A two-dimensional manipulator

Abstract

The present invention relates to a two-dimensional feeding manipulator. It includes a vibrating feeding plate, a material dividing mechanism, a horizontal sliding drive device and a feeding manipulator. The feeding manipulator includes a clamping jaw opening drive device, a clamping jaw opening drive plate and a plurality of clamping jaws. The left clamping arm and the right clamping arm of the clamping jaw are arranged to slide and open and close along the left and right directions of the horizontal sliding drive device. A plurality of clamping jaw opening drive blocks are arranged side by side on the clamping jaw opening drive plate, and the clamping jaw opening drive block is located between the left clamping arm and the right clamping arm. The present invention realizes continuous conveying of multiple workpieces through a vibrating feeding plate, a horizontal sliding drive device, a material dividing mechanism and a feeding manipulator, and the multiple clamping jaws of the feeding manipulator can simultaneously convey the workpieces punched in the previous stamping process of the punching machine to the next stamping process for stamping, so that the punching machine can simultaneously perform continuous stamping on multiple workpieces. Therefore, the workpiece transfer efficiency of the present invention is high, the production efficiency is high, and full-automatic continuous high-speed production can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of feeding manipulators, and in particular to a secondary feeding manipulator. Background Art

[0002] Some existing metal parts require a set of dies for multiple continuous stampings, and there are many stamping processes. Therefore, a feeding robot is needed to grab and feed the materials quickly and step by step. However, the existing feeding robot is a single robot with slow grabbing and feeding speeds, which cannot meet the requirements of high-speed stamping of existing stamping dies, thereby reducing the production efficiency of stamping dies. Summary of the invention

[0003] The purpose of the present invention is to provide a secondary manipulator with multiple clamps capable of synchronously grasping and feeding materials, and having high feeding efficiency and production efficiency. Therefore, the present invention can meet the high requirements of high-speed continuous stamping of existing stamping dies.

[0004] The object of the present invention is achieved in that:

[0005] A two-dimensional manipulator includes a vibrating feeding plate, a horizontal sliding drive device, a material dividing mechanism, a workbench and a feeding manipulator;

[0006] The vibrating feeding plate is used to vibrate and feed the workpiece to the dispensing mechanism;

[0007] The material distribution mechanism is arranged at the discharge trough of the vibrating feeding tray and is used to deliver the workpieces one by one to the feeding robot;

[0008] The horizontal sliding drive device is used to drive the feeding robot to move forward, backward, left and right;

[0009] The feeding manipulator is arranged on the horizontal sliding drive device, and is used to grasp and transport multiple workpieces at the same time. The feeding manipulator includes a clamp opening drive device, a clamp opening drive plate, and multiple clamps. The multiple clamps are arranged on the front-to-back moving seat along the left-right direction of the horizontal sliding drive device. The clamp opening drive plate is arranged on the horizontal sliding drive device to slide along the front-to-back direction of the horizontal sliding drive device and is located on the top of the clamp. The clamp includes a left clamp arm and a right clamp arm, and the left clamp arm and the right clamp arm are arranged to slide and open along the left-to-right direction of the horizontal sliding drive device. A closing spring is arranged between the left clamp arm and the right clamp arm. Multiple clamp opening drive blocks are arranged side by side on the clamp opening drive plate, and the clamp opening drive block is located between the left clamp arm and the right clamp arm. Two driving inclined surfaces are arranged at the front end of the clamp opening drive block. The left clamp arm and the right clamp arm are arranged at the front end of the clamp opening drive block corresponding to the first driven inclined surface. The clamp opening drive device is arranged on the front-to-back moving seat, and drives the clamp opening drive plate to slide. When the left and right clamping arms of the clamping jaws are opened to the maximum, the left and right clamping arms of two adjacent clamping jaws will abut against each other, thereby preventing the left and right clamping arms from further opening and preventing the clamping jaw opening driving block from further moving forward.

