High-speed cam type quadratic element feeding manipulator

Abstract

The invention relates to the technical field of feeding manipulators, in particular to a high-speed cam type quadratic element feeding manipulator. The manipulator opening and closing device is used for driving the manipulator to open and close; the manipulator translation driving device is used for driving the manipulator to translate; the manipulator opening and closing device comprises a first arm opening and closing driving mechanism and a second arm opening and closing driving mechanism, the manipulator translation driving device comprises a front-back translation plate and a front-back cylindrical cam, the front-back cylindrical cam drives the manipulator to do horizontal reciprocating motion, and the front-back cylindrical cam is driven by a rotating shaft of a punching machine to rotate; the upper table disc of the punching machine ascends and descends to drive the left cylindrical cam and the right cylindrical cam to rotate, the left cylindrical cam and the right cylindrical cam rotate to drive the multiple sets of clamping jaws of the mechanical arm to be opened or closed, and therefore the mechanical arm is driven to clamp materials, horizontally convey workpieces and unload the materials, and the punching machine can continuously punch the multiple workpieces at the same time; the workpiece transfer speed is higher, and the transfer efficiency is higher.

Description

Technical Field

[0001] The invention relates to the technical field of feeding manipulators, and in particular to a high-speed cam-type secondary element feeding manipulator. Background Art

[0002] Existing punching machines all work together with feeding robots to continuously punch multiple workpieces and perform multiple punching processes. However, the existing feeding robots have the following shortcomings: 1. The existing feeding robots are driven by their own independent power devices and cannot adapt to the punching rhythm of the punching machine, resulting in slow feeding speed. 2. The existing feeding robots are placed outside the punching machine and occupy more space, so the structure of the existing feeding manipulator needs to be further improved. In view of the above problems, a Chinese invention patent with publication number CN118699207A discloses a two-dimensional feeding manipulator for a punch press, which includes a punch press body with multiple punching stations and a two-dimensional feeding manipulator for handling materials. The two-dimensional feeding manipulator is arranged on the punch press body, and the two-dimensional feeding manipulator includes a manipulator and a manipulator opening and closing device for driving the manipulator to open and close. The punch press body is provided with an upper mold and a rotating shaft and a manipulator translation driving device for driving the manipulator to translate. The manipulator translation driving device includes a driving shaft, a bottom box, a translation plate, a cam turntable and a connecting arm. The first arm opening and closing assembly includes a first left and right translation seat, a second left and right translation seat, a front and rear translation seat and an opening roller. The two ends of the upper mold are provided with arm opening plug plates corresponding to the first arm opening and closing driving mechanism and the second arm opening and closing driving mechanism. When the upper mold descends, the arm opening plug plate will drive the two first left and right translation seats to slide back to each other in the left and right directions, and the first clamp and the second clamp quickly open. The invention uses the power (rotating axis) of the punch press to drive the two-dimensional feeding manipulator forward and backward, and the invention also uses the descent of the upper mold of the punch press to drive the two-dimensional feeding manipulator to open and close. The power of the two-dimensional feeding manipulator of the invention comes from the punch press, and the opening and closing action and translation action of the two-dimensional feeding manipulator are adapted to the punching rhythm of the punch press. However, the above mechanism has the following problems: 1. The cam disc rotates unstably and the forward and backward speed is slow. 2. Since the above two-dimensional feeding manipulator uses the arm opening plug plate on the upper mold to prop up the first arm opening and closing assembly and the second arm opening and closing assembly, each time the upper mold is replaced, the arm opening plug plate needs to be disassembled and assembled, which is very troublesome. Therefore, the structure of the existing two-dimensional feeding manipulator needs to be further improved. Summary of the invention

[0003] The purpose of the present invention is to provide a high-speed cam-type two-dimensional feeding manipulator that can adapt to the punching rhythm of a punch press, has a faster feeding speed, and is convenient for mold replacement. When the high-speed cam-type two-dimensional feeding manipulator of the present invention replaces the upper mold, there is no need to disassemble the arm to open the plug plate, and the mold replacement is convenient.

