slidably connected in two sleeves, and described two slide lower ends are connected to spring, and described two The individual spring other end is respectively fixedly connected with two support plates, and described two sleeves are fixedly connected on together with two support plates and prop up On frame, the support is fixedly connected on large arm link front end.This structure of forearm link can improve forearm link Rigidity, reduces the flexural deformation of forearm projecting end, while adopting ball bearing, can reduce friction, makes forearm link move spirit It is living.

In described control system, power module is PLC module, motion-control module, a No. two motion controls Molding block, No. three motion-control modules, No. four motion-control modules, servo-driven module, No. two servo-driven modules, three Number servo-driven module, No. four servo-driven modules, reference position sensor, No. two reference position sensors, No. three ginsengs Examine position sensor, positive limit sensors, No. two positive limit sensors, No. three positive limit sensors, a negative spacing biographies Sensor, No. two negative limit sensors, No. three negative limit sensors provide V DC sources；The PLC module is transported for No. one Dynamic control module, No. two motion-control modules, No. three motion-control modules, No. four motion-control module configuration parameters simultaneously are realized compiling Process control；Number reference position sensor, No. two reference position sensors, No. three reference position sensors, a just spacing biographies Sensor, No. two positive limit sensors, No. three positive limit sensors, negative limit sensors, No. two negative limit sensors, No. three The control signal of negative limit sensors respectively with a motion-control module, No. two motion-control modules, No. three motor control moulds The reference position of block, just spacing, negative spacing port correspondence connect, servo-driven module, No. two servo-driven modules, No. three Position control port, direction controlling port on servo-driven module, No. four servo-driven modules respectively with a motor control Module, No. two motion-control modules, No. three motion-control modules, the position control port of No. four motion-control modules, direction control Port processed correspondence connects, correspondence receive a motion-control module, No. two motion-control modules, No. three motion-control modules, four The position of number motion-control module and direction control signal.

The beneficial effects of the utility model are：

1. this utility model can mitigate cantilever gravity to fortune using the air-pressure balancing device balanced cantilever gravity being in tilted layout The impact of dynamic stationarity, it is to avoid during control system dead electricity, causes cantilever to glide because of ball screw framework not self-locking.While oblique pull The configuration of formula can reduce the flexural deformation of cantilever, improve its positioning precision.

2. the vertical movement of cantilever of the present utility model is oriented to using four guide pillars, can bear larger gravity torque, together When be configured with air pressure gravity balance device, therefore this punching press feeding robot can capture relatively large load.

3. this utility model adopts servo-drive, while configuring ball-screw nut mechanism, linear bearing and straight-line rolling Guide rail structure, it can be ensured that its motion is flexible, speed is fast, positioning precision is high.

4. forearm overhang of the present utility model is divided to and is supported on two balls, can improve the rigidity of forearm, reduces forearm The flexural deformation of projecting end, while adopting ball bearing, can reduce friction, move forearm flexible.

5. base of the present utility model adds roller to design using leg, has both ensured supporting stabilizer during work, has moved it again It is convenient, flexible.

Description of the drawings

With reference to the accompanying drawings and examples invention is further illustrated.

Fig. 1 is front view of the present utility model；

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

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

Fig. 4 is front view of the present utility model；

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

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

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

Fig. 8 is the inside annexation schematic diagram of control system of the present utility model.

Specific embodiment

In order that technological means, creation characteristic, reached purpose and effect that this utility model is realized are easy to understand, under It is expanded on further in the face of this utility model.

As shown in Figures 1 to 8, a kind of punching press feeding robot, including the upper and lower vertical fortune of base 10, tumbler, large arm Dynamic device, forearm retractor device, forearm end handss grab tumbler in horizontal plane, gravity balance device, control system.

The tumbler is arranged on base.The upper and lower vertical telecontrol equipment of the large arm is connected with tumbler, and position Above tumbler.The forearm retractor device is vertically mounted on the upper and lower vertical telecontrol equipment side of large arm.The forearm end End handss are grabbed tumbler in horizontal plane and are arranged in forearm retractor device.The gravity balance device is arranged on the upper and lower vertical of large arm Telecontrol equipment upper end, and be connected with forearm retractor device, adjust the balance of forearm retractor device.The control system is each with above-mentioned Part is connected, for controlling the actuator in each part mentioned above.

The tumbler includes servomotor I 7, decelerator 27, crossed cylindrical roller bearing 31, rotating disk 25, the friendship Fork cylinder roller bearing 31 is fixedly installed on base 10 by bearing block 26, and the servomotor I 7 is fixed on decelerator 27 On, the decelerator 27 is fixedly connected on bearing block 26, and the rotating disk 25 is connected with reducer output shaft 30 by key 29, institute State rotating disk 25 to fix with 31 inner ring of crossed cylindrical roller bearing, 31 outer ring of crossed cylindrical roller bearing is fixed with bearing block 26 Connection.