[0010] The workbench is located in front of the clamping jaws and is used for placing the workpiece. The workbench is provided with a first positioning groove.

[0011] The present invention can also be further improved as follows.

[0012] The horizontal sliding drive device includes a left-right moving servo motor, a left-right moving seat, a front-and-back moving servo motor and a front-and-back moving seat. The left-and-right moving seat is arranged on a base for horizontal sliding along the left-and-right direction of the horizontal sliding drive device. The left-and-right moving servo motor is arranged on the base and is driven by a lead screw of the left-and-right moving seat. The front-and-back moving seat is arranged on the base for horizontal sliding along the front-and-back direction of the horizontal sliding drive device. The front-and-back moving servo motor is arranged on the left-and-right moving seat and is driven by a lead screw of the front-and-back moving seat.

[0013] The base is provided with left and right sliding rails along the left and right directions of the horizontal sliding drive device, and the front and rear moving seat is provided with front and rear sliding rails along the front and rear directions of the horizontal sliding drive device. The front and rear moving seat is slidably set on the front and rear sliding rails, and the left and right moving seat is slidably set on the left and right sliding rails, so that the horizontal sliding of the manipulator is stable.

[0014] The jaw opening drive device includes a jaw opening servo motor and a slider. The slider is arranged on a front-to-back moving seat and slides along the left-right direction of the horizontal sliding drive device. The jaw opening servo motor is arranged on the front-to-back moving seat and is connected to the slider screw. A driving roller is rotatably arranged on the slider. The jaw opening drive plate is provided with a second driven inclined surface corresponding to the driving roller. The driving roller abuts against the second driven inclined surface. The jaw opening servo motor drives the slider and the driving roller to slide back and forth. The driving roller presses against the second driven inclined surface. The jaw opening drive plate and the jaw opening drive slider move back and forth, thereby causing the jaw to repeatedly open and close. More specifically, due to the elastic force of the closing spring, the jaw opening drive plate and the jaw opening drive block always maintain a tendency to move backward. When the jaw opening servo motor drives the slider to slide to the left and the driving roller slides toward the highest point of the second driven inclined surface of the jaw opening driving plate, the driving roller begins to push the jaw opening driving plate and the jaw opening driving block to slide forward, and the jaw opening driving plate cannot move backward. When the jaw opening servo motor drives the slider to slide to the right and the driving roller slides toward the lowest point of the second driven inclined surface of the jaw opening driving plate, the driving roller no longer presses against the second driven inclined surface, and the opening driving plate and the jaw opening driving block can move backward.

[0015] The front end of the clamp opening drive block is in the shape of a triangular prism. When the front end of the clamp opening drive block slides forward, the two driving inclined surfaces of the triangular prism press the first driven inclined surfaces of the left and right clamp arms, pushing the left and right clamp arms to both sides, thereby opening the clamp.

[0016] The front-to-rear moving seat is provided with a first guide rail along the front-to-rear direction of the horizontal sliding drive device, and the clamping jaw opening drive plate is slidably arranged on the first guide rail, so that the clamping jaw opening drive plate and the clamping jaw opening drive block can slide stably.

[0017] A synchronous linkage component is provided between the left clamp arm and the right clamp arm, and the synchronous linkage component includes a synchronous push plate, a first synchronous linkage plate and a second synchronous linkage plate. The synchronous push plate is provided on the clamp jaw opening drive block, and the first synchronous linkage plate and the second synchronous linkage plate are symmetrically provided on the left and right sides of the synchronous push plate, respectively. The outer end of the first synchronous linkage plate is rotatably connected to the left clamp arm, the outer end of the second synchronous linkage plate is rotatably connected to the right clamp arm, and the inner end of the first synchronous linkage plate and the inner end of the second synchronous linkage plate are rotatably connected to the synchronous push plate. When the jaw opening drive block slides forward, the jaw opening drive block drives the synchronous push plate, the inner end of the first synchronous linkage plate and the inner end of the second synchronous linkage plate to move forward together, and the outer ends of the first and second synchronous linkage plates push the left clamp arm and the right clamp arm to the left and right sides respectively. On the contrary, when the jaw opening drive device no longer drives the jaw opening drive block to slide forward, the left clamp arm and the right clamp arm close under the elastic force of the closing spring, and the left clamp arm and the right clamp arm simultaneously push the inner ends of the first synchronous linkage plate and the second synchronous linkage plate inward respectively, and the inner ends of the first and second synchronous linkage plates slide backward synchronously with the jaw opening drive block. Therefore, the synchronous linkage assembly of the present invention enables the left clamp arm and the right clamp arm to close or open synchronously.

