CN104325461A - Single-arm manipulator - Google Patents
Single-arm manipulator Download PDFInfo
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- CN104325461A CN104325461A CN201410551078.2A CN201410551078A CN104325461A CN 104325461 A CN104325461 A CN 104325461A CN 201410551078 A CN201410551078 A CN 201410551078A CN 104325461 A CN104325461 A CN 104325461A
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- mainboard
- arm
- reductor
- terminal
- translation
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Abstract
The invention relates to a single-arm manipulator which comprises a beam, a translating main board, a rotating main board, an arm, a tooling, a translating main board driving device, a rotating main board driving device, an arm driving device and a tooling driving device, wherein the beam is horizontally arranged between two presses; the translating main board is arranged on the beam in a sliding manner by a guide rail I; the rotating main board is rotationally arranged on the translating main board; the rotating axis of the rotating main board is vertical to the translating main board; the arm is arranged on the rotating main board in the sliding manner by a guide rail II; the tooling is used for rotating the end part of the arm; the rotating axis of the tooling is vertical to the arm; the translating main board driving device is used for enabling the translating main board to move relative to the beam; the rotating main board driving device is used for enabling the rotating main board to rotate relative to the translating main board; the arm driving device is used for enabling the arm to move relative to the rotating main board; the tooling driving device is used for enabling the tooling to rotate relative to the arm. The beam is arranged between the two presses, and thus, a conveying stroke of a workpiece is increased, conveying efficiency is improved, cost of a conveyor is reduced, and an installation space of a unit is saved.
Description
Technical field
The present invention relates to a kind of work handling device, be specifically related to a kind of for the tool conveying mechanical arm between forcing press.
Background technology
The device major part that current automobile stamping workshop is used for workpiece conveying between forcing press is general six degree of freedom articulated robot, but all-purpose robot use cost is high, porter does low to the performance utilization rate of robot, especially robot is by the restriction of its travel, operating efficiency is serious by the impact of press spacing, carries inefficiency or cannot use at the workpiece of large distance.
Summary of the invention
The present invention, in order to overcome the deficiency of above technology, provides that a kind of efficiency is high, the single arm robot of low cost of manufacture.
The present invention overcomes the technical scheme that its technical problem adopts:
This single arm robot, comprising:
Crossbeam, it is horizontally placed between two forcing presses;
Translation mainboard, it is slidably mounted on crossbeam by guide rail I;
Rotary mainboard, its rotation is installed on translation mainboard, and its rotation is perpendicular to translation mainboard;
Arm, it is slidably mounted on rotary mainboard by guide rail II;
Terminal-collecting machine, it rotates the end of arm, and its rotation is perpendicular to arm;
Also comprise the translation mainboard drive unit for making translation mainboard move relative to crossbeam, for rotary mainboard relative translation mainboard is rotated rotary mainboard drive unit, for making the arm drive unit that arm moves relative to rotary mainboard and the terminal-collecting machine drive unit making terminal-collecting machine relative arm rotate.
Above-mentioned translation mainboard drive unit comprises the tooth bar I be installed on crossbeam, the reductor I be installed on translation mainboard, the motor I being connected to reductor I input and the gear I be installed on reductor I output shaft, and described gear I is meshed with tooth bar I.
Above-mentioned rotary mainboard drive unit comprises the reductor III be installed on translation mainboard, is connected to the motor III of reductor III input, the revolving support of the band external tooth be installed on translation mainboard, be installed on gear II on reductor III output shaft and transition rings, the rotation of described transition rings one end is installed on the revolving support of band external tooth, its other end is installed on rotary mainboard, and described gear II is meshed with the revolving support of band external tooth.
Above-mentioned arm drive unit comprises the tooth bar II be installed on arm, the reductor IV be installed on rotary mainboard, the motor IV being connected to reductor IV input and the gear III be installed on reductor IV output shaft, and described gear III is meshed with tooth bar II.
Above-mentioned terminal-collecting machine drive unit comprise the dual output being installed on arm end reductor II, be connected to reductor II input motor II, rotate and be installed on the connecting axle of reductor II two outputs, described terminal-collecting machine is fixed on connecting axle.
In order to improve rigidity of support, also comprise the bearing block being installed on reductor II output, the bearing be installed in bearing block, described connecting axle rotates and is installed in the inner ring of bearing.
Conveniently quick better terminal-collecting machine, also comprise center and be fixed on the connecting plate on connecting axle and be arranged at the terminal-collecting machine clamping device at two ends, connecting plate left and right respectively, described terminal-collecting machine is detachably installed on connecting plate by terminal-collecting machine clamping device.