The upper and lower vertical telecontrol equipment of the large arm includes two angular contact ball bearings I 20, deep groove ball bearing I 23, Yi Jitong The servomotor II 15 that connecting seat 2 is fixedly connected on 3 upper end of supporting frame is crossed, II 15 front end of the servomotor is provided with rotating shaft I 18, shaft coupling I 19 is installed in the rotating shaft I 18, I 19 front end of the shaft coupling is connected with ball-screw I 21, the ball wire Thick stick I 21 passes through two angular contact ball bearings I 20 and deep groove ball bearing I 23 is arranged in supporting frame 3, and the supporting frame 3 is solid Surely it is connected on connector of rotary disk 24, the connector of rotary disk 24 is fixedly connected on rotating disk 25, connects on the ball-screw I 21 Ball-screw nut I 22 is connected to, the ball-screw nut I 22 is fixed on large arm link 6, on the large arm link 6 4 guide pillars 4 are connected with by 4 linear bearings 5,4 guide pillars 4 are fixedly connected on supporting 3 upper and lower ends of frame.Described 4 Root guide pillar 4 is arranged symmetrically relative to ball-screw I 21.

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

Forearm end handss grab tumbler in horizontal plane includes deep groove ball bearing III 41, deep groove ball bearing IV 38, straight Angle decelerator 39 and servomotor IV 33, the servomotor IV 33 are fixedly connected on 13 left end of forearm link, described to watch Take IV 33 front end of motor and be provided with rotating shaft III 34, shaft coupling III 35, III 35 front end of the shaft coupling are installed in the rotating shaft III 34 Axle 37 is connected with, the axle 37 is arranged on forearm link 13 by deep groove ball bearing III 41, deep groove ball bearing IV 38, described 37 front end of axle is connected with 39 motion input of right-angle reduction device, and it is right that the right-angle reduction device 39 is fixedly connected on forearm link 13 End.

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

The control system includes controlling cabinet 74, power module 60, PLC module 66, first axle motor control Module 72, the second axle motion-control module 58, three-axis moving control module 64, four axes motion control module 70, first axle Driver 73, the second axle driver 59, Three-axis drive device 65, the 4th axle driver 71, servomotor I 7, servomotor II 15th, servomotor III 47, servomotor IV 33, first axle reference position sensor 56, the second axle reference position sensor 62, The positive limit sensors 55 of three axle reference position sensors 68, first axle, the positive limit sensors 61 of the second axle, the just spacing biography of the 3rd axle Sensor 67, first axle bears the negative limit sensors 63 of limit sensors 57, the second axle, the negative limit sensors 69 of the 3rd axle, the electricity Source module 60, PLC module 66, first axle motion-control module 72, the second axle motion-control module 58, three-axis moving Control module 64, four axes motion control module 70, first axle driver 73, the second axle driver 59, Three-axis drive device 65, 4th axle driver 71 is fixedly connected on control cabinet 74, and the first axle reference position sensor 56, first axle is just spacing The negative limit sensors 57 of sensor 55, first axle are fixedly connected on base 10, the second axle reference position sensor 62, the The negative limit sensors 63 of the positive limit sensors 61 of two axles, the second axle are fixedly connected in supporting frame 3, the 3rd axle reference bit Put the negative limit sensors 69 of sensor 68, the positive limit sensors 67 of the 3rd axle, the 3rd axle to be fixedly connected on large arm link 6 Side, each module installed in the control cabinet 74 and each servomotor installed on basic machine and each sensor It is connected by cable.

The base 10 is fixedly connected with 4 legs 9 by 8 bolts 8, and 10 lower surface of the base is equipped with 4 rollers 28。

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

The concrete course of action of each several part：

Reference point sets up process：PLC module (66) sends sets up reference point instruction, by a motor control mould The motion-control module 64 of motion-control module 58, three of block 72, two transmits commands to a servo-driven module 73, two 59, No. three servo-driven modules 65 of servo-driven module, so as to control servomotor I 7, servomotor II 15, servomotor III 47 motions, when the motion-control module 64 of motion-control module 58, three of a motion-control module 72, two detects a ginseng When examining position sensor 56, No. two reference position sensors, 62, No. three 68 signals of reference position sensor, first axle, the second axle, 3rd axle reference point locations are set up.

Rotation process：PLC module 66 sends turned position instruction to the by first axle motion-control module 72 One axle driver 73, starts servomotor I 7, and servomotor I 7 drives decelerator 27 to work, and reducer output shaft 30 passes through key 29 Rotating disk 25 is driven to rotate, rotating disk 25 drives supporting frame 3 so as to drive big and small arms to realize rotation fortune by connector of rotary disk 24 It is dynamic.

