CN103447408A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN103447408A CN103447408A CN2012101806853A CN201210180685A CN103447408A CN 103447408 A CN103447408 A CN 103447408A CN 2012101806853 A CN2012101806853 A CN 2012101806853A CN 201210180685 A CN201210180685 A CN 201210180685A CN 103447408 A CN103447408 A CN 103447408A
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- countershaft
- slide block
- axis
- main shaft
- guide rail
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Abstract
The invention discloses a mechanical arm comprising a rack, a Z-axis moving component, an X-axis moving component and a hand grab. The Z-axis moving component is arranged on the rack and can move up and down, the X-axis moving component is arranged on the Z-axis moving component and can move to the left and the right, and the hand grab is arranged on the X-axis moving component comprising a main shaft and an auxiliary shaft. The main shaft can move to the left and the right around the X axis, the auxiliary shaft is assembled on the main shaft and can move to the left and the right on the main shaft along the X axis, and corresponding driving devices are arranged on the Z-axis moving component, the main shaft and the auxiliary shaft. The X-axis moving component is designed to be a double-shaft moving structure with the main shaft and the auxiliary shaft, relative moving speed of a single hand grab on the auxiliary shaft is greatly increased, long-distance X-axis travel equipment space is greatly reduced, the mechanical arm is superior to and can replace a traditional middle material grabbing switching mode, a middle switching procedure is omitted, setup time are saved, and working efficiency and processing accuracy are improved.
Description
Technical field
The present invention relates to the mechanical automation technical field, relate in particular to a kind of manipulator for moving article, specifically be applied to the manipulator that the upper and lower material of panel beating industry is used.
Background technology
The metal plate punching industry is in the process of processing object, need to successional the punching press object be transferred in different pressing equipments, the traditional processing technology of metal plate punching industry and method are that one or two operators operate an open type or closed punch simultaneously, its job step is: first wanting punching press raw material banding machine itemize, and then with cross cut shears, raw material are cut into to the blank dimension needed, secondly the workman puts into the diel punch process to raw material, after completing, punching press, good product manually takes out again, whole production process needs more operator to be operated, the mode of production falls behind, workman's intensity is large, exist potential safety hazard significantly in process, its production efficiency is low, due to the location of punching course all by manually operating, it is difficult to position accurately, make the defective work of punching press product out more, the qualification rate of product is lower.
Thereby in prior art, occurred adopting manipulator to replace artificial mode, improve precision and efficiency; But existing manipulator otherwise be exactly that the long traveling time that causes of stroke is of a specified duration, the low and equipment of efficiency causes the space that takies large because of stroke; And baroque many hands coordinated scheme, the high and operation stability of its cost and precision are not easy to reach requirement.
Summary of the invention
For the problems referred to above, but the present invention aims to provide a kind of fast moving, takes up room little and only have the manipulator of a handgrip.
For realizing this technical purpose, the solution of the present invention is: a kind of manipulator, comprise frame, be located at Z axis action component moving up and down on frame, be arranged at the X-axis action component that can move left and right on the Z axis action component and be arranged at the handgrip on the X-axis action component, described X-axis action component consists of spindle element and countershaft part, described spindle element can move left and right along X-axis, and the countershaft part is assemblied in spindle element and can moves left and right along X-axis on this spindle element; Described Z axis action component, spindle element and countershaft part are equipped with corresponding drive unit.
As preferably, described Z axis action component comprises the Z axis guide rail, is located at the Z axis slide block on this guide rail and is installed on the Z axis servomotor on frame, is in transmission connection by drive screw between described Z axis servomotor and Z axis slide block.
As preferably, described Z axis action component also includes counter weight device.
As preferably, described spindle element comprises the main shaft guide rail that is installed on the Z axis slide block, is located at the main shaft slide block on this guide rail and is installed on the spindle servo electric machine on the Z axis slide block, described main shaft slide block is provided with tooth bar, and spindle servo electric machine is provided with the wheel and rack main shaft slide block that is in transmission connection.
As preferably, described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by screw rod transmission, be connected.
As preferably, described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by synchronous belt drive, be connected.
As preferably, described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by chain drive, be connected.
As preferably, described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the cylinder on the main shaft slide block; Described cylinder and countershaft slide block are in transmission connection, and drive the countershaft slide block to move left and right.
As preferably, described handgrip is Pneumatic vacuum sucker or magnechuck.
As preferably, described handgrip is fixedly connected with the countershaft slide block by extending arm.
