A fully automatic punching machine manipulator

Abstract

The present invention discloses a fully automatic punching machine type manipulator, including a manipulator arm and a grasping mechanism installed at the bottom end of the manipulator arm, the grasping mechanism includes two first fixed arms in the same direction, two second fixed arms in the same direction, and a plurality of suction cups, the first fixed arm and the second fixed arm each have at least one suction cup, the two first fixed arms and the two second fixed arms form the diagonal of the rectangular body plane, and the first fixed arm and the second fixed arm can rotate around the vertical line where the midpoint of the rectangular body plane is located as a rotating axis. The present invention also discloses a fully automatic punching machine material picking system having the fully automatic punching machine type manipulator, and also includes a workbench, a frame, and a lifting mechanism. The beneficial effects of the present invention are that the surface shape of an object is matched by changing the shape of the grasping surface, so as to achieve the technical purpose of stably grasping the object and performing feeding; the technical purpose of positioning to a certain point in three-dimensional space for operation with good stability and high precision is achieved.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a full-automatic punching machine type manipulator. Background Art

[0002] At present, robots are increasingly used in the manufacturing industry. This technology is the most widely used automated mechanical device in the field of robotics. Although they are used in different ways and for different purposes in different manufacturing industries, robots have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations. The same is true in the furniture production and processing industry. In the furniture production industry, it is necessary to process metal sheets of various sizes, shapes and specifications. In the punching process, it is usually necessary to use a robot to cooperate with a power device to grab and convey the object (metal sheet) to the punching machine. For example, the robot that performs feeding, such as the prior art publication number CN206344150U, discloses a robot device for unloading, including a punching machine and a unloading bracket arranged on one side of the punching machine, a unloading device is arranged on one side of the unloading bracket, the unloading device includes a support frame and a horizontal moving module arranged on the top of the support frame, a movable plate is arranged on the horizontal moving module, a rotating device is arranged on the movable plate, the rotating device is connected with a robot arm, a horizontal frame is arranged at the end of the robot arm, the horizontal frame is movably hinged to the robot arm, a suction cup hanging plate is arranged at the bottom of the horizontal frame, and a plurality of suction cups are arranged at the bottom of the suction cup hanging plate. The overall structure is simple, the design is reasonable, the floor space is small, the manufacturing cost is lower, and the human body's action simulation is realized. It is even better than humans in terms of spatial position accuracy. At the same time, compared with the use of robots, it greatly reduces the equipment investment cost and reduces the production cost. It has certain defects: the suction cup uses the surface of the object as a way to grasp the object, which is one of the grasping points of the manipulator. Multiple suction cups constitute the grasping surface, and the shape of the grasping surface is fixed. The actual production situation requires the conveying of objects of various shapes, sizes, and specifications. If the shape of the object surface is not suitable for the shape of the grasping surface, then the grasping state of the manipulator for the object is prone to instability, and there may even be a situation where the shape of the object surface and the grasping surface are completely mismatched, and the feeding function cannot be performed. Summary of the invention

[0003] One of the technical problems to be solved by the present invention is to provide a fully automatic punch-type robot that can match the surface shape of an object by changing the shape of the grasping surface, thereby achieving the technical purpose of stably grasping objects and performing feeding.

[0004] The present invention is achieved through the following technical solutions.

[0005] A fully automatic punching machine type manipulator comprises a manipulator arm and a grasping mechanism installed at the bottom end of the manipulator arm, wherein the grasping mechanism comprises two first fixed arms in the same direction, two second fixed arms in the same direction, and a plurality of suction cups, wherein the first fixed arm and the second fixed arm each have at least one suction cup, the two first fixed arms and the two second fixed arms form the diagonal of a rectangular body plane, and the first fixed arm and the second fixed arm can rotate around a vertical line at the midpoint of the rectangular body plane as a rotating axis.

[0006] The two first fixed arms and the two second fixed arms form a changeable rectangular body, which can match the shapes of the surfaces of most objects, thereby enhancing the versatility of the manipulator.

[0007] Furthermore, the grasping mechanism also includes a positioning column and a shell fixed at the bottom end of the robotic arm, the shell is slidably mounted outside the positioning column, the first fixed arm and the second fixed arm are both perpendicular to the axial direction of the positioning column, the two first fixed arms are driven to rotate by the positioning column, the first fixed arm and the second fixed arm rotate in opposite directions, and have the same rotation amplitude.

