CN104226841A - Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm - Google Patents
Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm Download PDFInfo
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- CN104226841A CN104226841A CN201410438598.2A CN201410438598A CN104226841A CN 104226841 A CN104226841 A CN 104226841A CN 201410438598 A CN201410438598 A CN 201410438598A CN 104226841 A CN104226841 A CN 104226841A
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- Prior art keywords
- extension rod
- terminal
- collecting machine
- end platform
- tooling
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Abstract
The invention provides a linkage mechanism for an extending rod and a tooling of a feeding and discharging mechanical arm and relates to the technical field of machining. The linkage mechanism comprises a mechanical arm, a tail end platform, the extending rod, the tooling and a tooth-shaped belt, wherein the mechanical arm, the tail end platform, the extending rod and the tooling are sequentially arranged from top to bottom; the upper part of the tooth-shaped belt is fixed to the tail end platform and the lower part of the tooth-shaped belt is fixed to the tooling; the tooth-shaped belt moves so that the extending rod slides relative to the tail end platform; meanwhile, the tooling slides relative to the extending rod so that the synchronous movement of the extending rod and the tooling is realized. The linkage mechanism is simple in structure, low in manufacturing cost, convenient to mount and strong in adaptability; multidirectional movement driving is realized, and the feeding and discharging speeds and the production efficiency of a press line are effectively improved; the product quality of stamping parts is guaranteed.
Description
Technical field
What the present invention relates to is a kind of device of Machining Technology field, the specifically link gear of a kind of loading and unloading manipulator extension rod and terminal-collecting machine.
Background technology
Loading and unloading manipulator is widely used in all kinds of stamping line, adopts the pattern of linear 7th axle, namely adds an extension rod that can slide relative to arm end platform, greatly can improve the speed of end loading and unloading, improve work tempo.
On general stamping line, most employing special plane or artificial mode carry out loading and unloading, this is more single at product, production capacity is than better suited not high, but along with being showing improvement or progress day by day of science and technology, model change is accelerated, use special plane or manually carry out loading and unloading and just expose a lot of deficiencies, comprise automaticity and can not meet the needs of production line balance, the adjustment etc. that stability is inadequate, flexibility is unfavorable for product structure not of product quality.Introduce loading and unloading manipulator will greatly enhance productivity, simultaneously due to the raising of production automation degree, artificial error also will greatly reduce, and make product quality obtain very large improvement.The automation equipment of current most of punch line loading and unloading adopts six-shaft industrial robot, improve efficiency and the flexibility of punch line, in order to enhance productivity further, recent years, main industrial robot manufacturer, as KUKA, FUNAC, ABB is proposed the loading and unloading robot of respective additional line the 7th axle, extension rod can slide relative to robot end's flat rubber belting, terminal-collecting machine can slide relative to extension rod, these two slips are driven separately by two motors respectively, due in practical work process, these two glide directions are consistent always, can reduce by a driving by link gear, simplify and control.
Through finding that to the retrieval of prior art Chinese patent literature CN102886451, publication date 2013.01.23 describe a kind of automation loading and unloading manipulator, use when being particularly useful for the continuous punching of the multiple operation multistation of metal-pressed machine process.Robot manipulator structure is: cylinder is fixed in frame, line slideway is longitudinally fixed in frame, slide carriage is connected with the effect end of cylinder, slide block on line slideway and servomotor are all fixed on slide carriage, driving wheel is fixed on servomotor output, tooth on driving wheel and Timing Belt is connected with a joggle, ram is fixedly connected with Timing Belt by a fixed block, the regulating wheel tensioning that Timing Belt is installed by two ends, cross slideway is fixed on the bottom of slide carriage, can move up and down with slide carriage, ram relies on the relative sliding on the guiding occurred level direction of cross slideway with described fixed head, the two ends of ram are provided with clamping device.But in this technology, the guide rail be connected with ram is be fixedly connected with the connected mode of slide carriage, the working range of ram left and right directions and the length of guide rail, its working space is restricted.
