沖床沖壓機械手有三個自由度:手臂伸縮，機械手手手臂在水平面內左右擺動。手指升降。這三個動作都是由氣缸來驅動的。
在生產(chan)崗位上(shang)一臺(tai)氣動式圓柱坐標機(ji)(ji)(ji)械手.用于壓力(li)機(ji)(ji)(ji)自(zi)動上(shang)料(liao)。片料(liao)堆在料(liao)筒內(nei)，由(you)機(ji)(ji)(ji)械手一片片將其取出送到壓力(li)機(ji)(ji)(ji)中。
機(ji)械手(shou)(shou)(shou)(shou)手(shou)(shou)(shou)(shou)臂上(shang)(shang)有(you)一段加工(gong)成了(le)齒(chi)條，與齒(chi)輪嚙合。當機(ji)械手(shou)(shou)(shou)(shou)手(shou)(shou)(shou)(shou)臂伸(shen)縮缸(gang)推(tui)(tui)動(dong)(dong)活(huo)塞(sai)桿作往復(fu)運(yun)(yun)動(dong)(dong)時(shi)齒(chi)輪在固定(ding)齒(chi)條上(shang)(shang)滾動(dong)(dong)，帶動(dong)(dong)機(ji)械手(shou)(shou)(shou)(shou)手(shou)(shou)(shou)(shou)臂以兩倍于桿的(de)(de)速(su)度伸(shen)縮。氣(qi)缸(gang)是(shi)(shi)手(shou)(shou)(shou)(shou)臂擺(bai)動(dong)(dong)缸(gang)，它能(neng)推(tui)(tui)動(dong)(dong)齒(chi)條作往復(fu)的(de)(de)運(yun)(yun)動(dong)(dong)，讓齒(chi)輪回(hui)轉，從而讓整個機(ji)械手(shou)(shou)(shou)(shou)手(shou)(shou)(shou)(shou)臂部分(fen)來左右擺(bai)動(dong)(dong)。機(ji)械手(shou)(shou)(shou)(shou)手(shou)(shou)(shou)(shou)指上(shang)(shang)下(xia)運(yun)(yun)動(dong)(dong)是(shi)(shi)由手(shou)(shou)(shou)(shou)指升降缸(gang)推(tui)(tui)動(dong)(dong)，手(shou)(shou)(shou)(shou)指是(shi)(shi)三個氣(qi)流負壓式的(de)(de)吸(xi)盤(pan)，當吸(xi)盤(pan)下(xia)降后緊(jin)貼在片料上(shang)(shang)時(shi)，向噴嘴通壓縮空氣(qi)，吸(xi)盤(pan)即(ji)將片料吸(xi)起(qi)來;氣(qi)源切斷后，片料落下(xia)。
當(dang)(dang)壓力機滑(hua)(hua)塊下行(xing)時(shi)(shi)，機械手(shou)(shou)(shou)開(kai)始(shi)(shi)吸(xi)料(liao)(liao)(liao)，將料(liao)(liao)(liao)吸(xi)起來后，手(shou)(shou)(shou)指(zhi)(zhi)升起，手(shou)(shou)(shou)臂(bei)(bei)逆時(shi)(shi)針(zhen)擺(bai)到送(song)料(liao)(liao)(liao)方(fang)向(xiang)，等(deng)待送(song)料(liao)(liao)(liao)。當(dang)(dang)滑(hua)(hua)塊到達下死點(dian)時(shi)(shi).手(shou)(shou)(shou)臂(bei)(bei)伸縮缸(gang)作(zuo)(zuo)動作(zuo)(zuo)，機械手(shou)(shou)(shou)開(kai)始(shi)(shi)向(xiang)前伸出，在滑(hua)(hua)塊升起后，手(shou)(shou)(shou)指(zhi)(zhi)帶著片料(liao)(liao)(liao)進到模具中心位(wei)置(zhi)，把(ba)片料(liao)(liao)(liao)放到模具內(nei)，手(shou)(shou)(shou)臂(bei)(bei)縮回，到一(yi)定(ding)距(ju)離時(shi)(shi)，手(shou)(shou)(shou)臂(bei)(bei)擺(bai)動缸(gang)開(kai)始(shi)(shi)動作(zuo)(zuo)，手(shou)(shou)(shou)臂(bei)(bei)順時(shi)(shi)針(zhen)擺(bai)動，同時(shi)(shi)繼(ji)續(xu)往回縮。當(dang)(dang)手(shou)(shou)(shou)臂(bei)(bei)完全(quan)縮回來時(shi)(shi)，允許滑(hua)(hua)塊下降。當(dang)(dang)手(shou)(shou)(shou)指(zhi)(zhi)達到貯料(liao)(liao)(liao)筒上方(fang)時(shi)(shi)，手(shou)(shou)(shou)臂(bei)(bei)即停止擺(bai)動，伸縮缸(gang)開(kai)始(shi)(shi)動作(zuo)(zuo)，手(shou)(shou)(shou)指(zhi)(zhi)下降開(kai)始(shi)(shi)吸(xi)片，進入(ru)下一(yi)個循(xun)環。
片料(liao)(liao)(liao)放(fang)在(zai)料(liao)(liao)(liao)筒(tong)內，下面有(you)一(yi)個可以升(sheng)(sheng)降(jiang)的托板，托板的升(sheng)(sheng)降(jiang)是(shi)靠一(yi)個小電動(dong)(dong)機通過(guo)傳送帶(dai)傳動(dong)(dong)、蝸輪(lun)副帶(dai)動(dong)(dong)絲杠轉動(dong)(dong)來實現的。在(zai)料(liao)(liao)(liao)筒(tong)上(shang)端裝有(you)一(yi)個無觸點的行程開關(guan)，隨(sui)著片料(liao)(liao)(liao)不斷(duan)的被(bei)取走，料(liao)(liao)(liao)垛(duo)高度(du)慢(man)慢(man)降(jiang)低。當料(liao)(liao)(liao)垛(duo)上(shang)平(ping)面低于無觸點開關(guan)時，小電動(dong)(dong)機的起動(dong)(dong)托板上(shang)升(sheng)(sheng)，待料(liao)(liao)(liao)垛(duo)升(sheng)(sheng)到(dao)一(yi)定的高度(du)時，無觸點開關(guan)又(you)被(bei)切斷(duan)電源。料(liao)(liao)(liao)垛(duo)停止(zhi)了(le)上(shang)升(sheng)(sheng)，保證(zheng)料(liao)(liao)(liao)垛(duo)的上(shang)平(ping)面始(shi)終處(chu)在(zai)手指能(neng)夠吸到(dao)的高度(du)上(shang)。
在料(liao)筒(tong)上緣還裝有(you)兩(liang)個永久磁鐵，利用同性(xing)磁場(chang)相(xiang)互排(pai)斥(chi)作用，使最上層的各相(xiang)鄰料(liao)片相(xiang)互分離，避(bi)免(mian)同時吸(xi)兩(liang)片。這種(zhong)方法(fa)只對鐵磁性(xing)材料(liao)有(you)效。
這就是(shi)沖床(chuang)沖壓機械手在崗位生產(chan)時的工作原理。