[0004] The object of the present invention is achieved in that: A high-speed cam-type secondary material feeding manipulator, comprising a manipulator, a manipulator opening and closing device for driving the manipulator to open and close, and a manipulator translation driving device for driving the manipulator to translate; The manipulator opening and closing device comprises a first arm opening and closing driving mechanism and a second arm opening and closing driving mechanism, the first arm opening and closing driving mechanism and the second arm opening and closing driving mechanism are respectively arranged at two ends of the manipulator, the structure of the first arm opening and closing driving mechanism is the same as that of the second arm opening and closing driving mechanism, the first arm opening and closing driving mechanism comprises a bottom box, a connecting device, a transmission shaft, a crank, a first arm opening and closing assembly and a second arm opening and closing assembly, the transmission shaft is horizontally rotatably arranged on the bottom box, the lower end of the connecting device is rotatably connected to the outer end of the crank, the inner end of the crank is fixed on the transmission shaft, and the first arm opening and closing assembly The structure is the same as that of the second arm opening and closing assembly. The first arm opening and closing assembly includes left and right cylindrical cams, left and right translation seats, and front and rear translation seats. The left and right translation seats are arranged on the bottom box for horizontal sliding left and right movement and are located above the left and right cylindrical cams. The front and rear translation seats are arranged on the left and right translation seats for horizontal sliding front and rear movement. The cylindrical sides of the left and right cylindrical cams are provided with left and right cam grooves. The bottom surfaces of the left and right translation seats are provided with left and right driven wheels. The left and right driven wheels extend downward into the left and right cam grooves. The left and right cylindrical cams of the first arm opening and closing assembly and the left and right cylindrical cams of the second arm opening and closing assembly are arranged on the transmission shaft and are symmetrically arranged. The manipulator translation drive device is arranged on the bottom box of the first arm opening and closing drive mechanism, and the manipulator translation drive device includes front and rear translation plates and front and rear cylindrical cams, and the cylindrical sides of the front and rear cylindrical cams are provided with front and rear cam grooves, and the front and rear cylindrical cams are rotatably arranged on the bottom box with the horizontal line as the axis of rotation, and the front and rear translation plates are horizontally slidably arranged in the bottom box and are located above the front and rear cylindrical cams, and the bottom surfaces of the front and rear translation plates are provided with front and rear driven wheels, and the front and rear driven wheels extend downward into the front and rear cam grooves, and the front and rear translation seats are slidably arranged on the front and rear translation plates. The robot includes a first arm and a second arm, two ends of the first arm are respectively arranged on the front and rear translation seats of the first arm opening and closing component of the first arm opening and closing driving mechanism and the front and rear translation seats of the first arm opening and closing component of the second arm opening and closing driving mechanism, and two ends of the second arm are respectively arranged on the front and rear translation seats of the second arm opening and closing component of the first arm opening and closing driving mechanism and the front and rear translation seats of the second arm opening and closing component of the second arm opening and closing driving mechanism, a plurality of first clamps are arranged on the first arm at intervals along its length direction, and a plurality of second clamps are arranged on the second arm corresponding to the plurality of first clamps. The present invention drives the manipulator to reciprocate horizontally through front and rear cylindrical cams. The front and rear cylindrical cams of the present invention are driven to rotate by the rotating shaft of the punch press. At the same time, the present invention utilizes the lifting and lowering of the upper platen of the punch press to drive the two left and right cylindrical cams to rotate. The two left and right cylindrical cams rotate to drive multiple groups of jaws of the manipulator to open or close, thereby driving the manipulator to clamp materials, horizontally transport workpieces and unload materials, so that the punch press can continuously punch multiple workpieces at the same time. Compared with the existing two-dimensional feeding manipulator, the workpiece transfer speed of the present invention is faster, the transfer efficiency is higher, the production efficiency is higher, the feeding is more stable, and fully automatic continuous high-speed production can be achieved.

