CN104440905A - Workpiece conveying and placing mechanical arm - Google Patents
Workpiece conveying and placing mechanical arm Download PDFInfo
- Publication number
- CN104440905A CN104440905A CN201410837303.9A CN201410837303A CN104440905A CN 104440905 A CN104440905 A CN 104440905A CN 201410837303 A CN201410837303 A CN 201410837303A CN 104440905 A CN104440905 A CN 104440905A
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- fork
- slide block
- transmission case
- servomotor
- hinged
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Abstract
The invention provides a workpiece conveying and placing mechanical arm which is simple in structure, easy to control and excessively high in efficiency and accuracy. The workpiece conveying and placing mechanical arm comprises a suction cup transverse rod and a pair of symmetrical transmission mechanisms. Each transmission mechanism comprises a linear guide rail, a lead screw, a first servo motor, a transmission gear, a big gear, a pinion, a first swing rod, a second swing rod, a second servo motor and a slide block, wherein the first servo motor drives the transmission box through the lead screw, the transmission box and the slide block are movably connected to the linear guide rail, the transmission box is located below the slide block, the big gear and the pinion are arranged in the transmission box, the second servo motor drives the big gear to act through the pinion, one end of the first swing rod is connected with the big gear through a pin shaft, the slide block is hinged to one end of the second swing rod, and the other end of the first swing rod is hinged to the second swing rod. The suction cup transverse rod is connected between the other ends of the second swing rods of the pair of transmission mechanisms. By means of the workpiece conveying and placing mechanical arm, any taking and placing movement curve can be obtained, and the excessively high movement accuracy is achieved.
Description
Technical field
The present invention relates to punching press and other industrial circles, the efficient superfinishing flexible workpiece of one particularly relating to workpiece handling between forcing press material loading, multiple stage forcing press and forcing press pickup piling passes puts manipulator.
Background technology
In the development course of vehicle cladding element punching product line, manual stamping line is due to the production of applicable different stamping parts, small investment, adaptability are good, flexible, and there is good flexibility, play important function, but there is the shortcomings such as labor strength is large, poor stability, part quality are difficult to guarantee, production efficiency is low, be particularly difficult to ensure production efficiency and quality to big-and-middle-sized interior outer covering pieces such as production car body side OTR, one-mold multiple-members.
Along with body outer skin maximize, integrative development requirement and computer technology, control technology, electronic technology development, and cladding element punching produces the requirement to high speed, high efficiency, high-quality, automation, flexibility future development trend, high efficiency automatic stamping production line replaces the main flow that manual stamping line becomes the production of Hyundai Motor cladding element punching gradually.On automatic stamping production line, all automatically complete from the part transmission between the material loading, forcing press of the first blank of line and the pickup of line tail.Automatic stamping production line is generally made up of press section and automatic part two big unit, and press section is generally made up of 4 ~ 6 forcing presses, and automatic part is made up of de-stacking system and part automated handling induction system; And the automated handling induction system of part generally comprises manipulator and the robot of various PLC technology; Complex structure, cost is high.
Summary of the invention
The present invention is directed to above problem, provide a kind of structure and control simple, the workpiece of efficiency and precision superelevation passes puts manipulator, and its curve movement freely can be programmed according to different workpiece, different technological processes, has very high flexibility, improves production efficiency.
Technical scheme of the present invention is: comprise sucker cross bar and a pair symmetrically arranged transmission mechanism, described transmission mechanism comprises line slideway, leading screw screw rod, servomotor one, transmission case, gear wheel, pinion, fork one, fork two, servomotor two and slide block
Described servomotor one drives described transmission case by leading screw screw rod, and described transmission case and slide block are movably connected on described line slideway respectively, and described transmission case is positioned at the below of described slide block,
Described gear wheel and pinion are located in described transmission case respectively, the action of described servomotor two-way too small gear driven gear wheel, one end of described fork one is by gear wheel described in pinned connection, the hinged described slide block in one end of described fork two, the other end of described fork one is hinged on described fork two, and described sucker cross bar is connected between the other end of fork two of transmission mechanism described in a pair.
The length of described fork two is the twice of fork one length, and the other end of described fork one is hinged on the mid point of described fork two.
Described transmission case is fixedly connected with the swivel nut of described leading screw screw rod.
At work, it picks and places curve movement and is formed by stacking by horizontal movement and vertical motion in the present invention;
The motion of its vertical direction is controlled by servomotor one, and drive precision lead screw screw drive during work, the swivel nut of precision lead screw screw rod is fixed in transmission case, then transmission case makes vertical motion along line slideway, and all the other components of manipulator then follow vertical motion simultaneously.