[0018] The front and rear ends of the left clamp arm and the right clamp arm are both provided with closing springs, which enable the left clamp arm and the right clamp arm to close quickly to clamp the workpiece firmly and stably. At the same time, the first driven inclined surfaces of the left clamp arm and the right clamp arm drive the clamping jaws to open and move the driving block backwards.

[0019] The front-rear moving seat is provided with a clamping jaw opening and closing guide rail along the left and right directions of the horizontal sliding driving device, and the left clamping arm and the right clamping arm are slidably arranged on the clamping jaw opening and closing guide rail, so that the left clamping arm and the right clamping arm can slide and open and close stably.

[0020] The opposite side walls of the left clamp arm and the right clamp arm are provided with clearance grooves, the clamp jaw opening drive block is located in the clearance groove, and the first driven inclined surface is located on the opposite side walls of the left clamp arm and the right clamp arm.

[0021] The plurality of clamping jaws are located at the front side of the front-rear moving seat, and the clamping jaw opening driving device is located at the rear side of the front-rear moving seat.

[0022] The material distributing mechanism comprises a material distributing base, a material distributing cylinder and a material distributing push seat, wherein the material distributing push seat is horizontally slidably arranged on the material distributing base, the material distributing cylinder is arranged on the material distributing base and is drivingly connected to the material distributing base, and a second positioning groove and a positioning plate are arranged on the material distributing base. When the discharging trough of the vibrating feeding plate conveys the workpiece to the material distributing mechanism, the second positioning groove on the material distributing push seat is aligned with the line groove on the discharging trough, and the positioning piece on the workpiece smoothly moves from the line groove to the second positioning groove, and when the material distributing cylinder drives the material distributing push seat to push the workpiece out, the second positioning groove of the material distributing push seat is aligned with the first positioning groove of the workbench, so that the clamping claw can push the workpiece onto the workbench along the second positioning line groove, and the positioning piece on the workpiece moves to the first positioning groove.

[0023] The beneficial effects of the present invention are as follows:

[0024] The present invention realizes continuous conveying of multiple workpieces through a vibrating feeding plate, a horizontal sliding driving device, a material dividing mechanism, a workbench and a feeding manipulator, and the multiple clamps of the feeding manipulator can simultaneously convey the workpieces punched in the previous punching process on the punch press to the next punching process for punching. Therefore, the multiple clamps of the present invention can continuously and synchronously convey multiple workpieces, so that the punch press can simultaneously punch multiple workpieces continuously. Therefore, the workpiece transfer efficiency of the present invention is high, the production efficiency is high, and full-automatic continuous high-speed production can be realized. Therefore, the present invention can meet the high requirements of high-speed continuous punching of existing stamping dies. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the two-dimensional manipulator of the present invention.

[0026] Figure 2 It is a structural schematic diagram of the two-dimensional manipulator of the present invention from another angle.

[0027] Figure 3 yes Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0028] Figure 4 It is a top view of the two-dimensional manipulator of the present invention.

[0029] Figure 5 It is a structural schematic diagram of the feeding robot of the present invention.

[0030] Figure 6 It is a structural schematic diagram of the feeding robot of the present invention from another angle.