[0005] The present invention can also be further improved as follows.

[0006] The connecting device is a cylinder, and the cylinder rod of the cylinder is rotatably connected to the crank.

[0007] The axial direction of the rotating shafts of the front and rear cylindrical cams is arranged along the front and rear sliding direction of the front and rear translation seats, and the axial direction of the transmission rotating shaft is arranged along the sliding direction of the left and right translation seats.

[0008] The manipulator opening and closing device also includes a large gear and a small gear. The large gear is coaxially arranged with the crank and is transmission-connected. The small gear is coaxially arranged with the transmission shaft and is transmission-connected. The large gear meshes with the small gear.

[0009] The manipulator translation drive device also includes a first pulley, a second pulley and a transmission belt. The first pulley is arranged on the rotating shaft of the punch press, the second pulley is coaxially arranged with the front and rear cylindrical cams and is transmission-connected, and the transmission belt connects the first pulley and the second pulley.

[0010] The front and rear cam grooves and the left and right cam grooves are cams, and both have a closest contour point and a farthest contour point.

[0011] The beneficial effects of the present invention are as follows: The present invention drives the manipulator to reciprocate horizontally through front and rear cylindrical cams. The front and rear cylindrical cams of the present invention are driven to rotate by the rotating shaft of the punch press. At the same time, the present invention utilizes the lifting and lowering of the upper platen of the punch press to drive the two left and right cylindrical cams to rotate. The two left and right cylindrical cams rotate to drive multiple groups of jaws of the manipulator to open or close, thereby driving the manipulator to clamp materials, horizontally transport workpieces and unload materials, so that the punch press can continuously punch multiple workpieces at the same time. Compared with the existing two-dimensional feeding manipulator, the workpiece transfer speed of the present invention is faster, the transfer efficiency is higher, the production efficiency is higher, the feeding is more stable, and fully automatic continuous high-speed production can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of a punch press with a high-speed cam-type secondary element feeding manipulator according to the present invention.

[0013] Figure 2 It is a structural schematic diagram of another angle of the punch press with a high-speed cam-type secondary element feeding manipulator of the present invention.

[0014] Figure 3 It is a structural schematic diagram of the third angle of the punch press with a high-speed cam-type secondary element feeding manipulator of the present invention.

[0015] Figure 4 It is a structural schematic diagram of the high-speed cam-type secondary element feeding manipulator of the present invention.

[0016] Figure 5 It is a structural schematic diagram of the high-speed cam-type two-dimensional feeding manipulator of the present invention after omitting the bottom box.

[0017] Figure 6 It is a structural schematic diagram from another angle of the high-speed cam-type two-dimensional feeding manipulator of the present invention after omitting the bottom box.

[0018] Figure 7 It is a schematic structural diagram of the third angle of the high-speed cam-type secondary element feeding manipulator of the present invention after the bottom box is omitted.

[0019] Figure 8 It is a structural schematic diagram of the first arm opening and closing driving mechanism of the present invention.

[0020] Fig. 9 It is a structural schematic diagram of the first arm opening and closing driving mechanism of the present invention from another angle.

[0021] Fig.10 It is a structural schematic diagram of the first arm opening and closing driving mechanism of the present invention after omitting the bottom box.

[0022] Fig.11 It is a structural schematic diagram of another angle of the first arm opening and closing driving mechanism of the present invention after omitting the bottom box.

[0023] Fig.12 It is a schematic structural diagram of the first arm opening and closing driving mechanism of the present invention after omitting the bottom box and the cylinder.

[0024] Fig.13 It is a structural schematic diagram from another angle of the first arm opening and closing driving mechanism of the present invention after omitting the bottom box and the cylinder.

[0025] Fig.14 It is an exploded view of the first arm opening and closing driving mechanism and the front and rear cylindrical cams of the present invention.

[0026] Fig.15 yes Fig.12 Top view of the .

[0027] Fig.16 yes Fig.15 Cross-sectional view at AA in the middle.