In order to prevent repeatedly rolling over tracheae in rotary course, also comprise be fixed on connecting axle and rotate the ventilation ring be installed in bearing block, be along the circumferential direction arranged at cannelure on ventilation ring, be arranged on ventilation ring outer surface and with cannelure be conducted for installing the venthole of gas-tpe fitting and being arranged at bearing block outer surface and the air admission hole for installing gas-tpe fitting be conducted with cannelure, described ventilation ring and bearing block touching position are provided with sealing ring.
Above-mentioned terminal-collecting machine clamping device comprises clamp, be arranged at clamp in and the installing hole matched with terminal-collecting machine installation end diameter, described clamp upper end is provided with fluting, described fluting is communicated with installing hole, clamp upper end is divided into two jig arm by it, and screw is combined in another jig arm through after a jig arm.
The invention has the beneficial effects as follows: during work, translation mainboard drive unit drives translation mainboard along crossbeam to the complete forcing press lateral movement of punching press, the rotary mainboard 7 of rotary mainboard drive unit driving simultaneously rotates and arm drive unit drives arm to stretch, terminal-collecting machine is made to enter in the complete die of press of punching press, in order to when keeping grabbing workpiece, attitude remains unchanged, terminal-collecting machine drive unit drives terminal-collecting machine to rotate simultaneously, thus ensures that the vacuum cup below terminal-collecting machine can adsorb workpiece smoothly.After absorption, arm drive unit drives arm to retract, rotary mainboard drive unit drives rotary mainboard to carry out the rotation of approximate 180 ° simultaneously, translation mainboard drive unit drives the counter motion of translation mainboard to make it move to forcing press side to be punched, arm drive unit drives arm to stretch out afterwards, terminal-collecting machine drive unit drives terminal-collecting machine to carry out rotation to carry out attitude matching, guarantee that workpiece enters in mould simultaneously.Because crossbeam is arranged between two forcing presses, therefore increases the delivery stroke of workpiece, improve transfer efficiency, reduce the cost of conveyer, save the installing space of unit.
Accompanying drawing explanation
Fig. 1 is perspective view 1 of the present invention;
Fig. 2 is perspective view 2 of the present invention;
Fig. 3 is translation mainboard drive unit cross-sectional view of the present invention;
Fig. 4 is rotary mainboard drive unit cross-sectional view of the present invention;
Fig. 5 is arm drive unit cross-sectional view of the present invention;
Fig. 6 is terminal-collecting machine drive unit cross-sectional view of the present invention;
Fig. 7 is ventilation ring portion position of the present invention cross-sectional view;
Fig. 8 is terminal-collecting machine clamping device structural representation of the present invention;
In figure, 1. revolving support 21. transition rings 22. reductor IV 23. gear III 24. bearing block 25. of crossbeam 2. guide rail I 3. tooth bar I 4. translation mainboard 5. motor I 6. reductor I 7. rotary mainboard 8. arm 9. motor II 10. reductor II 11. terminal-collecting machine 12. workpiece 13. motor III 14. reductor III 15. motor IV 16. guide rail II 17. tooth bar II 18. gear I 19. gear II 20. band external tooth ring 26. clamp 27. connecting axle 28. connecting plate 29. bearing 30. sealing ring 31. cannelure 32. venthole 33. air admission hole 34. of taking a breath is slotted 35. screws.
Detailed description of the invention
Below in conjunction with accompanying drawing 1 to accompanying drawing 8, the present invention is described further.