The upper and lower vertical motor process of large arm：PLC module 66 is sent by the second axle motion-control module 58 up and down Shift position instruction starts servomotor II 15 to the second axle driver 59, and servomotor II 15 drives shaft coupling by rotating shaft I 18 Device I 19 is rotated, shaft coupling I 19 drives ball-screw I 21 to rotate, and is driven with the ball-screw nut I 22 that ball-screw I 21 matches The large arm link 6 for being secured to connect realizes upper and lower vertical motion, and its movement locus is realized by four guide pillars.

Forearm stretching motion process：PLC module 66 sends telescopic location by three-axis moving control module 64 Three-axis drive device 65 is instructed, starts servomotor III 47, servomotor III 47 drives shaft coupling II 46 by rotating shaft II 48 Rotate, shaft coupling II 46 drives ball-screw II 43 to rotate, drive with the ball-screw nut II 42 that ball-screw II 43 matches The carrier base 12 for connecting is secured to so as to drive forearm link 13 to realize forearm stretching motion, its movement locus is rolled by straight line Dynamic guide rail slide block 32 is determined with the motion track of linear rolling track slide 36.

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

Gravity balance device equilibrium principle：By air pressure control, two piston rods 14 are made to produce large arm link 6 all the time One pulling force upwards, carrys out the gravity of balanced cantilever with this, while can also offset a part because of being turned under that cantilever gravity is produced Bent deformation.

As two cylinders 1 are hingedly connected on two bearings 16, two piston rods 14 are hingedly connected to large arm link 6 On, therefore, will not interfere the position of two cylinders 1 because the upper and lower vertical of large arm is moved.

This utility model adopts servo-control system, and the several actions of the above can be according to work space size and grabbing workpiece Construction featuress, combination in any, overlapping to carry out, adaptability is good, quick action.

When this utility model needs to move, need to only unclamp 8 bolts 8 and fixation will be moved on 9 position of leg, make 4 rollers 28 are contacted with ground, you can promote punching press feeding robot to move to another operating position from an operating position.In addition, logical The position for crossing 8 bolts of adjustment can adjust the height of 4 legs 9, be conducive to the centering of punching press feeding robot.

Ultimate principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description Simply principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has Various changes and modifications, these changes and improvements are both fallen within claimed this utility model.This utility model is claimed Scope is by appending claims and its equivalent thereof.

Claims (10)

1. the upper and lower vertical telecontrol equipment of a kind of punching press feeding robot, including base (10), tumbler, large arm, forearm stretch Device, forearm end handss grab tumbler in horizontal plane, gravity balance device, control system, it is characterised in that：

The tumbler is arranged on base；The upper and lower vertical telecontrol equipment of the large arm is connected with tumbler, and is located at and is turned Above dynamic device；The forearm retractor device is vertically mounted on the upper and lower vertical telecontrol equipment side of large arm；Forearm end handss Grab tumbler in horizontal plane to be arranged in forearm retractor device；The gravity balance device is arranged on the upper and lower vertical motion of large arm Device upper end, and be connected with forearm retractor device, adjust the balance of forearm retractor device；The control system and each part mentioned above It is connected, for controlling the actuator in each part mentioned above.

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

3. a kind of punching press feeding robot according to claim 1, it is characterised in that：The upper and lower vertical sportswear of the large arm Put including two angular contact ball bearings I (20), deep groove ball bearing I (23), and supporting machine be fixedly connected on by connecting seat (2) The servomotor II (15) of frame (3) upper end, II (15) front end of the servomotor are provided with rotating shaft I (18), in the rotating shaft I (18) Shaft coupling I (19) is installed, I (19) front end of the shaft coupling is connected with ball-screw I (21), and the ball-screw I (21) leads to Two angular contact ball bearings I (20) and deep groove ball bearing I (23) are crossed in supporting frame (3), supporting frame (3) is solid Surely it is connected on connector of rotary disk (24), the connector of rotary disk (24) is fixedly connected on rotating disk (25), the ball-screw I (21) ball-screw nut I (22) is connected with, the ball-screw nut I (22) is fixed on large arm link (6), described 4 guide pillars (4) are connected with by 4 linear bearings (5) on large arm link (6), 4 guide pillars (4) are fixedly connected on props up Hold frame (3) upper and lower ends；4 guide pillars (4) are arranged symmetrically relative to ball-screw I (21).