[0028] Fig.17 yes Fig.15 Cross-sectional view at BB in the middle.

[0029] Fig.18 It is a structural schematic diagram of the second arm opening and closing driving mechanism of the present invention.

[0030] Fig.19 It is a schematic structural diagram of the second arm opening and closing driving mechanism of the present invention after omitting the bottom box.

[0031] Fig. 20 It is a structural schematic diagram of another angle of the second arm opening and closing driving mechanism of the present invention after omitting the bottom box. 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 20As shown, a punch press with a high-speed cam-type two-dimensional feeding robot 2 includes a punch press body 1 with multiple punching stations and a high-speed cam-type two-dimensional feeding robot 2. The high-speed cam-type two-dimensional feeding robot 2 is arranged on the punch press body 1. The high-speed cam-type two-dimensional feeding robot 2 includes a robot 20, a robot translation drive device 3 for driving the robot 20 to translate, and a robot opening and closing device 4 for driving the robot 20 to open and close. The punch press body 1 is provided with an upper mold 11, a lower mold 12, an upper platen 13, a transmission shaft 16 and a rotating shaft 14. The punch body 1, the upper mold 11, the upper platen 13 of the lower mold 12, the transmission shaft 16 and the rotating shaft 14 of the present invention are all prior art. The punch body 1 is also provided with a motor, a flywheel, a gear, a clutch, a crankshaft, a connecting rod and a lifting slider. The lifting slider is fixedly connected to the upper platen 13, the upper mold 11 is fixedly connected to the bottom surface of the upper platen 13, and the lower mold 12 is provided with a mold groove corresponding to each stamping station. The mold groove is used to place and position the workpiece, and an elastic floating ejector pin for lifting the workpiece is provided in the mold groove. The driving and lifting principle of the upper mold 11 is prior art. The design principle of the existing punch is to convert circular motion into linear motion. The motor outputs power to drive the flywheel, and the clutch drives the gear, crankshaft, connecting rod, etc. to operate. The linear motion of the slider is achieved through the connecting rod transmission on the crankshaft. The slider drives the upper platen 13 and the upper mold 11 to rise and fall, thereby realizing the stamping operation. The movement from the motor to the crankshaft is circular motion, and the circular motion is converted into linear motion by the connecting rod on the crankshaft. The rotating shaft 14 of the present application is formed by extending one end of the crankshaft away from the motor out of the punch press body 1 , and one end of the rotating shaft 14 is drivingly connected to the first end of the transmission shaft 16 .

[0034] As a more specific technical solution of the present invention.

[0035] The manipulator opening and closing device 4 includes a first arm opening and closing drive mechanism 41 and a second arm opening and closing drive mechanism 42, which are respectively arranged at the two ends of the manipulator 20, and the structure of the first arm opening and closing drive mechanism 41 is the same as that of the second arm opening and closing drive mechanism 42. The first arm opening and closing drive mechanism 41 includes a bottom box 40, a connecting device 45, a transmission shaft 46, a crank 47, a first arm opening and closing assembly 43 and a second arm opening and closing assembly 44, and the transmission shaft 46 is horizontally rotatably arranged on the bottom box 40, the upper end of the connecting device 45 is rotatably connected to the upper plate 13 of the punch press, the lower end of the connecting device 45 is rotatably connected to the outer end of the crank 47, and the inner end of the crank 47 is fixed on the transmission shaft 46. The structure of the first arm opening and closing assembly 43 is the same as that of the second arm opening and closing assembly 44, and the first arm opening and closing assembly 43 includes left and right cylindrical cams 48 , a left-right translation seat 410 and a front-back translation seat 412, the left-right translation seat 410 is horizontally slidably arranged on the bottom box 40 and is located above the left-right cylindrical cams 48, the front-back translation seat 412 is horizontally slidably arranged on the left-right translation seat 410, the cylindrical side surfaces of the left-right cylindrical cams 48 are provided with left-right cam grooves 420, the bottom surface of the left-right translation seat 410 is provided with left-right driven wheels 416, the left-right driven wheels 416 extend downward into the left-right cam grooves 420, the left-right cylindrical cams 48 of the first arm opening and closing assembly 43 and the left-right cylindrical cams 48 of the second arm opening and closing assembly 44 are arranged on the transmission shaft 46 and are symmetrically arranged, the upper mold 11 is lifted and lowered to drive the connecting device to lift and lower, the lifting of the connecting device drives the crank 47 to rotate, the rotation of the crank 47 drives the transmission shaft 46 to rotate, the rotation of the transmission shaft 46 drives the left-right cylindrical cams 48 to rotate, and the rotation of the left-right cylindrical cams 48 drives the left-right translation seat 410 to move left-right.