Summary of the invention
The present invention is directed to prior art above shortcomings, the link gear of a kind of loading and unloading manipulator extension rod and terminal-collecting machine is provided, while enhancing productivity, reduces the complexity of control as far as possible.
The present invention is achieved by the following technical solutions, comprise: manipulator, end platform, extension rod, terminal-collecting machine and cog belt, wherein: manipulator, end platform, extension rod and terminal-collecting machine set gradually from top to bottom, top and the end platform of cog belt fix, bottom and terminal-collecting machine fix, cog belt motion makes extension rod slide relative to end platform, and simultaneously terminal-collecting machine slides relative to extension rod, realizes being synchronized with the movement of extension rod and terminal-collecting machine.
The below of described end platform has the first gathering sill, and the top of extension rod is provided with the first guide rail, and the first gathering sill and the first guide rail match and realize the slip of extension rod relative to end platform.
The below of described extension rod is provided with the second guide rail, and the top of terminal-collecting machine has the second gathering sill, and the second guide rail and the second gathering sill match and realize the slip of terminal-collecting machine relative to extension rod.
The two ends of described extension rod are respectively equipped with a driven wheel to drive the motion of cog belt, and two driven wheels are drive or single driving simultaneously.
Technique effect
Compared with prior art, terminal-collecting machine of the present invention is connected in rail plate mode with extension rod, simultaneously, extension rod and moving platform are also connected in rail plate mode, two sliding motions are connected by Timing Belt and realize interlock, the side-to-side movement scope of terminal-collecting machine is the twice of rail length, adds the working space of terminal-collecting machine at left and right directions.Structure of the present invention is simple, low cost of manufacture, easy for installation and strong adaptability, realizes multi-faceted motion and drives, effectively improve punch line loading and unloading speed and production efficiency, ensure that the product quality of stamping parts.
Accompanying drawing explanation
Fig. 1 is structure chart of the present invention;
Fig. 2 is the structural representation of extension rod and terminal-collecting machine interlock.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As depicted in figs. 1 and 2, the present embodiment comprises: manipulator 1, end platform 2, extension rod 4, terminal-collecting machine 7 and cog belt 9, wherein: manipulator 1, end platform 2, extension rod 4 and terminal-collecting machine 7 set gradually from top to bottom, top and the end platform 2 of cog belt 9 fix, bottom and terminal-collecting machine 7 fix, cog belt 9 motion makes extension rod 4 slide relative to end platform 2, and simultaneously terminal-collecting machine 7 slides relative to extension rod 4, realizes being synchronized with the movement of extension rod 4 and terminal-collecting machine 7.
In the present embodiment, in the middle part of the upper strata of cog belt 9 12 with end platform 2 concrete mutually, in the middle part of lower floor 13 with terminal-collecting machine 7 concrete mutually.
The below of described end platform 2 has the first gathering sill 3, and the top of extension rod 4 is provided with the first guide rail 5, first gathering sill 3 and the first guide rail 5 and matches and realize the slip of extension rod 4 relative to end platform 2.
The below of described extension rod 4 is provided with the second guide rail 6, and the top of terminal-collecting machine 7 has the second gathering sill 8, second guide rail 6 and the second gathering sill 8 and matches and realize the slip of terminal-collecting machine 7 relative to extension rod 4.
The two ends of described extension rod 4 are respectively equipped with a driven wheel 10 to drive the motion of cog belt 9, and two driven wheels 10 are drive or single driving simultaneously.
Driven wheel 10 is driven by drive motors 11.
During the present embodiment work, drive motors 11 drives driven wheel 10 to rotate, when driven wheel 10 rotates counterclockwise, because the upper strata left-hand component of cog belt 9 shortens, right-hand component extends, extension rod 4 moves right relative to platform 2, simultaneously, driven wheel 10 drives cog belt 9 to move, the movement of cog belt 9 makes terminal-collecting machine 7 move right relative to extension rod 4, extension rod 4 and terminal-collecting machine 7 can be driven to move right by rotating counterclockwise of driven wheel 10 simultaneously, otherwise, when driven wheel 10 rotates clockwise, extension rod 4 and terminal-collecting machine 7 are simultaneously to left movement, achieve the interlock of the motion of extension rod 4 and terminal-collecting machine 7.