This single arm robot, comprising:
Crossbeam 1, it is horizontally placed between two forcing presses;
Translation mainboard 4, it is slidably mounted on crossbeam 1 by guide rail I 2;
Rotary mainboard 7, its rotation is installed on translation mainboard 4, and its rotation is perpendicular to translation mainboard 4;
Arm 8, it is slidably mounted on rotary mainboard 7 by guide rail II 16;
Terminal-collecting machine 11, it rotates the end of arm 8, and its rotation is perpendicular to arm 8;
Also comprise the translation mainboard drive unit for making translation mainboard 4 move relative to crossbeam 1, for rotary mainboard 7 relative translation mainboard 4 is rotated rotary mainboard drive unit, for making the arm drive unit that arm 8 moves relative to rotary mainboard 7 and the terminal-collecting machine drive unit making terminal-collecting machine 11 relative arm 8 rotate.During work, translation mainboard drive unit drives translation mainboard 4 along crossbeam 1 to the complete forcing press lateral movement of punching press, the rotary mainboard 7 of rotary mainboard drive unit driving simultaneously rotates and arm drive unit drives arm 8 to stretch, terminal-collecting machine 11 is made to enter in the complete die of press of punching press, in order to when keeping grabbing workpiece 12, attitude remains unchanged, terminal-collecting machine drive unit drives terminal-collecting machine 11 to rotate simultaneously, thus ensures that the vacuum cup below terminal-collecting machine 11 can adsorb workpiece 12 smoothly.After absorption, arm drive unit drives arm 8 to retract, rotary mainboard drive unit drives rotary mainboard to carry out the rotation of approximate 180 ° simultaneously, translation mainboard drive unit drives the counter motion of translation mainboard 4 to make it move to forcing press side to be punched, arm drive unit drives arm 8 to stretch out afterwards, terminal-collecting machine drive unit drives terminal-collecting machine 11 to carry out rotation to carry out attitude matching, guarantee that workpiece 12 enters in mould simultaneously.Because crossbeam 1 is arranged between two forcing presses, therefore increases the delivery stroke of workpiece 12, improve transfer efficiency, reduce the cost of conveyer, save the installing space of unit.
As shown in Figure 3, translation mainboard drive unit can be following structure, it comprises the tooth bar I 3 be installed on crossbeam 1, the reductor I 6 be installed on translation mainboard 4, the motor I 5 being connected to reductor I 6 input and the gear I 18 be installed on reductor I 6 output shaft, and gear I 18 is meshed with tooth bar I 3.Motor I 5 rotating drive reductor I 6 rotates, slow down through reductor I 6 and amplify the rotation of moment of torsion rear drive gear I 18, because gear I 18 is meshed with tooth bar I 3, therefore achieve and drive translation mainboard 4 along the object of guide rail I 2 relative to crossbeam 1 movement.
As shown in Figure 4, rotary mainboard drive unit can be following structure, it comprises the reductor III 14 be installed on translation mainboard 4, be connected to the motor III 13 of reductor III 14 input, the revolving support 20 of the band external tooth be installed on translation mainboard 4, be installed on gear II 19 on reductor III 14 output shaft and transition rings 21, the rotation of transition rings 21 one end is installed on the revolving support 20 of band external tooth, its other end is installed on rotary mainboard 7, and gear II 19 is meshed with the revolving support 20 of band external tooth.Motor III 13 rotating drive reductor III 14 rotates, reductor III 14 slows down and amplifies the rotation of moment of torsion rear drive gear II 19, because the revolving support 20 of gear II 19 with band external tooth is meshed, therefore the revolving support 20 with external tooth is rotated by driving, rotates eventually through transition rings 21 driven rotary mainboard 7.
As shown in Figure 5, arm drive unit can be following structure, it comprises the tooth bar II 17 be installed on arm 8, the reductor IV 22 be installed on rotary mainboard 7, the motor IV 15 being connected to reductor IV 22 input and the gear III 23 be installed on reductor IV 22 output shaft, and gear III 23 is meshed with tooth bar II 17.Motor IV 15 rotating drive reductor IV 22 rotates, and reductor IV 22 slows down and amplifies the rotation of moment of torsion rear drive gear III 23, because gear III 23 is meshed with tooth bar II 17, therefore achieves the object driving arm 8 along guide rail II 16 movement.
As shown in Figure 6, terminal-collecting machine drive unit can be following structure, it comprise the dual output being installed on arm 8 end reductor II 10, be connected to reductor II 10 input motor II 9, rotate and be installed on the connecting axle 27 of reductor II 10 two outputs, terminal-collecting machine 11 is fixed on connecting axle 27.Motor II 9 rotating drive reductor II 10 rotates, reductor II 10 slows down after amplification moment of torsion, two connecting axles 27 are driven to rotate, thus achieve the object of driving two terminal-collecting machines 11 rotations, owing to adopting the reductor II 10 of dual output, therefore can drive the action of two terminal-collecting machines 11 simultaneously, therefore improve the pick-up capability to large-scale workpiece.
As shown in Figure 7, can also comprise the bearing block 24 being installed on reductor II 10 output, the bearing 29 be installed in bearing block 24, connecting axle 27 rotates and is installed in the inner ring of bearing 29.The rigidity of support to connecting axle 27 is further increased by the bearing 29 in bearing block 24.After terminal-collecting machine 11 adsorbs workpiece 12, connecting axle 27 not easily deforms, and improves the reliability of equipment.