[0036] The manipulator translation drive device 3 is arranged on the bottom box 40 of the first arm opening and closing drive mechanism 41. The manipulator translation drive device 3 includes a front and rear translation plate 32 and a front and rear cylindrical cam 31. The cylindrical side of the front and rear cylindrical cam 31 is provided with a front and rear cam groove 33. The front and rear cylindrical cam 31 is rotatably arranged on the bottom box 40 with a horizontal line as the axis of rotation. The front and rear translation plate 32 is horizontally slidably arranged in the bottom box 40 and is located above the front and rear cylindrical cam 31. The bottom surface of the front and rear translation plate 32 is provided with front and rear driven wheels 34, and the front and rear driven wheels 34 extend downward into the front and rear cam groove 33. The front and rear translation seat 412 is slidably arranged on the front and rear translation plate 32.

[0037] The robot 20 includes a first arm 21 and a second arm 22. The two ends of the first arm 21 are respectively arranged on the front and rear translation seats 412 of the first arm opening and closing component 43 of the first arm opening and closing driving mechanism 41 and the front and rear translation seats 412 of the first arm opening and closing component 43 of the second arm opening and closing driving mechanism 42. The two ends of the second arm 22 are respectively arranged on the front and rear translation seats 412 of the second arm opening and closing component 44 of the first arm opening and closing driving mechanism 41 and the front and rear translation seats 412 of the second arm opening and closing component 44 of the second arm opening and closing driving mechanism 42. The first arm 21 is provided with a plurality of first clamps 23 at intervals along its length direction, and the second arm 22 is provided with a plurality of second clamps 24 corresponding to the plurality of first clamps 23.

[0038] As a more detailed technical solution of the present invention.

[0039] The connecting device 45 is a cylinder, the cylinder body of which is rotatably connected to the upper platen 13 of the punch press, and the cylinder rod of the cylinder is rotatably connected to the crank 47. When the manipulator opening and closing device of the present invention is working, the cylinder of the present invention is in a contracted state and does not extend. Only when the present invention needs to replace the mold, it extends and maintains the extended state. After the cylinder rod of the cylinder is extended, the crank rotates downward to drive the transmission shaft to rotate forward, and the forward rotation of the transmission shaft drives the left and right cylindrical cams to rotate forward. The left and right cam grooves of the two left and right cylindrical cams respectively drive the two left and right translation seats to move in opposite directions, and the two front and rear translation seats also move in opposite directions. The two front and rear translation seats respectively drive the first arm and the second arm to move in opposite directions, and finally the manipulator is opened, so that it is convenient for workers to replace molds.

[0040] The axial direction of the rotating shafts of the front and rear cylindrical cams is arranged along the front and rear sliding direction of the front and rear translation seats, and the axial direction of the transmission rotating shaft is arranged along the sliding direction of the left and right translation seats.

[0041] The rotation axis direction of the front and rear cylindrical cams 31 is perpendicular to the axial direction of the transmission shaft 46 .

[0042] The front and rear cylindrical cams 31 are rotatably disposed on one side of the bottom box 40 of the first arm opening and closing driving mechanism 41 , and the left and right cylindrical cams 48 are located on the other side of the bottom box 40 .