[0008] The first fixed arm and the second fixed arm rotate in opposite directions as a means of changing the rectangular body. In addition, the rotation amplitudes are the same, so that the length and width directions of the rectangular body will not change as the rectangular body changes.

[0009] Furthermore, the grasping mechanism also includes a first rotating cylinder and a first rotating member. The first rotating cylinder is hinged at the bottom end of the robotic arm. The first rotating member is perpendicular to the axial direction of the positioning column, one end of which is fixedly connected to the center of the top surface of the positioning column, and the other end is hinged to the piston rod of the first rotating cylinder.

[0010] Furthermore, the lower portion of the positioning column extends out of the housing, and a positioning ring is slidably sleeved on the lower portion of the positioning column, and the inner ends of the second fixing arms are fixedly connected to the positioning ring.

[0011] A positioning ring is provided as a connecting component of the second fixed arm, and its rotation does not interfere with the rotation of the positioning column, so that the first fixed arm and the second fixed arm can rotate in opposite directions.

[0012] Furthermore, the gripping mechanism also includes a second rotating cylinder and a second rotating member, the second rotating cylinder is hinged to the bottom end of the robotic arm, one end of the second rotating member is fixed to the positioning ring, and the other end is hinged to the piston rod of the second rotating cylinder.

[0013] The second rotating cylinder and the first rotating cylinder are respectively and independently rotated to rotate the first fixed arm and the second fixed arm, and the extension and contraction amount of the piston rod is adjusted to control the rotation amplitude of the first fixed arm and the second fixed arm to be the same.

[0014] Furthermore, a positioning plate is fixedly mounted on the bottom end surface of the positioning column, and the two first fixed arm portions are mounted on the positioning plate.

[0015] Providing a positioning plate as a connecting component of the first fixing arm can, on the one hand, enhance the connection stability of the first fixing arm, and on the other hand, reduce the force load on the side wall of the positioning column.

[0016] Furthermore, a mounting plate is hingedly provided at the bottom end of the robotic arm, the gripping mechanism is fixed to the bottom end surface of the mounting plate, and a swing cylinder is hingedly provided at the arm body of the robotic arm, and a piston rod of the swing cylinder is hingedly provided to the mounting plate.

[0017] By setting the mounting plate and the swing cylinder, the gripping mechanism can adjust the tilt angle to cope with the inclination of the surface of the object.

[0018] The second technical problem to be solved by the present invention is to provide a fully automatic punching machine type robot, which achieves the technical purpose of positioning the fully automatic punching machine type robot to a certain point in three-dimensional space for operation with better stability and high precision.

[0019] A fully automatic punching machine material taking system comprises a workbench, a frame, a lifting mechanism, and a fully automatic punching machine manipulator. The frame is installed on the workbench and can move horizontally along the workbench in the X direction. The lifting mechanism is installed on the frame and can move horizontally along the frame in the Y direction. The lifting mechanism is installed on the fully automatic punching machine manipulator and can drive the fully automatic punching machine manipulator to move vertically in the Z direction.

[0020] The fully automatic punching machine material picking system can enable the fully automatic punching machine type manipulator to move in three directions and can be positioned to any point in three-dimensional space.

[0021] Furthermore, the lifting mechanism includes a mounting seat, a vertically arranged moving guide rail, a lifting cylinder, and a limit rod. The mounting seat is installed on the frame, the moving guide rail is slidably matched with the mounting seat, a fixed plate is provided at the bottom of the moving guide rail, the lifting cylinder is fixed to the mounting seat, and its piston rod is fixedly connected to the fixed plate. The limit rod is vertically arranged and installed on the mounting seat, and the bottom end of the limit rod can be against the upper end surface of the fixed plate.

[0022] Furthermore, the lifting mechanism also includes a locking cylinder, which fixes the mounting seat, and the piston rod of the locking cylinder is horizontally arranged. When the limit rod abuts against the upper end surface of the fixed plate, the piston rod of the locking cylinder can be extended and abut against the lower end surface of the fixed plate.

[0023] The limit rod and the locking cylinder are set to lock the position after the fully automatic punching machine manipulator grabs the object and rises, so that the fully automatic punching machine manipulator will not shake or move in the vertical direction during the movement in the X and Y directions, thereby affecting the stability of the fully automatic punching machine manipulator grabbing the object.