[0031] Figure 7 It is a schematic diagram of the exploded structure of the feeding robot of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] Embodiment 1, as Figures 1 to 7 As shown, a two-dimensional manipulator includes a vibrating feeding plate 2, a horizontal sliding drive device 3, a material dividing mechanism 4, a workbench 6 and a feeding manipulator 5;

[0034] The vibrating feeding tray 2 is used to vibrate and feed the workpiece to the distributing mechanism 4;

[0035] The material distribution mechanism 4 is provided at the discharge trough 21 of the vibrating feeding tray 2 and is used to deliver the workpieces one by one to the feeding robot 5;

[0036] The horizontal sliding drive device 3 is used to drive the feeding robot 5 to move forward, backward, left and right;

[0037] The feeding robot 5 is arranged on the horizontal sliding drive device 3, and is used to simultaneously grasp and transport multiple workpieces 7. The feeding robot 5 includes a clamping jaw opening drive device 51, a clamping jaw opening drive plate 52, and multiple clamping jaws 53. The multiple clamping jaws 53 are arranged on the front-to-back moving seat 34 of the horizontal sliding drive device 3 along the left-right direction of the horizontal sliding drive device 3. The clamping jaw opening drive plate 52 is slidably arranged on the front-to-back moving seat 34 along the front-to-back direction of the horizontal sliding drive device 3 and is located at the top of the clamping jaw 53. The clamping jaw 53 includes a left clamping arm 54 and a right clamping arm 55. The left clamping arm 54 and the right clamping arm 55 are arranged on the front-to-back moving seat 34 of the horizontal sliding drive device 3. 55 is arranged to slide and open along the left and right directions of the horizontal sliding drive device 3, a closing spring 57 is arranged between the left clamp arm 54 and the right clamp arm 55, a plurality of clamp jaw opening drive blocks 56 are arranged side by side on the clamp jaw opening drive plate 52, the clamp jaw opening drive block 56 is located between the left clamp arm 54 and the right clamp arm 55, two driving inclined surfaces 58 are arranged at the front end of the clamp jaw opening drive block 56, the left clamp arm 54 and the right clamp arm 55 are arranged at the front end of the clamp jaw opening drive block 56 corresponding to the first driven inclined surface 59, the clamp jaw opening drive device 51 is arranged on the front and rear moving seat 34, and drives the clamp jaw opening drive plate 52 to slide. When the left and right clamp arms of the clamp jaw are opened to the maximum, the left and right clamp arms of the two adjacent clamp jaws will abut against each other, thereby preventing the left and right clamp arms from continuing to open and preventing the clamp jaw opening drive block from continuing to move forward.

[0038] The workbench 6 is located in front of the clamping jaw 53 and is used to place the workpiece 7 . A first positioning groove 61 is provided on the workbench 6 .

[0039] As a more specific technical solution of the present invention.

[0040] The horizontal sliding drive device 3 includes a base 1, a left-right moving servo motor 31, two left-right moving seats 32, two front-and-back moving servo motors 33 and a front-and-back moving seat 34. The two left-and-right moving seats 32 are respectively arranged on both sides of the base 1 for horizontal sliding along the left-and-right directions of the horizontal sliding drive device 3. The left-and-right moving servo motor 31 is arranged on the base 1 and located between the two left-and-right moving seats. The motor shaft of the left-and-right moving servo motor is screw-driven with one of the left-and-right moving seats 32. The front-and-back moving seat 34 is horizontally slidably arranged on the base 1 along the front-and-back direction of the horizontal sliding drive device 3 (the front-and-back and left-and-right directions of the horizontal sliding drive device 3 are consistent with the front-and-back and left-and-right directions of the front-and-back moving seat). The two front-and-back moving servo motors 33 are arranged on the left and right sides of the base and are located on their respective corresponding left-and-right moving seats 32. The two front-and-back moving servo motors 33 are both screw-drivenly connected with the front-and-back moving seats 34.