[0043] The manipulator opening and closing device 4 further includes a large gear 414 and a small gear 415 . The large gear 414 is coaxially arranged with the crank 47 and is transmission-connected. The small gear 415 is coaxially arranged with the transmission shaft 46 and is transmission-connected. The large gear 414 meshes with the small gear 415 .

[0044] The diameter of the large gear 414 is greater than the diameter of the small gear 415 .

[0045] The manipulator translation drive device 3 also includes a first pulley 35, a second pulley 36 and a transmission belt 37. The first pulley 35 is arranged on the transmission shaft 16 of the punch press, the second pulley 36 is coaxially arranged with the front and rear cylindrical cams 31 and is transmission-connected, and the transmission belt 37 connects the first pulley 35 and the second pulley 36.

[0046] The front and rear translation plates 32 are provided with opening and closing guide rails 417 along the length direction of the front and rear translation plates 32 , and the front and rear translation seats 412 of the first arm opening and closing components 43 and the front and rear translation seats 412 of the second arm opening and closing components 44 are horizontally slidably arranged on the opening and closing guide rails 417 .

[0047] A first slider 418 and a second slider 419 are respectively disposed on the front-rear translation seat 412 of the first arm opening and closing assembly 43 and the front-rear translation seat 412 of the second arm opening and closing assembly 44 . The first slider and the second slider are horizontally slidably disposed on the opening and closing guide rail 417 .

[0048] The front and rear cam grooves 33 and the left and right cam grooves 420 all have a closest contour point and a farthest contour point. The front and rear cam grooves 33 are closed annular cam grooves.

[0049] The working principle of the present invention is: When the present invention is working, the punch press and the high-speed cam-type two-dimensional feeding manipulator 2 are started at the same time, the high-speed cam-type two-dimensional feeding manipulator 2 transports the workpiece forward according to each punching station, the motor of the punch press body 1 drives the rotating shaft 14 to rotate, the rotating shaft 14 drives the upper platen 13 to first descend and then ascend, the upper platen 13 drives the upper mold 11 and the cylinder to descend, the upper mold 11 and the lower mold 12 are closed up and down, the cylinder descends and drives the crank 47 to rotate downward (the cylinder rod of the cylinder does not extend), the crank 47 rotates downward and drives the transmission shaft 46 to rotate forward, the transmission shaft 46 rotates forward and drives the left and right cylindrical cams 48 to rotate forward, and the left and right cylindrical cams 48 of the two left and right cylindrical cams 48 rotate forward. The cam groove 420 drives the two left and right translation seats 410 to move away from each other, and the two front and rear translation seats 412 also move away from each other. The left and right cam grooves 420 drive the left and right driven wheels 416 to move to the farthest contour points of the left and right cam grooves 420. The two front and rear translation seats 412 drive the first arm 21 and the second arm 22 to move away from each other. The working principle of the second arm opening and closing drive mechanism 42 is the same as the working principle of the first arm opening and closing drive mechanism 41, and will not be repeated here. Finally, the manipulator 20 is opened, and the first jaw 23 and the second jaw 24 release the workpiece. At the same time, the upper mold 11 descends and punches multiple workpieces on the lower mold 12.

[0050] When the upper mold 11 is stamping, the rotating shaft 14 drives the front and rear cylindrical cams 31 to rotate through the transmission shaft 16, the first pulley 35, the transmission belt 37, and the second pulley 36, and the front and rear cam grooves 33 drive the front and rear driven wheels 34 to move to the nearest contour points of the front and rear cam grooves 33. The front and rear cylindrical cams 31 rotate to drive the front and rear translation plates 32 to retreat, and the front and rear translation plates 32 drive the two front and rear translation seats 412 to retreat, thereby driving the manipulator 20 to retreat, and the first clamp 23 and the second clamp 24 to move backward to the vicinity of the previous stamping station. Since the trajectory of the front and rear cam grooves 33 can be set according to demand, when the first clamp 23 and the second clamp 24 of the present invention just release the workpiece, a certain section of the trajectory of the front and rear cam grooves 33 does not drive the front and rear driven wheels 34 to slide forward and backward, and thus does not drive the first clamp 23 and the second clamp 24 to slide forward and backward, thereby ensuring that the first clamp 23 and the second clamp 24 accurately place the workpiece on the stamping station.