Its horizontal motion is controlled by servomotor two, fork one is driven to rotate by the engagement of transmission case internal gear during work, fork one drives the fork two be connected with its end as driving crank, tie point, as the point of rotation of fork two, is also the mid point of fork two simultaneously; The length of fork two is twices of fork one, and fork two one end connecting sucker cross bar, the hinged slide block of the other end linearly guide rail makes vertical motion, and it is linear for determining according to kinematic principle the conveying movement locus driven by servomotor two.
The present invention can realize picking and placeing curve movement arbitrarily, has the kinematic accuracy of superelevation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is original state figure of the present invention,
Fig. 3 is course of action figure mono-of the present invention,
Fig. 4 is course of action figure bis-of the present invention;
In figure, 1 is line slideway, and 2 is slide blocks, and 3 is forks two, and 4 is forks one, and 5 is transmission cases, and 6 is sucker cross bars, and 7 is servomotors two, and 8 is leading screw screw rods, and 9 is servomotors one;
S1, S2 are the distance moved horizontally, and H1, H2 are the height risen.
Detailed description of the invention
The present invention as shown in Figure 1, comprise sucker cross bar 6 and a pair symmetrically arranged transmission mechanism, described transmission mechanism comprises line slideway 1, leading screw screw rod 8, servomotor 1, transmission case 5, gear wheel, pinion, fork 1, fork 23, servomotor 27 and slide block 2
Described servomotor 1 drives described transmission case 5 by leading screw screw rod 8, described transmission case 5 and slide block 2 are movably connected on described line slideway 1 respectively, described transmission case 5 is positioned at the below of described slide block 2, and transmission case and slide block share one group of line slideway, slide up and down.
Described gear wheel and pinion are located in described transmission case 5 respectively, described servomotor 27 drives gear wheel action by pinion, one end of described fork 1 is by gear wheel described in pinned connection, the hinged described slide block 2 in one end of described fork 23, the other end of described fork 1 is hinged on described fork 23, and described sucker cross bar 6 is connected between the other end of fork two of transmission mechanism described in a pair.
The length of described fork 23 is the twice of fork 1 length, the other end of described fork 1 is hinged on the mid point of described fork 23, fork 1 is driven by servomotor 27 driven wheel, as driving crank, make slide block linearly guide rail slide up and down, then the track of the sucker cross bar on fork two is horizontal linear.
Described transmission case 5 is fixedly connected with the swivel nut of described leading screw screw rod 8, and servomotor one drives accurate lead screw bolt rotary, then transmission case case slides up and down along line slideway.
The present invention can be applicable to punching press field to realize workpiece handling between first or the feeding of separate unit forcing press, multiple stage forcing press and forcing press pickup piling.During work, a servomotor, by driving quarter butt, introduces input motion.Turning to according to motor, sucker cross bar enters forcing press space (or blank place) and goes pickup, then turns around again to roll away from part.Lifting and descending motion are then completed by another servomotor.Both superpose the resultant motion freely programmable formed mutually, thus realize arbitrary curve movement.
As shown in Figure 3-4, what the motion of the vertical direction that driven by servomotor one and servomotor two controlled moves horizontally and can programme arbitrarily, according to different workpieces, different mould, different step pitch and adjust its curve movement.The movement in the horizontal direction of workpiece between S1 and S2 can be realized, the movement in the vertical direction between H1 and H2 by resultant motion.
Illustrate that the efficient superfinishing flexible workpiece of the present invention passes the course of action putting manipulator further: time grabbing workpiece (or blank), when the superposition of the motion straight up synthesis that the horizontal movement controlled by servomotor two from physical slot (as shown in Figure 2) of manipulator and servomotor one are controlled reaches the height of setting, servomotor one i.e. manipulator out of service transits to horizontal rectilinear motion under the drive of servomotor two, enter mould district (or blank place) afterwards servomotor one reverse starting by synthesis horizontal movement and move to grabbing workpiece (or blank) straight down, after the workpiece vacuum cup be fixed on sucker cross bar is drawn, start oppositely simultaneously superimposed motion upwards, then reverse horizontal rectilinear motion is until enter the mould district (or near workpiece output stage) of next position press, be superimposed to by horizontal movement and motion straight down again and put workpiece.Next return and start next grasping movement, terminate then to get back to physical slot.