[0024] Beneficial effects of the present invention:

[0025] The fully automatic punching machine manipulator provided by the present invention uses a suction cup as a grasping tool and a rectangular body as a grasping surface. The rectangular body changes its length and width through the rotation of the first fixed arm and the second fixed arm without changing the direction of the length and width. After adjustment, it can match the shape of the surface of most objects, ensuring the stability of the object in the grasping state. The fully automatic punching machine material picking system provided by the present invention can accurately position the fully automatic punching machine manipulator to any point in the three-dimensional space, and after the fully automatic punching machine manipulator grasps the object, it ensures that it will not shake or move during the three-way movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view schematic diagram of the fully automatic punching machine manipulator for implementation case 1;

[0027] Figure 2 This is a three-dimensional schematic diagram of the fully automatic punching machine manipulator for implementation case 1;

[0028] Figure 3 It is a front view schematic diagram of the grasping mechanism of implementation case 1;

[0029] Figure 4 It is a left side schematic diagram of the grasping mechanism of implementation case 1;

[0030] Figure 5 A three-dimensional schematic diagram of the grasping mechanism of implementation case 1;

[0031] Figure 6 A three-dimensional schematic diagram of the first fixed arm, the second fixed arm and the positioning column of Example 1;

[0032] Figure 7 This is a bottom view of the first fixed arm, the second fixed arm and the positioning plate of Example 1;

[0033] Figure 8 This is a three-dimensional schematic diagram of the fully automatic punching machine retrieving system for implementation case 2;

[0034] Fig. 9 This is a front view schematic diagram of the fully automatic punching machine retrieving system for implementation case 2;

[0035] Fig.10 This is a partial left view schematic diagram of the fully automatic punching machine retrieving system for implementation case 2;

[0036] Fig.11 A top view of the frame of Example 2;

[0037] Fig.12 This is a three-dimensional schematic diagram of the lifting mechanism and the sliding rod of implementation case 2. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0039] Implementation Case 1:

[0040] Reference Figure 1-Figure 7 A fully automatic punching machine type robot comprises a robot arm 1 and a grasping mechanism A, wherein the grasping mechanism A is installed at the bottom end of the robot arm 1, and the grasping mechanism A is used to grasp and carry objects, transfer the objects through other equipment matched with the fully automatic punching machine robot of the present application, transport them to the punching machine equipment to perform the punching operation, and then transport the objects to the next process. The grasping mechanism A of the present application grasps objects by suction and fixation, so the contact part between the object and the grasping mechanism A is the surface of the object. This planar contact method needs to consider the inclination angle between the surface of the object and the horizontal plane. For different inclination angles, if the grasping surface of the grasping mechanism A is not parallel to the surface of the object, on the one hand, at the moment of grasping, the adsorption force of the grasping surface on the surface of the object is unbalanced, and there is a possibility of local grasping slippage. If the inclination angle between the grasping surface and the surface of the object reaches a threshold, local grasping will be impossible. On the other hand, even if the grasping mechanism A can complete the adsorption and grasping of the object, and during the lifting process of the robot arm 1, the grasping mechanism A will gradually balance the interaction force with the object, but there will still be damage to the grasping mechanism A due to uneven force. If used for a long time, the grasping mechanism A may be damaged and deformed, thereby affecting the grasping performance. Therefore, the gripping surface of the gripping mechanism A needs to be parallel to the surface of any object to be gripped, that is, the gripping mechanism A can change its tilt angle by adjustment. A mounting plate 11 is provided at the bottom end of the mechanical arm 1. The mounting plate 11 is used to install and fix the gripping mechanism A. The mechanical arm 1 has a mounting groove 10. The mounting groove 10 can be machined and provided on the arm body of the mechanical arm 1. Alternatively, as in the present embodiment, an angle steel is provided as the mechanical arm 1, and the angle steel groove is used as the mounting groove 10. A swing cylinder 12 is installed in the mounting groove 10. Two articulated seats 13 and 14 are provided on the upper end surface of the mounting plate 11, wherein the articulated seat 13 is articulated with the bottom end of the mechanical arm 1, and the other articulated seat 14 is articulated with the piston rod of the swing cylinder 12. By driving the swing cylinder 12, the tilt angle of the mounting plate 11, that is, the tilt angle of the gripping mechanism A, can be changed.