[0041] The base 1 is provided with left and right sliding rails 11 along the left and right directions of the horizontal sliding drive device 3, and the front and rear moving seat 34 is provided with front and rear sliding rails 12 along the front and rear directions of the horizontal sliding drive device 3. The front and rear moving seat 34 is slidably set on the front and rear sliding rails 12, and the left and right moving seat 32 is slidably set on the left and right sliding rails 11, so that the horizontal sliding of the manipulator is stable.

[0042] The clamping jaw opening drive device 51 includes a clamping jaw opening servo motor 511 and a slider 512. The slider 512 is arranged on the front-rear moving seat 34 and slides along the left-right direction of the horizontal sliding drive device 3. The clamping jaw opening servo motor 511 is arranged on the front-rear moving seat 34 and is connected to the slider 512 screw rod transmission. A driving roller 514 is rotatably arranged on the slider 512. The clamping jaw opening drive plate 52 is provided with a driven inclined plane block 510 corresponding to the driving roller 514. The moving inclined plane block 510 is provided with a second driven inclined plane 513, the second driven inclined plane 513 faces the driving roller 514, the driving roller 514 abuts against the second driven inclined plane 513, the jaw opening servo motor 511 drives the slider 512 and the driving roller 514 to slide back and forth, the driving roller 514 presses the second driven inclined plane 513, the jaw opening driving plate 52 and the jaw opening driving slider 512 move back and forth, and then the jaw 53 is repeatedly opened and closed. More specifically, due to the elastic force of the closing spring 57, the jaw opening driving plate 52 and the jaw opening driving block 56 always maintain a tendency to move backwards. When the jaw opening servo motor 511 drives the slider 512 to slide to the left and the driving roller 514 slides toward the highest point of the second driven inclined surface 513 of the jaw opening driving plate 52, the driving roller 514 begins to push the jaw opening driving plate 52 and the jaw opening driving block 56 to slide forward, and the jaw opening driving plate 52 cannot move backward. When the jaw opening servo motor 511 drives the slider 512 to slide to the right and the driving roller 514 slides toward the lowest point of the second driven inclined surface 513 of the jaw opening driving plate 52, the driving roller 514 no longer presses on the second driven inclined surface 513, and the opening driving plate and the jaw opening driving block 56 can move backward.

[0043] The front end of the clamping jaw opening driving block 56 is in the shape of a triangular prism. When the front end of the clamping jaw opening driving block 56 slides forward, the two driving inclined surfaces 58 of the triangular prism press against the first driven inclined surfaces 59 of the left and right clamping arms 54 and 55, pushing the left and right clamping arms 54 and 55 to both sides, thereby opening the clamping jaws 53.

[0044] The front-to-rear movable seat 34 is provided with a first guide rail 35 along the front-to-rear direction of the horizontal sliding drive device 3, and a sliding block 351 is slidably provided on the first guide rail 35. The jaw opening drive plate 52 is slidably provided on the sliding block 351, so that the jaw opening drive plate 52 and the jaw opening drive block 56 can slide stably.

[0045] A synchronous linkage component 515 is provided between the left clamping arm 54 and the right clamping arm 55, and the synchronous linkage component 515 includes a synchronous pushing plate 516, a first synchronous linkage plate 517 and a second synchronous linkage plate 518. The synchronous pushing plate 516 is provided on the clamping jaw opening driving block 56, and the first synchronous linkage plate 517 and the second synchronous linkage plate 518 are symmetrically provided on the left and right sides of the synchronous pushing plate 516, respectively. The outer end of the first synchronous linkage plate 517 is rotatably connected to the left clamping arm 54, and the outer end of the second synchronous linkage plate 518 is rotatably connected to the right clamping arm 55. The inner end of the first synchronous linkage plate 517 and the inner end of the second synchronous linkage plate 518 are rotatably connected to the synchronous pushing plate 516. When the jaw opening drive block 56 slides forward, the jaw opening drive block 56 drives the synchronous push plate 516, the inner end of the first synchronous linkage plate 517 and the inner end of the second synchronous linkage plate 518 to move forward together, and the outer ends of the first and second synchronous linkage plates 517 and 518 push the left clamp arm 54 and the right clamp arm 55 to the left and right sides respectively. On the contrary, when the jaw opening drive device 51 no longer drives the jaw opening drive block 56 to slide forward, the left clamp arm 54 and the right clamp arm 55 are closed under the elastic force of the closing spring 57, and the left clamp arm 54 and the right clamp arm 55 simultaneously push the inner ends of the first synchronous linkage plate 517 and the second synchronous linkage plate 518 inward respectively, and the inner ends of the first and second synchronous linkage plates 517 and 518 slide backward synchronously with the jaw opening drive block 56. Therefore, the synchronous linkage assembly 515 of the present invention enables the left clamp arm 54 and the right clamp arm 55 to be closed or opened synchronously.