[0051] After the upper die 11 punches multiple workpieces, the motor of the punch body 1 continues to drive the rotating shaft 14 to rotate, and the rotating shaft 14 drives the upper platen 13 to rise. The elastic floating material ejector in the lower die 12 pushes the workpiece out of the die groove to facilitate the gripping of the clamping claws. The upper platen 13 drives the upper die 11 and the cylinder to rise. The rising cylinder drives the crank 47 to rotate upward (the cylinder rod of the cylinder does not extend). The crank 47 rotates upward to drive the transmission shaft 46 to rotate in the opposite direction. The reverse rotation of the transmission shaft 46 drives the left and right cylindrical cams 48 to rotate in the opposite direction. The left and right cam grooves 420 of the two left and right cylindrical cams 48 respectively drive the two left and right translation seats 410 to move toward each other, and the two front and rear translation seats 412 also move toward each other. The left and right cam grooves 420 drive the left and right driven wheels 416 to move to the nearest contour point of the left and right cam grooves 420. The two front and rear translation seats 412 respectively drive the first arm 21 and the second arm 22 to move toward each other, and the first clamping claw 23 and the second clamping claw 24 clamp the workpiece of the previous station.

[0052] At the same time, the rotation of the rotating shaft 14 drives the front and rear cylindrical cams 31 to rotate, and the front and rear cam grooves 33 drive the front and rear driven wheels 34 to move to the farthest contour points of the front and rear cam grooves 33. The rotation of the front and rear cylindrical cams 31 drives the front and rear translation plates 32 forward, and the front and rear translation plates 32 drive the two front and rear translation seats 412 forward, thereby driving the first arm 21 and the second arm 22 clamping the workpiece to slide forward to the previous workstation. Since the trajectory of the front and rear cam grooves 33 can be set according to demand, when the first clamping jaw 23 and the second clamping jaw 24 of the present invention just clamp the workpiece, a certain section of the trajectory of the front and rear cam grooves 33 does not drive the front and rear driven wheels 34 to slide forward and backward, and thus does not drive the first clamping jaw 23 and the second clamping jaw 24 to slide forward and backward, thereby ensuring that the first clamping jaw 23 and the second clamping jaw 24 accurately and firmly clamp the workpiece.

[0053] The multiple groups of clamps of the present invention can simultaneously and continuously convey multiple workpieces forward, so that the punching machine can simultaneously and continuously punch multiple workpieces. 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. For example, the first group of clamps grabs the workpiece on the first punching station and conveys it forward to the second punching station on the lower mold 12. At the same time, the second group of clamps will grab the punched workpiece on the second punching station to the third punching station on the lower mold 12, and the following clamps will also synchronously feed in the above manner. Finally, the last group of clamps will clamp the workpiece on the last punching station on the lower mold 12. After all the clamps complete one feeding, they will automatically reset, and then repeat the above steps to grab the workpiece of the previous punching station to the next punching station.

[0054] The terms first, second, etc. used in the present invention do not indicate any order, quantity or importance, but are only used for distinction.

[0055] As used in the present invention, the terms "one", "a", etc. do not indicate a limit on quantity, but indicate the existence of at least one of the mentioned objects. As used in the present invention, the terms "top", "bottom", "side", "longitudinal", "lateral", "middle", "center", "outside", "inside", "horizontal", "vertical", "left", "right", "upper", "lower", etc." indicate relative positions, not absolute positions.