[0041] The grasping mechanism A includes a positioning column 21, a shell 22, two first fixed arms 23, two second fixed arms 24, four suction cups 25, a first rotating cylinder 261, a first rotating member 262, a positioning ring 27, a second rotating cylinder 281, and a second rotating member 282. The shell 22 is slidably sleeved outside the positioning column 21. In this embodiment, the shell 22 is configured as a bearing. The positioning column 21 partially extends from the bottom end of the shell 22. Two mounting members 221 are fixedly disposed on the top end of the shell 22. The mounting members 221 are configured as vertical plates, and their top ends are fixed to the lower end surface of the mounting plate 11. Considering the connection stability and firmness of the grasping mechanism A, the two mounting members 221 are symmetrically disposed about the shell 22. The length directions of the two first fixed arms 23 are the same, and the length directions of the two second fixed arms 24 are the same. The first fixed arm 23 and the second fixed arm 24 are both provided with long grooves 230 and 240 along their length directions. Suction cups 25 are installed in the long grooves 230 and 240. The suction cups 25 are detachably installed, that is, the installation position of the suction cups 25 in the long grooves 230 and 240 can be adjusted. In the present embodiment, a suction cup 25 is installed in each long groove 230 and 240, and the number of suction cups 25 can also be set according to the weight of the object to be grasped.

[0042] The suction cup 25 can be set as a vacuum suction cup 25 or an electromagnetic suction cup 25. Generally speaking, due to the relatively low cost, it is a more economical choice to use a vacuum suction cup 25 to grasp an object. There are many varieties of vacuum suction cups 25. The commonly used vacuum suction cups 25 are rubber products. The vacuum suction cups 25 made of rubber also have the performance of operating at high temperatures. For heat-treated objects, this characteristic has a good adaptability, and the suction cups 25 made of silicone rubber are very suitable for grasping products with rough surfaces. In addition, in actual production, if the vacuum suction cup 25 is required to be oil-resistant, it is possible to consider using materials such as polyurethane, nitrile rubber or vinyl-containing polymers to manufacture the suction cups 25. Usually, in order to avoid scratches on the surface of the product, it is best to choose a suction cup 25 with a bellows made of nitrile rubber or silicone rubber. The material is made of nitrile rubber, which has a large tearing force and is therefore widely used in various vacuum holding devices. The electromagnetic suction cup 25 is a machine tool accessory product produced based on the electromagnetic principle. It generates magnetic force by energizing the internal coil, and tightly sucks the workpiece in contact with the surface of the panel through the magnetic conductive panel. When the coil is powered off, the magnetic force disappears to achieve demagnetization and remove the workpiece. The advantage of the electromagnetic suction cup 25 is that it can quickly grasp objects and provide a relatively stable grasping force. The disadvantage is that it has requirements on the material of the grasped object, and its cost is higher than that of the vacuum suction cup 25, and its economy is relatively poor.

[0043] The two first fixed arms 23 and the two second fixed arms 24 form the diagonal of the rectangular body plane. The first fixed arms 23 and the second fixed arms 24 can rotate around the axial direction of the positioning column 21. The first fixed arms 23 and the second fixed arms 24 are perpendicular to the axial direction of the positioning column 21. The two first fixed arms 23 are driven to rotate by the positioning column 21. The first fixed arms 23 and the second fixed arms 24 rotate in opposite directions and have the same amplitude. For different objects to be grasped by the punching machine, the shape and size of the surface are different, and the rectangular body formed by the two first fixed arms 23 and the two second fixed arms 24 can be adjusted so that the length and width of the rectangular body can match the surface of most objects, and this adjustment only changes the length and width of the rectangular body, and does not change the length and width of the rectangular body.