[0046] The front and rear ends of the left clamp arm 54 and the right clamp arm 55 are provided with the closing spring 57. The closing spring 57 enables the left clamp arm 54 and the right clamp arm 55 to close quickly to clamp the workpiece 7, and the workpiece 7 is clamped firmly and stably. At the same time, the first driven inclined surface 59 of the left clamp arm 54 and the right clamp arm 55 drives the clamping jaw to open and the driving block 56 to move backward.

[0047] The front-rear movable seat 34 is provided with a clamping jaw opening and closing guide rail 36 along the left and right directions of the horizontal sliding drive device 3, and the left clamping arm 54 and the right clamping arm 55 are slidably arranged on the clamping jaw opening and closing guide rail 36, so that the left clamping arm 54 and the right clamping arm 55 can slide and open and close stably.

[0048] The opposite side walls of the left clamp arm 54 and the right clamp arm 55 are provided with a clearance groove 519 , the jaw opening drive block 56 is located in the clearance groove 519 , and the first driven inclined surface 59 is located on the opposite side walls of the left clamp arm 54 and the right clamp arm 55 .

[0049] The plurality of clamping jaws 53 are located at the front side of the front-rear moving base 34 , and the clamping jaw opening driving device 51 is located at the rear side of the front-rear moving base 34 .

[0050] The material distribution mechanism 4 includes a material distribution base, a material distribution cylinder 42 and a material distribution push seat 43. The material distribution push seat 43 is horizontally slidably arranged on the material distribution base 41. The material distribution cylinder 42 is arranged on the material distribution base 41 and is drivingly connected to the material distribution base 41. The material distribution base 41 is provided with a second positioning groove 44 and a positioning plate 45. When the discharge trough 21 of the vibrating feeder 2 conveys the workpiece 7 to the material distribution mechanism 4, the second positioning groove 44 on the material distribution push seat 43 is aligned with the line groove 22 on the discharge trough 21, and the positioning piece on the workpiece 7 smoothly moves from the line groove to the second positioning groove 44. When the material distribution cylinder 42 drives the material distribution push seat 43 to push the workpiece 7 out, the second positioning groove 44 of the material distribution push seat 43 is aligned with the first positioning groove 61 of the workbench, so that the clamping jaw 53 can push the workpiece 7 onto the workbench 6 along the second positioning groove 44, and the positioning piece on the workpiece 7 moves to the first positioning groove 61.

[0051] The workpiece of the present invention is a copper insert of a plug, and the present invention realizes continuous and multiple stamping of the copper insert by a mold.

