Series-parallel hybrid stamping feeding-discharging manipulator

Abstract

A series-parallel hybrid stamping feeding-discharging manipulator comprises a base, a large arm, a middle arm, a small arm and a tooling, wherein the large arm mainly comprises a large arm main part, a U-shaped part connected between the base and the large arm main part, a first telescopic rod and a second telescopic rod; driven by the first telescopic rod and the second telescopic rod, the large arm can rotate relative to the base in a two-dimensional manner; the middle arm adopts a parallelogram mechanism; driven by a third telescopic rod, the middle arm can rotate relative to the large arm in a one-dimensional manner; the small arm mainly comprises a second frame-shaped part and a double diamond mechanism; driven by a first servo motor as well as a fourth telescopic rod and a fifth telescopic rod, the small arm can rotate relative to the middle arm in two-dimensional and one-dimensional manners; the tooling is fixedly connected with a spline shaft; spline components are driven by synchronous belt components, so that a second servo motor can be utilized for driving the tooling at the tail end; and accordingly the tooling can rotate relative to the small arm in a one-dimensional manner. The series-parallel hybrid stamping feeding-discharging manipulator is large in workspace, flexible in motion, large in bearing capacity and strong in adjustable ability.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a manipulator. Background technique [0002] As a very important processing method, stamping has high processing efficiency and is widely used. The automatic stamping production line is the development trend of stamping technology. The loading and unloading manipulator is one of the most important components of the stamping automatic production line. The quality of the loading and unloading manipulator directly affects the production efficiency of stamping processing. At present, most of the loading and unloading manipulators are manipulators with a series structure. The manipulators with a series structure have the advantages of simple control, large working space, and flexible movement. However, most of them have the defects of poor load-carrying and adjustable capabilities. Therefore, it is particularly important to develop a new type of stamping loading and unload...

AI Technical Summary

Problems solved by technology

At present, most of the loading and unloading manipulators are manipulators with a series structure. The manipulators with a series structure have the advantages of simple control, large working space, and flexible movement. However, most of them have the defects of poor load-carrying and adjustable capabilities.

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