[0044] Regarding the connection between the two first fixed arms 23, a positioning plate 211 is fixedly mounted on the bottom end surface of the positioning column 21. In this embodiment, four symmetrically arranged fasteners 211-a are used to fix the positioning plate 211 on the bottom end surface of the positioning column 21. The positioning plate 211 is provided with at least one arc groove 211-B corresponding to each first fixed arm 23. In this embodiment, two arc grooves are provided. The inner end to the middle part of the first fixed arm 23 is fixedly connected to the arc groove 211-B by fasteners 211-b, and the middle part to the outer end of the first fixed arm 23 is located outside the positioning plate 211. The first fixed arm 23 is installed in a manner that it is indirectly fixed to the positioning column 21. When replacement or maintenance is required after long-term use, the first fixed arm 23 can be removed from the positioning plate 211. On the one hand, it is easy to operate, and on the other hand, it also reduces the direct force on the side wall of the positioning column 21, so that the rotation of the positioning column 21 in the shell 22 is smoother and more stable. Furthermore, it can also reduce damage to the side wall of the positioning column 21 and extend the service life of the positioning column 21.

[0045] Regarding the power setting of the first fixed arm 23, the first rotating cylinder 261 is hinged to the lower end surface of the mounting plate 11 through the seat body 261-A, and the first rotating member 262 is perpendicular to the axial direction of the positioning column 21. One end of the first rotating member 262 is fixedly connected to the center of the top end surface of the positioning column 21 through a fastener 262-a, and the other end is hinged to the piston rod of the first rotating cylinder 261. When it is necessary to change the pointing direction of the two first fixed arms 23, the first rotating cylinder 261 is driven, and the first rotating member 262 drives the positioning column 21 to rotate, thereby driving the two first fixed arms 23 to rotate.

[0046] As for the connection relationship between the two second fixed arms 24, the positioning ring 27 is slidably mounted on the portion of the positioning column 21 that is exposed from the bottom end of the shell 22, the upper portion of the positioning ring 27 has a circle of flange 271, and the longitudinal section of the positioning ring 27 is in a stepped shape. The inner ends of the second fixed arms 24 are fixedly connected to the lower portion of the positioning ring 27, and the rotation of the positioning ring 27 is autonomous, which complements and interferes with the rotation of the positioning column 21, thereby achieving the opposite rotation directions of the first fixed arm 23 and the second fixed arm 24.

[0047] Regarding the power setting of the second fixed arm 24, the second rotating cylinder 281 is hinged through the seat body 281-A on the lower end surface of the mounting plate 11, and the second rotating member 282 is vertically arranged, one end of which is fixedly connected to the flange 271 of the positioning ring 27, and the other end is hinged to the piston rod of the second rotating cylinder 281. When it is necessary to change the pointing direction of the two second fixed arms 24, the second cylinder is driven, and the second rotating member 282 drives the positioning ring 27 to rotate, thereby driving the two second fixed arms 24 to rotate. When driving the first rotating cylinder 261 and the second rotating cylinder 281, it is also necessary to control the extension and contraction amount of the two driving piston rods so that the rotation amplitude of the first fixed arm 23 and the second fixed arm 24 are the same.

[0048] Implementation Case 2:

[0049] Reference Figure 8-Figure 12 A fully automatic punching machine material taking system includes a workbench 101, a frame 102, a lifting mechanism 103, and a fully automatic punching machine manipulator 104. The fully automatic punching machine manipulator 104 is described in Example 1. The frame 102 is mounted on the workbench 101 and can move horizontally in the X direction along the workbench 101. The lifting mechanism 103 is mounted on the frame 102 and can move horizontally in the Y direction along the frame 102. The lifting mechanism 103 is mounted on the fully automatic punching machine manipulator 104 and can drive the fully automatic punching machine manipulator 104 to move vertically in the Z direction. Through these three moving modes, the fully automatic punching machine manipulator 104 can be moved to any specified position.

[0050] Two guide rails 101-1 along the X direction are arranged on the table top of the workbench 101, and a gear bar 101-2 along the X direction is arranged between the two guide rails 101-1. The frame 102 is arranged along the Y direction, and two groups of sliders 102-1 are arranged on the bottom surface of the inner end of the frame 102. The two groups of sliders 102-1 are respectively slidably assembled on the two guide rails 101-1, and a servo reduction motor 102-2 is installed at the inner end of the frame 102. The bottom of the servo reduction motor 102-2 passes through the frame 102 and is installed with an output gear 102-3, and the output gear 102-3 is meshed with the gear bar 101-2.

