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Charging and blanking robot of punch press

A technology of robots and punching machines, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve problems such as large size, achieve high transmission efficiency, improve dynamic control performance, and reduce inertial loads.

Inactive Publication Date: 2010-06-30
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Aiming at the shortcomings of the traditional SCARA robot's oversized terminal, the designed robot has a small terminal, good control performance, and high positioning accuracy

Method used

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  • Charging and blanking robot of punch press
  • Charging and blanking robot of punch press
  • Charging and blanking robot of punch press

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Experimental program
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Effect test

Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, the mechanical structure of the punching machine loading and unloading robot includes: a first joint 1 , a second joint 2 , a third joint 3 , a fourth joint 4 , a base 5 , a first arm 6 , a second arm 7 and an end effector 8 . The first joint 1, the second joint 2, and the fourth joint 4 have rotational degrees of freedom, and the third joint 3 has vertical translational degrees of freedom. The first joint input housing 18 and the first joint output housing 17 of the first joint 1 are fixed on the base 5 together. The output end of the first joint 1 is fixed to one end of the first arm 6 , and the other end of the first arm 6 is connected to the input end of the second joint 2 . The output end of the second joint 2 is fixed to one end of the second arm 7 , and the other end of the second arm 7 is connected to the third join...

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Abstract

The invention discloses a charging and blanking robot of a punch press, comprising four joints, a base, two arms and an end effector, wherein the first joint, the second joint and the fourth joint have the degree of freedom of rotation, and the third joint has the degree of freedom of up and down translation; one end of the first joint is connected with the base by an input end shell; the other end of the first joint is connected with one end of the first arm by a first joint output flange; the other end of the first arm is connected with a second joint output flange of the second joint; a third joint connecting plate is connected with the joint rack of the fourth joint; and a fourth joint output rotary table is provided with the end effector. A harmonic transmission mode is adopted by a first joint transmission device and a second joint transmission device of the robot. Aiming at the characteristic that a harmonic speed reducer only can bear torque but can not bear bending moment, a pair of tapered roller bearings is arranged on an output shaft and is used for bearing overturning bending moment. The transmission mode has compact structure, high transmission efficiency, small return difference and high transmission accuracy.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a robot for automatic loading and unloading of punch presses. Background technique [0002] Industrial robots are widely used in production sites to complete welding, handling, assembly, cutting and other tasks. The application of industrial robots is of great significance to improving production efficiency and product quality, improving the working environment, ensuring human safety, and reducing production costs. At present, in most of the occasions where small punching machines are used, loading and unloading operations are still mainly done manually, but manual loading and unloading of punching machines has the disadvantages of low efficiency, high labor intensity, and poor safety. On the other hand, the loading and unloading space under the punch press is narrow. If an industrial robot is used to operate, the end of the robot is required to be small, flexible, and capable of reaching ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/04B25J17/00B25J15/02B21D43/00B21D43/10
CPCY02P70/10
Inventor 朱世强吴文祥郑东鑫王会方
Owner ZHEJIANG UNIV
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