Claims (3)
1. the link gear of a loading and unloading manipulator extension rod and terminal-collecting machine, it is characterized in that, comprise: manipulator, end platform, extension rod, terminal-collecting machine and cog belt, wherein: manipulator, end platform, extension rod and terminal-collecting machine set gradually from top to bottom, top and the end platform of cog belt fix, bottom and terminal-collecting machine fix, cog belt motion makes extension rod slide relative to end platform, simultaneously terminal-collecting machine slides relative to extension rod, realizes being synchronized with the movement of extension rod and terminal-collecting machine;
The below of described end platform has the first gathering sill, and the top of extension rod is provided with the first guide rail, and the first gathering sill and the first guide rail match and realize the slip of extension rod relative to end platform.
2. link gear according to claim 1, is characterized in that, the below of described extension rod is provided with the second guide rail, and the top of terminal-collecting machine has the second gathering sill, and the second guide rail and the second gathering sill match and realize the slip of terminal-collecting machine relative to extension rod.
3. link gear according to claim 2, is characterized in that, the two ends of described extension rod are respectively equipped with a driven wheel to drive the motion of cog belt, and two driven wheels are drive or single driving simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410438598.2A CN104226841A (en) | 2014-07-15 | 2014-08-29 | Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410336229 | 2014-07-15 | ||
| CN201410336229.2 | 2014-07-15 | ||
| CN201410438598.2A CN104226841A (en) | 2014-07-15 | 2014-08-29 | Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104226841A true CN104226841A (en) | 2014-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410438598.2A Pending CN104226841A (en) | 2014-07-15 | 2014-08-29 | Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104226841A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108796832A (en) * | 2018-07-03 | 2018-11-13 | 无锡吉兴汽车声学部件科技有限公司 | A kind of automobile inner decoration production line raw material feeding acupuncture mechanism |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5874227A (en) * | 1981-10-27 | 1983-05-04 | Orii Jidoki Seisakusho:Kk | Automatic feed device of workpiece |
| US4574941A (en) * | 1983-04-14 | 1986-03-11 | Toyota Jidosha Kabushiki Kaisha | Workpiece conveying apparatus |
| CN2407898Y (en) * | 2000-02-02 | 2000-11-29 | 中国科学院沈阳自动化研究所 | Automatic loading and unloading mechanical hand for punching |
| CN201350629Y (en) * | 2009-02-13 | 2009-11-25 | 青岛华东工程机械有限公司 | Manipulator |
| CN103447408A (en) * | 2012-06-04 | 2013-12-18 | 何芳 | Mechanical arm |
-
2014
- 2014-08-29 CN CN201410438598.2A patent/CN104226841A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5874227A (en) * | 1981-10-27 | 1983-05-04 | Orii Jidoki Seisakusho:Kk | Automatic feed device of workpiece |
| US4574941A (en) * | 1983-04-14 | 1986-03-11 | Toyota Jidosha Kabushiki Kaisha | Workpiece conveying apparatus |
| CN2407898Y (en) * | 2000-02-02 | 2000-11-29 | 中国科学院沈阳自动化研究所 | Automatic loading and unloading mechanical hand for punching |
| CN201350629Y (en) * | 2009-02-13 | 2009-11-25 | 青岛华东工程机械有限公司 | Manipulator |
| CN103447408A (en) * | 2012-06-04 | 2013-12-18 | 何芳 | Mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108796832A (en) * | 2018-07-03 | 2018-11-13 | 无锡吉兴汽车声学部件科技有限公司 | A kind of automobile inner decoration production line raw material feeding acupuncture mechanism |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20141224 |