Due to the workpiece 12 for different size, the vacuum cup position on terminal-collecting machine 11 is not identical, if all adjusted according to workpiece 12 at every turn, bothers very much.Therefore as shown in Figure 6, can also comprise center and be fixed on the connecting plate 28 on connecting axle 27 and be arranged at the terminal-collecting machine clamping device at connecting plate about 28 two ends respectively, terminal-collecting machine 11 is detachably installed on connecting plate 28 by terminal-collecting machine clamping device.Workpiece 12 for different size relates to many cover terminal-collecting machines 11, when using at every turn, is installed fixing, be convenient for changing the terminal-collecting machine 11 of dimension, improve efficiency by terminal-collecting machine clamping device.As shown in Figure 8, terminal-collecting machine clamping device can comprise clamp 26 for following structure, be arranged in clamp 26 and the installing hole matched with terminal-collecting machine 11 installation end diameter, clamp 26 upper end is provided with fluting 34, fluting 34 is communicated with installing hole, clamp 26 upper end is divided into two jig arm by it, and screw 35 is combined in another jig arm through after a jig arm.Be inserted into after in installing hole by terminal-collecting machine 11, tightening screw 35, two jig arm come closer, thus the diameter of installing hole diminishes, thus are added by the installation end of terminal-collecting machine 11 and fasten.
As shown in Figure 7, can also comprise be fixed on connecting axle 27 and rotate the ventilation ring 25 be installed in bearing block 24, be along the circumferential direction arranged at cannelure 31 on ventilation ring 25, be arranged on ventilation ring 25 outer surface and with cannelure 31 be conducted for installing the venthole 32 of gas-tpe fitting and being arranged at bearing block 24 outer surface and the air admission hole 33 for installing gas-tpe fitting be conducted with cannelure 31, ventilation ring 25 is provided with sealing ring 30 with bearing block 24 touching position.Gas-tpe fitting is screwed in respectively in each venthole 32 and air admission hole 33, air inlet pipe is connected to the gas-tpe fitting on air admission hole, each vacuum cup on terminal-collecting machine 11 is connected on the gas-tpe fitting on venthole 32 respectively by tracheae, when connecting axle 27 drives terminal-collecting machine 11 to rotate, compressed air enters rear inflow and takes a breath in the cannelure 31 of ring 25 from air admission hole 33, flowed out by the venthole 32 be communicated with cannelure 31, because sealing ring 30 can guarantee that ventilation ring 25 is air tight in rotating, therefore effectively can prevent that tracheae is direct-connected causes repeatedly losing money in business in terminal-collecting machine 11 rotates the situation that tracheae causes tracheae to damage, improve the reliability that this single arm robot uses.
Claims (9)
1. a single arm robot, is characterized in that: comprise
Crossbeam (1), it is horizontally placed between two forcing presses;
Translation mainboard (4), it is slidably mounted on crossbeam (1) by guide rail I (2);
Rotary mainboard (7), its rotation is installed on translation mainboard (4), and its rotation is perpendicular to translation mainboard (4);
Arm (8), it is slidably mounted on rotary mainboard (7) by guide rail II (16);
Terminal-collecting machine (11), it rotates the end of arm (8), and its rotation is perpendicular to arm (8);
Also comprise the translation mainboard drive unit for making translation mainboard (4) move relative to crossbeam (1), for rotary mainboard (7) relative translation mainboard (4) is rotated rotary mainboard drive unit, for making the arm drive unit that arm (8) moves relative to rotary mainboard (7) and the terminal-collecting machine drive unit making terminal-collecting machine (11) relative arm (8) rotate.
2. single arm robot according to claim 1, it is characterized in that: described translation mainboard drive unit comprises the tooth bar I (3) be installed on crossbeam (1), the reductor I (6) be installed on translation mainboard (4), the motor I (5) being connected to reductor I (6) input and the gear I (18) be installed on reductor I (6) output shaft, and described gear I (18) is meshed with tooth bar I (3).
3. single arm robot according to claim 1, it is characterized in that: described rotary mainboard drive unit comprises the reductor III (14) be installed on translation mainboard (4), be connected to the motor III (13) of reductor III (14) input, be installed on the revolving support (20) of the band external tooth on translation mainboard (4), be installed on the gear II (19) on reductor III (14) output shaft and transition rings (21), the rotation of described transition rings (21) one end is installed on the revolving support (20) of band external tooth, its other end is installed on rotary mainboard (7), described gear II (19) is meshed with the revolving support (20) of band external tooth.