[0052] Working principle of the present invention:

[0053] When the present invention is working, the vibrating feeding plate 2 starts to vibrate and output the workpiece 7 to the feeding mechanism 4, the workpiece 7 moves to the feeding pushing seat 43, the positioning piece on the workpiece 7 smoothly moves from the line groove 22 to the second positioning groove 44 of the feeding pushing seat 43, then the feeding mechanism 4 is started, the feeding cylinder 42 drives the feeding pushing seat 43 to push the workpiece 7 out, the second positioning groove 44 of the feeding pushing seat 43 is aligned with the first positioning groove 61 of the workbench, followed by the left and right movement servo motor 31 drives the entire feeding robot 5 to move left, so that the leftmost clamping jaw 53 of the feeding robot 5 is aligned with the workpiece 7, and then the clamping jaw is opened and the servo motor 511 is started, and the clamping jaw is opened. The jaw opening servo motor 511 drives the slider 512 to slide to the left. When the driving roller 514 slides toward the highest point of the second driven inclined surface 513 of the jaw opening driving plate 52, the driving roller 514 pushes the jaw opening driving plate 52 and the jaw opening driving block 56 to slide forward. The two driving inclined surfaces 58 at the front end of the jaw opening driving block 56 press the first driven inclined surfaces 59 of the left and right clamping arms 54 and 55, thereby pushing the left and right clamping arms 54 and 55 to both sides, thereby opening all the clamping jaws 53, and then the forward and backward moving servo motor 33 drives the entire feeding robot 5 to move forward. The workpiece 7 is located at the first leftmost position of the feeding robot 5. The left and right clamping arms 54 and 55 of the clamping jaws 53 are connected, and then the clamping jaw opening servo motor 511 drives the driving roller 514 to slide toward the lowest point of the second driven inclined surface 513 of the clamping jaw opening driving plate 52. Due to the elastic force of the closing spring 57, the left and right clamping arms 54 and 55 close and clamp the workpiece 7. The left and right clamping arms 54 and 55 push the clamping jaw opening driving plate 52 and the clamping jaw opening driving block 56 to move backward. Then, the left and right moving servo motor 31 drives the entire feeding robot 5 to move to the right. The first clamping jaw 53 conveys the workpiece 7 to the right to the first stamping station on the workbench 6. At the same time, the second clamping jaw 53 will The workpiece 7 punched on the first stamping station is grabbed to the second stamping station on the workbench 6, and the rear clamp 53 will also feed synchronously in the above manner. Finally, the last clamp 53 on the feeding machine will clamp the workpiece 7 on the last stamping station on the workbench 6. After all the clamps 53 complete a feeding, they will reset, and then repeat the above steps to grab the workpiece 7 of the previous stamping station to the next stamping station. Therefore, the multiple clamps of the present invention can continuously and synchronously transport multiple workpieces forward at the same time, so that the punching machine can continuously stamp multiple workpieces at the same time. Therefore, the workpiece transfer efficiency of the present invention is high, the production efficiency is high, and fully automatic continuous high-speed production can be achieved.