This programme is by being designed to the X-axis action component double-axle sliding structure of spindle element and countershaft part, accelerated greatly to be arranged at the relative moving speed of single handgrip on the countershaft part, and will grow apart from the device space of X-axis stroke and greatly dwindle, can replace and be better than the intermediate conversion material grasping pattern of traditional two handgrips fully, not only reduce intermediate conversion links and adjusting machine time, improved especially operating efficiency and machining accuracy.
The accompanying drawing explanation
Fig. 1 is structural front view of the present invention;
Fig. 2 is structure rearview of the present invention;
Fig. 3 is structure side view of the present invention;
The structural representation that Fig. 4 is X-axis assembly of the present invention;
Fig. 5 is structure left view of the present invention;
Fig. 6 is structure right view of the present invention;
Fig. 7 is Integral combined structure schematic diagram of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
As illustrated in fig. 1 and 2, a kind of manipulator of the specific embodiment of the invention, it comprises frame 1 as pedestal, be located at Z axis action component moving up and down on this frame 1, be arranged at the X-axis action component that can move left and right on the Z axis action component and be arranged at the handgrip 5 on the X-axis action component.Manipulator is by the action up and down of Z axis action component and X-axis action component, realizes that the handgrip automation captures article and by the technical purpose of article displacement.
Z axis action component in this specific embodiment, it is more comprehensive that Fig. 2 shows, mainly by the Z axis guide rail, be located on this guide rail and the Z axis slide block 2 slided along guide rail and the Z axis servomotor 21 be installed on frame 1 form, between Z axis servomotor 21 and Z axis slide block, by drive screw 22, be in transmission connection, its principle is screw rod transmission, by the accurate rotating of servomotor, realize the upper and lower displacement accurately of Z axis slide block 2.For make servomotor and screw rod do not bear Z axis and on the deadweight of equipment, the Z axis action component also includes counter weight device 11, this device is real is prior art, in this few statement, after adopting counterweight, the power of servomotor is without very large, and, because of agravic too much impact, its displacement accuracy is ensured.
Concrete, as shown in Figure 4:
Countershaft part 4 comprises the countershaft guide rail 41 that is installed on the main shaft slide block, is located at the countershaft slide block 42 on this guide rail 41 and is installed on the countershaft servomotor on the main shaft slide block; Between countershaft servomotor and countershaft slide block by synchronous belt, also can be that chain is realized being in transmission connection, realize the precisely left and right displacement fast of countershaft slide block.Certainly, the kind of drive that the countershaft slide block moves left and right can also be the countershaft servomotor with the countershaft slide block between by screw rod transmission, be connected; Also can adopt cylinder to replace servomotor.These all belong to specific embodiments of the invention, no matter be which kind of kind of drive, all belong to protection scope of the present invention.
Handgrip 5 is fixedly connected on countershaft slide block 42 by extending arm 51, grabs closing quotation 52 for the Pneumatic vacuum sucker, and device is on gripper frame 52; it can certainly be magnechuck; or the device of other Grasp Modes, these conversion are all simple equivalents of replacing, and belong to protection scope of the present invention.
The present invention has installed X-axis and Z axis servomotor, has the free degree of 2 directions of horizontal and vertical, under the control of control system, can realize the rectilinear motion on the horizontal and vertical direction.As shown in Figure 7, manipulator of the present invention has adopted the double-axle sliding of X-axis, and in can being divided in little space, the more long-range loading and unloading work between the automatical and efficient punching press position 61 that completes stamping machine 6, replaced manually-operated; Simultaneously, the present invention also is optimized for the single arm type material grasping by traditional double-arm material grasping and intermediate conversion, has reduced intermediate conversion links and adjusting machine time, has ensured operating accuracy, has improved more greatly operating efficiency.
The above; it is only preferred embodiment of the present invention; not in order to limit the present invention, any trickle modification that every foundation technical spirit of the present invention is done above embodiment, be equal to and replace and improve, within all should being included in the protection domain of technical solution of the present invention.
Claims (10)
1. a manipulator, comprise frame, be located at Z axis action component moving up and down on frame, be arranged at the X-axis action component that can move left and right on the Z axis action component and be arranged at the handgrip on the X-axis action component, it is characterized in that: described X-axis action component consists of spindle element and countershaft part, described spindle element can move left and right along X-axis, and the countershaft part is assemblied in spindle element and can moves left and right along X-axis on this spindle element; Described Z axis action component, spindle element and countershaft part are equipped with corresponding drive unit.
2. manipulator according to claim 1, it is characterized in that: described Z axis action component comprises the Z axis guide rail, is located at the Z axis slide block on this guide rail and is installed on the Z axis servomotor on frame, is in transmission connection by drive screw between described Z axis servomotor and Z axis slide block.