4. single arm robot according to claim 1, it is characterized in that: described arm drive unit comprises the tooth bar II (17) be installed on arm (8), the reductor IV (22) be installed on rotary mainboard (7), the motor IV (15) being connected to reductor IV (22) input and the gear III (23) be installed on reductor IV (22) output shaft, and described gear III (23) is meshed with tooth bar II (17).
5. single arm robot as claimed in any of claims 1 to 4, it is characterized in that: described terminal-collecting machine drive unit comprise the dual output being installed on arm (8) end reductor II (10), be connected to reductor II (10) input motor II (9), rotate and be installed on the connecting axle (27) of reductor II (10) two output, described terminal-collecting machine (11) is fixed on connecting axle (27).
6. single arm robot according to claim 5, it is characterized in that: also comprise the bearing block (24) being installed on reductor II (10) output, the bearing (29) be installed in bearing block (24), described connecting axle (27) rotates and is installed in the inner ring of bearing (29).
7. single arm robot according to claim 5, it is characterized in that: also comprise center and be fixed on the connecting plate (28) on connecting axle (27) and be arranged at the terminal-collecting machine clamping device at connecting plate (28) two ends, left and right respectively, described terminal-collecting machine (11) is detachably installed on connecting plate (28) by terminal-collecting machine clamping device.
8. single arm robot according to claim 6, it is characterized in that: also comprise and be fixed on connecting axle (27) and rotate the ventilation ring (25) be installed in bearing block (24), along the circumferential direction be arranged at the cannelure (31) in ventilation ring (25), to be arranged on ventilation ring (25) outer surface and with cannelure (31) be conducted for installing the venthole (32) of gas-tpe fitting and being arranged at bearing block (24) outer surface and the air admission hole (33) for installing gas-tpe fitting be conducted with cannelure (31), described ventilation ring (25) and bearing block (24) touching position are provided with sealing ring (30).
9. single arm robot according to claim 7, it is characterized in that: described terminal-collecting machine clamping device comprises clamp (26), be arranged at clamp (26) in and the installing hole matched with terminal-collecting machine (11) installation end diameter, described clamp (26) upper end is provided with fluting (34), described fluting (34) is communicated with installing hole, clamp (26) upper end is divided into two jig arm by it, and screw (35) is combined in another jig arm through after a jig arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551078.2A CN104325461A (en) | 2014-10-17 | 2014-10-17 | Single-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551078.2A CN104325461A (en) | 2014-10-17 | 2014-10-17 | Single-arm manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN104325461A true CN104325461A (en) | 2015-02-04 |
Family
ID=52400329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410551078.2A Pending CN104325461A (en) | 2014-10-17 | 2014-10-17 | Single-arm manipulator |
Country Status (1)
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| CN (1) | CN104325461A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889241A (en) * | 2015-05-29 | 2015-09-09 | 昆山—邦泰汽车零部件制造有限公司 | Stamping production line |
| CN105460601A (en) * | 2015-11-25 | 2016-04-06 | 苏州亨通智能精工装备有限公司 | Automatic carrying system for coloring process |
| CN108115649A (en) * | 2016-11-29 | 2018-06-05 | 孟晋科技股份有限公司 | Handling device |
| WO2019242693A1 (en) * | 2018-06-20 | 2019-12-26 | 深圳市太惠科技有限公司 | Single-armed manipulator |
| CN115582849A (en) * | 2022-12-12 | 2023-01-10 | 北华航天工业学院 | Variable position robot tail end actuating mechanism |
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| CN204160480U (en) * | 2014-10-17 | 2015-02-18 | 济南奥图自动化工程有限公司 | A kind of single arm robot |
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| DE19521976A1 (en) * | 1994-06-16 | 1995-12-21 | Mueller Weingarten Maschf | Transport system for workpieces |
| US6125683A (en) * | 1999-02-19 | 2000-10-03 | Tesco Engineering, Inc. | Closure panel hemming system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889241A (en) * | 2015-05-29 | 2015-09-09 | 昆山—邦泰汽车零部件制造有限公司 | Stamping production line |
| CN105460601A (en) * | 2015-11-25 | 2016-04-06 | 苏州亨通智能精工装备有限公司 | Automatic carrying system for coloring process |
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| CN115582849A (en) * | 2022-12-12 | 2023-01-10 | 北华航天工业学院 | Variable position robot tail end actuating mechanism |
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Application publication date: 20150204 |