Claims

1. A secondary element manipulator, comprising a vibrating feeding plate, a horizontal sliding drive device, a material distribution mechanism, and a feeding manipulator; the vibrating feeding plate is used to vibrate and transport workpieces to the material distribution mechanism; The material distribution mechanism is arranged at the discharge trough of the vibrating feeding tray and is used to deliver the workpieces one by one to the feeding robot; The horizontal sliding drive device is used to drive the feeding robot to move forward, backward, left and right; The feeding robot is arranged on a horizontal sliding drive device and is used for simultaneously grasping and conveying multiple workpieces. The feeding robot comprises a clamping jaw opening drive device, a clamping jaw opening drive plate and a plurality of clamping jaws. The plurality of clamping jaws are arranged on a front-and-rear moving seat in an arranged manner along the left-and-right direction of the horizontal sliding drive device. The clamping jaw opening drive plate is slidably arranged on the horizontal sliding drive device along the front-and-rear direction of the horizontal sliding drive device. The clamping jaw comprises a left clamping arm and a right clamping arm. The left clamping arm and the right clamping arm are slidably opened and closed along the left-and-right direction of the horizontal sliding drive device. A closing spring is arranged between the left clamping arm and the right clamping arm. A plurality of clamping jaw opening drive blocks are arranged side by side on the clamping jaw opening drive plate. The clamping jaw opening drive block is located between the left clamping arm and the right clamping arm. Two driving inclined surfaces are arranged at the front end of the clamping jaw opening drive block. The left clamping arm and the right clamping arm are provided with a first driven inclined surface at the front end of the clamping jaw opening drive block corresponding to the left clamping arm and the right clamping arm. The clamping jaw opening drive device is arranged on the front-and-rear moving seat and drives the clamping jaw opening drive plate to slide. A synchronous linkage assembly is provided between the left clamp arm and the right clamp arm, and the synchronous linkage assembly includes a synchronous push plate, a first synchronous linkage plate and a second synchronous linkage plate, the synchronous push plate is provided on the clamp jaw opening drive block, the first synchronous linkage plate and the second synchronous linkage plate are symmetrically provided on the left and right sides of the synchronous push plate, respectively, the outer end of the first synchronous linkage plate is rotatably connected to the left clamp arm, the outer end of the second synchronous linkage plate is rotatably connected to the right clamp arm, and the inner ends of the first synchronous linkage plate and the second synchronous linkage plate are rotatably connected to the synchronous push plate; The horizontal sliding drive device comprises a base, a left-right moving servo motor, a left-right moving seat, a front-and-back moving servo motor and a front-and-back moving seat, the left-and-right moving seat is arranged on the base for horizontal sliding sliding along the left-and-right direction of the horizontal sliding drive device, the left-and-right moving servo motor is arranged on the base and is driven by a lead screw of the left-and-right moving seat, the front-and-back moving seat is arranged on the base for horizontal sliding sliding along the front-and-back direction of the horizontal sliding drive device, the front-and-back moving servo motor is arranged on the left-and-right moving seat and is driven by a lead screw of the front-and-back moving seat; The clamping jaw opening driving device comprises a clamping jaw opening servo motor and a slider, the slider slides along the left and right directions of the horizontal sliding driving device and is arranged on the front and rear moving seat, the clamping jaw opening servo motor is arranged on the front and rear moving seat and is connected to the slider screw rod, a driving roller is rotatably arranged on the slider, the clamping jaw opening driving plate is provided with a second driven inclined surface corresponding to the driving roller, and the driving roller abuts against the second driven inclined surface; The opposite side walls of the left clamp arm and the right clamp arm are provided with clearance grooves, the clamp jaw opening drive block is located in the clearance groove, and the first driven inclined surface is located on the opposite side walls of the left clamp arm and the right clamp arm.

2. The two-dimensional manipulator according to claim 1, characterized in that: The front-rear moving seat is provided with a clamping jaw opening and closing guide rail along the left and right directions of the horizontal sliding driving device, and the left clamping arm and the right clamping arm are slidably arranged on the clamping jaw opening and closing guide rail.

3. The two-dimensional manipulator according to claim 1, characterized in that: The base is provided with left and right sliding rails along the left and right directions of the horizontal sliding drive device, the front and rear moving seat is provided with front and rear sliding rails along the front and rear directions of the horizontal sliding drive device, the front and rear moving seat is slidably arranged on the front and rear sliding rails, and the left and right moving seat is slidably arranged on the left and right sliding rails.

4. The two-dimensional manipulator according to claim 1, characterized in that: The front-to-back moving seat is provided with a first guide rail along the front-to-back direction of the horizontal sliding driving device, and the clamping jaw opening driving plate is slidably arranged on the first guide rail.

5. The two-dimensional manipulator according to claim 1, characterized in that: The front end of the clamping jaw opening driving block is in a triangular prism shape.

6. The two-dimensional manipulator according to claim 1, characterized in that: The material dividing mechanism comprises a material dividing base, a material dividing cylinder and a material dividing push seat, wherein the material dividing push seat is horizontally slidably arranged on the material dividing base, the material dividing cylinder is arranged on the material dividing base and is drivingly connected to the material dividing base, and a positioning groove and a positioning plate are arranged on the material dividing base.

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