[0056] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A high-speed cam-type secondary material feeding manipulator, comprising a manipulator, a manipulator opening and closing device for driving the manipulator to open and close, and a manipulator translation driving device for driving the manipulator to translate; The manipulator opening and closing device comprises a first arm opening and closing driving mechanism and a second arm opening and closing driving mechanism, the first arm opening and closing driving mechanism and the second arm opening and closing driving mechanism are respectively arranged at two ends of the manipulator, the structure of the first arm opening and closing driving mechanism is the same as that of the second arm opening and closing driving mechanism, and is characterized in that: The first arm opening and closing driving mechanism includes a bottom box, a connecting device, a transmission shaft, a crank, a first arm opening and closing assembly and a second arm opening and closing assembly. The transmission shaft is horizontally rotatably arranged on the bottom box. The lower end of the connecting device is rotatably connected to the outer end of the crank, and the inner end of the crank is fixed on the transmission shaft. The structure of the first arm opening and closing assembly is the same as that of the second arm opening and closing assembly. The first arm opening and closing assembly includes left and right cylindrical cams, left and right translation seats and front and back translation seats. The left and right translation seats are horizontally slidably arranged on the bottom box and are located above the left and right cylindrical cams. The front and back translation seats are horizontally slidably arranged on the left and right translation seats. The cylindrical side surfaces of the left and right cylindrical cams are provided with left and right cam grooves. The bottom surfaces of the left and right translation seats are provided with left and right driven wheels. The left and right driven wheels extend downward into the left and right cam grooves. The left and right cylindrical cams of the first arm opening and closing assembly and the left and right cylindrical cams of the second arm opening and closing assembly are arranged on the transmission shaft and are symmetrically arranged. The manipulator translation drive device is arranged on the bottom box of the first arm opening and closing drive mechanism, and the manipulator translation drive device includes front and rear translation plates and front and rear cylindrical cams, and the cylindrical sides of the front and rear cylindrical cams are provided with front and rear cam grooves, and the front and rear cylindrical cams are rotatably arranged on the bottom box with the horizontal line as the axis of rotation, and the front and rear translation plates are horizontally slidably arranged in the bottom box and are located above the front and rear cylindrical cams, and the bottom surfaces of the front and rear translation plates are provided with front and rear driven wheels, and the front and rear driven wheels extend downward into the front and rear cam grooves, and the front and rear translation seats are slidably arranged on the front and rear translation plates. The robot includes a first arm and a second arm, two ends of the first arm are respectively arranged on the front and rear translation seats of the first arm opening and closing component of the first arm opening and closing driving mechanism and the front and rear translation seats of the first arm opening and closing component of the second arm opening and closing driving mechanism, and two ends of the second arm are respectively arranged on the front and rear translation seats of the second arm opening and closing component of the first arm opening and closing driving mechanism and the front and rear translation seats of the second arm opening and closing component of the second arm opening and closing driving mechanism, a plurality of first clamps are arranged on the first arm at intervals along its length direction, and a plurality of second clamps are arranged on the second arm corresponding to the plurality of first clamps.

2. According to claim 1, the high-speed cam-type secondary element feeding robot is characterized in that: The connecting device is a cylinder, and the cylinder rod of the cylinder is rotatably connected to the crank.

3. According to claim 2, the high-speed cam-type secondary element feeding robot is characterized in that: The axial direction of the rotating shafts of the front and rear cylindrical cams is arranged along the front and rear sliding direction of the front and rear translation seats, and the axial direction of the transmission rotating shaft is arranged along the sliding direction of the left and right translation seats.

4. According to claim 3, the high-speed cam-type secondary element feeding robot is characterized in that: The manipulator opening and closing device also includes a large gear and a small gear. The large gear is coaxially arranged with the crank and is transmission-connected. The small gear is coaxially arranged with the transmission shaft and is transmission-connected. The large gear meshes with the small gear.

5. According to claim 4, the high-speed cam-type secondary element feeding robot is characterized in that: The manipulator translation drive device also includes a first pulley, a second pulley and a transmission belt. The second pulley is coaxially arranged with the front and rear cylindrical cams and is transmission-connected. The transmission belt connects the first pulley and the second pulley.

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