3. manipulator according to claim 2, it is characterized in that: described Z axis action component also includes counter weight device.
4. manipulator according to claim 2, it is characterized in that: described spindle element comprises the main shaft guide rail that is installed on the Z axis slide block, is located at the main shaft slide block on this guide rail and is installed on the spindle servo electric machine on the Z axis slide block, described main shaft slide block is provided with tooth bar, and spindle servo electric machine is provided with the wheel and rack main shaft slide block that is in transmission connection.
5. manipulator according to claim 4 is characterized in that: described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by screw rod transmission, be connected.
6. manipulator according to claim 4 is characterized in that: described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by synchronous belt drive, be connected.
7. manipulator according to claim 4 is characterized in that: described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the countershaft servomotor on the main shaft slide block; Between described countershaft servomotor and countershaft slide block, by chain drive, be connected.
8. manipulator according to claim 4 is characterized in that: described countershaft part comprises the countershaft guide rail that is installed on the main shaft slide block, is located at the countershaft slide block on this guide rail and is installed on the cylinder on the main shaft slide block; Described cylinder and countershaft slide block are in transmission connection, and drive the countershaft slide block to move left and right.
9. according to the described manipulator of any one in claim 1 to 8, it is characterized in that: described handgrip is Pneumatic vacuum sucker or magnechuck.
10. manipulator according to claim 9, it is characterized in that: described handgrip is fixedly connected with the countershaft slide block by extending arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101806853A CN103447408A (en) | 2012-06-04 | 2012-06-04 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101806853A CN103447408A (en) | 2012-06-04 | 2012-06-04 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103447408A true CN103447408A (en) | 2013-12-18 |
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ID=49730469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101806853A Pending CN103447408A (en) | 2012-06-04 | 2012-06-04 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103447408A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015187A (en) * | 2014-05-26 | 2014-09-03 | 苏州西点金工精密机械有限公司 | Flexible stamping mechanical arm |
| CN104226841A (en) * | 2014-07-15 | 2014-12-24 | 上海交通大学 | Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm |
| CN104609167A (en) * | 2015-02-04 | 2015-05-13 | 吴中经济技术开发区越溪斯特拉机械厂 | Feeding machine X-direction drive mechanism |
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN105750437A (en) * | 2014-12-17 | 2016-07-13 | 佛山市艾乐博机器人科技有限公司 | Automatic manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1279147A (en) * | 1999-06-25 | 2001-01-10 | 三星电子株式会社 | Loading robot with weight compensative balancer |
| JP2005074475A (en) * | 2003-09-01 | 2005-03-24 | Murata Mach Ltd | Work holder |
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN101970169A (en) * | 2008-03-13 | 2011-02-09 | 依赛彼公司 | Welding crane with welding head |
| CN201900649U (en) * | 2010-12-23 | 2011-07-20 | 江苏鱼跃医疗设备股份有限公司 | Visual punching machine mechanical arm |
-
2012
- 2012-06-04 CN CN2012101806853A patent/CN103447408A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1279147A (en) * | 1999-06-25 | 2001-01-10 | 三星电子株式会社 | Loading robot with weight compensative balancer |
| JP2005074475A (en) * | 2003-09-01 | 2005-03-24 | Murata Mach Ltd | Work holder |
| CN101970169A (en) * | 2008-03-13 | 2011-02-09 | 依赛彼公司 | Welding crane with welding head |
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN201900649U (en) * | 2010-12-23 | 2011-07-20 | 江苏鱼跃医疗设备股份有限公司 | Visual punching machine mechanical arm |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015187A (en) * | 2014-05-26 | 2014-09-03 | 苏州西点金工精密机械有限公司 | Flexible stamping mechanical arm |
| CN104226841A (en) * | 2014-07-15 | 2014-12-24 | 上海交通大学 | Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm |
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN104646553B (en) * | 2014-12-11 | 2016-11-30 | 中国科学院自动化研究所北仑科学艺术实验中心 | A kind of robot manipulator structure for piece-holder carrying |
| CN105750437A (en) * | 2014-12-17 | 2016-07-13 | 佛山市艾乐博机器人科技有限公司 | Automatic manipulator |
| CN104609167A (en) * | 2015-02-04 | 2015-05-13 | 吴中经济技术开发区越溪斯特拉机械厂 | Feeding machine X-direction drive mechanism |
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| DD01 | Delivery of document by public notice |
Addressee: He Fang Document name: Notification to Make Rectification |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131218 |