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

5. a kind of punching press feeding robot according to claim 1, it is characterised in that：Forearm end handss grab horizontal plane Interior tumbler includes deep groove ball bearing III (41), deep groove ball bearing IV (38), right-angle reduction device (39) and servomotor IV (33), the servomotor IV (33) is fixedly connected on forearm link (13) left end, and IV (33) front end of the servomotor sets There is rotating shaft III (34), shaft coupling III (35) is installed in the rotating shaft III (34), III (35) front end of the shaft coupling is connected with axle (37), the axle (37) by deep groove ball bearing III (41), deep groove ball bearing IV (38) on forearm link (13), institute State axle (37) front end to be connected with right-angle reduction device (39) motion input, the right-angle reduction device (39) is fixedly connected on forearm company Connect frame (13) right-hand member.

6. a kind of punching press feeding robot according to claim 1, it is characterised in that：The gravity balance device includes two Individual cylinder (1), described two cylinders (1) are articulated with two bearings (16) by two body cradles (17), described two bearings (16) supporting frame (3) upper surface is fixedly connected on, described two cylinder (1) front ends are provided with two piston rods (14), described two Individual piston rod (14) front end by two ship and resell on another market (11) be articulated with large arm link (6)；Described two cylinders (1) are inclination cloth Put, and be symmetrically mounted on large arm link (6) both sides.

7. a kind of punching press feeding robot according to claim 1, it is characterised in that：The control system includes switch board Body (74), power module (60), PLC module (66), first axle motion-control module (72), the second axle motor control mould Block (58), three-axis moving control module (64), four axes motion control module (70), first axle driver (73), the second axle Driver (59), Three-axis drive device (65), the 4th axle driver (71), servomotor I (7), servomotor II (15), servo Motor III (47), servomotor IV (33), first axle reference position sensor (56), the second axle reference position sensor (62), 3rd axle reference position sensor (68), the positive limit sensors of first axle (55), the positive limit sensors of the second axle (61), the 3rd axle The negative limit sensors (57) of positive limit sensors (67), first axle, the negative limit sensors (63) of the second axle, the 3rd axle bear spacing biography Sensor (69), the power module (60), PLC module (66), first axle motion-control module (72), the motion of the second axle Control module (58), three-axis moving control module (64), four axes motion control module (70), first axle driver (73), Second axle driver (59), Three-axis drive device (65), the 4th axle driver (71) are fixedly connected in control cabinet (74), institute State the negative limit sensors (57) of first axle reference position sensor (56), the positive limit sensors of first axle (55), first axle fixed It is connected on base (10), the second axle reference position sensor (62), the positive limit sensors of the second axle (61), the second axle are born Limit sensors (63) are fixedly connected in supporting frame (3), and the 3rd axle reference position sensor (68), the 3rd axle are just limited The negative limit sensors (69) of level sensor (67), the 3rd axle are fixedly connected on above large arm link (6), the control cabinet (74) each module installed in is connected by cable with each servomotor and each sensor for being installed on basic machine.

8. a kind of punching press feeding robot according to claim 7, it is characterised in that：The base (10) is by 8 spiral shells Bolt (8) is fixedly connected with 4 legs (9), and base (10) lower surface is equipped with 4 rollers (28).

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

10. a kind of punching press feeding robot according to claim 7, it is characterised in that：In described control system, power supply Module (60) is PLC module (66), motion-control module (72), No. two motion-control modules (58), No. three fortune Dynamic control module (64), No. four motion-control modules (70), servo-driven module (73), No. two servo-driven modules (59), No. three servo-driven modules (65), No. four servo-driven modules (71), reference position sensor (56), No. two ginsengs Examine position sensor (62), No. three reference position sensors (68), positive limit sensors (55), a No. two positive limit sensors (61), No. three positive limit sensors (67), negative limit sensors (57), No. two negative limit sensors (63), a No. three negative limits Level sensor (69) provides 24V DC sources；The PLC module (66) is a motion-control module (72), No. two Motion-control module (58), No. three motion-control modules (64), No. four motion-control modules (70)) configuration parameter and realize programming Control；Number reference position sensor (56), No. two reference position sensors (62), No. three reference position sensors (68), one Number positive limit sensors (55), No. two positive limit sensors (61), No. three positive limit sensors (67), a negative limit sensors (57), No. two negative limit sensors (63), No. three negative limit sensors (69) control signal respectively with a motor control mould Block (72), No. two motion-control modules (58), the reference position of No. three motion-control modules (64), just spacing, negative spacing ports Correspondence connects, servo-driven module (73), No. two servo-driven modules (59), No. three servo-driven modules (65), No. four Position control port, direction controlling port on servo-driven module (71) respectively with a motion-control module (72), No. two Motion-control module (58), No. three motion-control modules (64), the position control port of No. four motion-control modules (70), directions Control port correspondence connects, and correspondence receives a motion-control module (72), No. two motion-control modules (58), No. three motion controls Molding block (64), the position of No. four motion-control modules (70) and direction control signal.