Claims (3)
1. a workpiece passes and puts manipulator, it is characterized in that, comprise sucker cross bar and a pair symmetrically arranged transmission mechanism, described transmission mechanism comprises line slideway, leading screw screw rod, servomotor one, transmission case, gear wheel, pinion, fork one, fork two, servomotor two and slide block
Described servomotor one drives described transmission case by leading screw screw rod, and described transmission case and slide block are movably connected on described line slideway respectively, and described transmission case is positioned at the below of described slide block,
Described gear wheel and pinion are located in described transmission case respectively, the action of described servomotor two-way too small gear driven gear wheel, one end of described fork one is by gear wheel described in pinned connection, the hinged described slide block in one end of described fork two, the other end of described fork one is hinged on described fork two, and described sucker cross bar is connected between the other end of fork two of transmission mechanism described in a pair.
2. a kind of workpiece according to claim 1 passes and puts manipulator, and it is characterized in that, the length of described fork two is the twice of fork one length, and the other end of described fork one is hinged on the mid point of described fork two.
3. a kind of workpiece according to claim 1 passes and puts manipulator, and it is characterized in that, described transmission case is fixedly connected with the swivel nut of described leading screw screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410837303.9A CN104440905B (en) | 2014-12-29 | 2014-12-29 | A kind of workpiece passes puts manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410837303.9A CN104440905B (en) | 2014-12-29 | 2014-12-29 | A kind of workpiece passes puts manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440905A true CN104440905A (en) | 2015-03-25 |
| CN104440905B CN104440905B (en) | 2016-01-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410837303.9A Active CN104440905B (en) | 2014-12-29 | 2014-12-29 | A kind of workpiece passes puts manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104440905B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108729A (en) * | 2015-08-07 | 2015-12-02 | 上海交通大学 | Two-door-structured six-degree-of-freedom loading/unloading robot |
| CN110977955A (en) * | 2019-11-22 | 2020-04-10 | 徐州工业职业技术学院 | Manipulator with intermittent rotation 90-degree function |
| CN111003519A (en) * | 2019-12-10 | 2020-04-14 | 安徽共生物流科技有限公司 | Semi-automatic unloading commodity circulation skip |
| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6061178A (en) * | 1983-09-14 | 1985-04-08 | Sumikin Daikeikoukan Kk | Rotative welding device for attaching bent pipe |
| FR2558409B1 (en) * | 1984-01-25 | 1989-01-20 | Guignard Bernard | GRIPPING MANIPULATOR FOR AN INJECTION MACHINE |
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN2437462Y (en) * | 2000-06-30 | 2001-07-04 | 杨润泽 | Translational gripping manipulator |
| CN2509163Y (en) * | 2001-09-27 | 2002-09-04 | 中国科学院力学研究所 | Lifting transporting apparatus for fetching articles from local high-temperature area |
| CN204366960U (en) * | 2014-12-29 | 2015-06-03 | 扬州捷迈锻压机械有限公司 | Workpiece passes and puts manipulator |
-
2014
- 2014-12-29 CN CN201410837303.9A patent/CN104440905B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6061178A (en) * | 1983-09-14 | 1985-04-08 | Sumikin Daikeikoukan Kk | Rotative welding device for attaching bent pipe |
| FR2558409B1 (en) * | 1984-01-25 | 1989-01-20 | Guignard Bernard | GRIPPING MANIPULATOR FOR AN INJECTION MACHINE |
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN2437462Y (en) * | 2000-06-30 | 2001-07-04 | 杨润泽 | Translational gripping manipulator |
| CN2509163Y (en) * | 2001-09-27 | 2002-09-04 | 中国科学院力学研究所 | Lifting transporting apparatus for fetching articles from local high-temperature area |
| CN204366960U (en) * | 2014-12-29 | 2015-06-03 | 扬州捷迈锻压机械有限公司 | Workpiece passes and puts manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108729A (en) * | 2015-08-07 | 2015-12-02 | 上海交通大学 | Two-door-structured six-degree-of-freedom loading/unloading robot |
| CN110977955A (en) * | 2019-11-22 | 2020-04-10 | 徐州工业职业技术学院 | Manipulator with intermittent rotation 90-degree function |
| CN110977955B (en) * | 2019-11-22 | 2021-05-18 | 徐州工业职业技术学院 | Manipulator with intermittent rotation 90-degree function |
| CN111003519A (en) * | 2019-12-10 | 2020-04-14 | 安徽共生物流科技有限公司 | Semi-automatic unloading commodity circulation skip |
| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104440905B (en) | 2016-01-13 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180227 Address after: Jiangsu Province, Yangzhou City Jiangyang road 225009 No. 205 Patentee after: Yangzhou Metallurgical Machinery Co., Ltd. Address before: 225127 Ji'an Road, Hanjiang Economic Development Zone, Yangzhou, Jiangsu Province, No. 206 Patentee before: Yangzhou Jfmmri Metalforming Machinery Co., Ltd. |