[0051] The frame 102 is provided with two sliding rods 102-4 along the Y direction, and the two sliding rods 102-4 are symmetrically arranged with respect to the frame 102. The lifting mechanism 103 includes a mounting seat 103-1, a vertically arranged movable guide rail 103-2, a lifting cylinder 103-3, and a limiting rod 103-4. The left and right ends of the mounting seat 103-1 are provided with a cylinder 103-5, and the two cylinders 103-5 are slidably mounted on the two sliding rods 102-4 respectively. A Y-direction driving cylinder 102-5 is fixedly arranged at the outer end of the frame 102, and the piston rod of the Y-direction driving cylinder 102-5 is along the Y direction and fixedly connected to the mounting seat 103-1. The movable guide rail 103-2 is slidably matched with the mounting seat 103-1, and a fixed plate 103-6 is arranged at the bottom of the movable guide rail 103-2. The lifting cylinder 103-3 is fixed on the mounting seat 103-1, and its piston rod is fixedly connected to the fixed plate 103-6. The limiting rod 103-4 is vertically arranged and installed on the mounting seat 103-1, and the bottom end of the limiting rod 103-4 can be against the upper end surface of the fixed plate 103-6. The lifting mechanism 103 also includes a locking cylinder 103-7, which fixes the mounting seat 103-1. The piston rod of the locking cylinder 103-7 is arranged horizontally. When the limit rod 103-4 abuts against the upper end surface of the fixing plate 103-6, the piston rod of the locking cylinder 103-7 can be extended and abut against the lower end surface of the fixing plate 103-6. The limit rod 103-4 and the fixing plate 103-6 can fix the position in two vertical directions when the full-automatic punching machine manipulator 104 is raised to the highest position, so as to prevent the full-automatic punching machine manipulator 104 from moving in the X and Y directions after grabbing the object. There will be no Z-direction movement or shaking, which ensures that the object is grasped stably during the process of being fed into the punching machine.

[0052] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology in this field to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic punching machine type manipulator, characterized in that: The gripping mechanism comprises a mechanical arm and a gripping mechanism installed at the bottom end of the mechanical arm, wherein the gripping mechanism comprises two first fixed arms in the same direction, two second fixed arms in the same direction, and a plurality of suction cups, wherein the first fixed arm and the second fixed arm each have at least one suction cup, the two first fixed arms and the two second fixed arms constitute the diagonal of the rectangular body plane, the first fixed arm and the second fixed arm can rotate around the vertical line where the midpoint of the rectangular body plane is located as the rotation axis, the gripping mechanism also comprises a positioning column and a shell fixed at the bottom end of the mechanical arm, the shell is slidably sleeved outside the positioning column, the first fixed arm and the second fixed arm are both perpendicular to the axial direction of the positioning column, the two first fixed arms are driven to rotate by the positioning column, the first fixed arm and the second fixed arm rotate in opposite directions, and the rotation amplitude is the same, the gripping mechanism also comprises a first rotating cylinder and a first rotating member, the first rotating cylinder is hinged to the mechanical arm The cam is connected with the piston rod of the second rotating cylinder to form a circle, and the cam is connected with the piston rod of the second rotating cylinder to form a circle.

2. A fully automatic punching machine material taking system, characterized in that: It includes a workbench, a frame, a lifting mechanism, and the fully automatic punch type robot as described in claim 1, wherein the frame is installed on the workbench and can move horizontally along the workbench in the X direction, the lifting mechanism is installed on the frame and can move horizontally along the Y direction, and the lifting mechanism is installed on the fully automatic punch type robot and can drive the fully automatic punch type robot to move vertically in the Z direction.

3. The fully automatic punching machine material taking system according to claim 2 is characterized in that: The lifting mechanism includes a mounting seat, a vertically arranged moving guide rail, a lifting cylinder, and a limit rod. The mounting seat is installed on the frame, the moving guide rail is slidably matched with the mounting seat, a fixed plate is provided at the bottom of the moving guide rail, the lifting cylinder is fixed to the mounting seat, and its piston rod is fixedly connected to the fixed plate, the limit rod is vertically arranged and installed on the mounting seat, and the bottom end of the limit rod can be against the upper end surface of the fixed plate.

4. The fully automatic punching machine material taking system according to claim 3 is characterized in that: The lifting mechanism also includes a locking cylinder, which fixes the mounting seat. The piston rod of the locking cylinder is horizontally arranged. When the limit rod abuts against the upper end surface of the fixing plate, the piston rod of the locking cylinder can be extended and abut against the lower end surface of the fixing plate.

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