CN104511899A - Biaxial numerical control electric posture portion mechanism - Google Patents
Biaxial numerical control electric posture portion mechanism Download PDFInfo
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- CN104511899A CN104511899A CN201310447948.7A CN201310447948A CN104511899A CN 104511899 A CN104511899 A CN 104511899A CN 201310447948 A CN201310447948 A CN 201310447948A CN 104511899 A CN104511899 A CN 104511899A
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Abstract
A biaxial numerical control electric posture portion mechanism is used for a mechanical arm of a taking-out machine and achieves motions such as taking out of a movable mould side, taking out of a fixed side, the water opening shear motion and the box containing motion. The mechanism comprises an electric turning portion and an electric rotation portion, and the electric posture portion mechanism is connected with the taking-out machine. A first servo motor is used as a power source, and transmission is carried out through a first belt wheel; torque is increased through a first harmonic wave speed reducer, and the motion that a rotation body turns over within the range of 190 degrees is achieved. Meshing between an output side conical gear and an input side conical gear is utilized for reversing, the torque is increased through a second harmonic wave speed reducer, and the motion that a connecting plate rotates within the range of 280 degrees is achieved. Driving is carried out through the servo motors, and the turning over and rotation motions of the posture portion of the mechanical arm are achieved; and the position is accurate. The harmonic wave speed reducers are combined with the conical gears to achieve widening of the clamping motion range of the posture portion of the mechanical arm, and the clamping portion is more stable.
Description
Technical field
The present invention relates to technical field of automation in industry, is a kind of electronic posture portion mechanism of two Shaft and NC Machining Test on knockout machine manipulator specifically, and to realize, dynamic model side is taken out, fixation side is taken out, action is cut at the mouth of a river and the activities such as action of casing.
Background technology
At present, plastic product uses more and more extensive in our daily life, and the shape of product is also more and more different, the production line of plastic product captures in the process of goods, adopts knockout machine to instead of manual labor greatly.And the posture portion actuating range of existing knockout machine is little, changement is single, fully cannot meet the taking-up action of plastic product in producing.Therefore the design concept developing the electronic posture portion mechanism of two Shaft and NC Machining Test is just arisen at the historic moment.
Summary of the invention
In order to overcome the deficiency that in prior art, the portion's action of knockout machine posture is single, goal of the invention of the present invention is to provide a kind of two Shaft and NC Machining Test electronic posture portion mechanism, utilize servo motor driven, pulley drive, harmonic wave speed reducing machine to increase moment of torsion to expand posture portion actuating range, make posture portion operating position more accurate.
For achieving the above object, the electronic posture portion mechanism of the present invention two Shaft and NC Machining Test comprises electric turnover part and motoring part, and electronic posture portion mechanism is connected with knockout machine;
Synchronizing wheel one on the servo motor one of described electric turnover part is by synchronous belt one, be connected with the synchronizing wheel two be contained on harmonic wave speed reducing machine one power shaft, servo motor one is fixed in motor mount plate one, harmonic wave speed reducing machine one is fixed in turnover body, the outlet side of harmonic wave speed reducing machine one is connected with revolution body, and revolution body is overturn;
Synchronizing wheel three on the servo motor two of described motoring part is by synchronous belt two, be connected with the synchronizing wheel four being contained in connecting axle one end, servo motor two is fixed in motor mount plate two, the other end of connecting axle is equipped with input side bevel gear, the outlet side bevel gear be contained on gyroaxis one end engages with input side bevel gear, the gyroaxis other end is connected with the power shaft of harmonic wave speed reducing machine two, harmonic wave speed reducing machine two is fixed on revolution body, and the outlet side of harmonic wave speed reducing machine two is connected with connecting plate and makes it turn round.
Described motor mount plate one, motor mount plate two are connected with side plate one, side plate two respectively, motor mount plate one are equipped with the outer-hexagonal screw one for straining synchronous belt one, motor mount plate two are equipped with the outer-hexagonal screw two for straining synchronous belt two;
The top of side plate one, side plate two is fixed with installing plate, and installing plate is connected with lower connecting plate, and upper junction plate is fixed by left connecting plate, right connecting plate and lower connecting plate, and upper junction plate is connected with the axle of knockout machine; Lower connecting plate is fixed with distribution installing plate;
The bottom of side plate one, side plate two is connected with turnover body, and connecting axle is fixed in turnover body by two centripetal thrust force ball bearings;
Gripper shoe is fixed in turnover body, and gripper shoe is connected with back-up block, and back-up block is fixed on revolution body, and gyroaxis is fixing on the supporting plate by ball bearing, and snap ring is fixed on gyroaxis side;
Lid one, lid two are separately fixed on side plate one, side plate two, and lid three is fixed in turnover body.
The block preventing from turning round body collision turnover body when overturning described turnover body is equipped with.
The proximity switch one for responding to the sensor sensing plate one on revolution body described turnover body is equipped with; The proximity switch two for responding to the sensor sensing plate two on connecting plate described revolution body is equipped with.
The present invention utilizes servo motor one for power source, through belt pulley one transmission, increases moment of torsion by harmonic wave speed reducing machine one, realizes the rotary movement within revolution body 190 degree; Utilize outlet side bevel gear and input side bevel gear to engage each other commutation, then increase moment of torsion by harmonic wave speed reducing machine two, realize the revolution action within connecting plate 280 degree.
The present invention utilizes servo motor driven, adjustment control rate, and positional precision is very accurate, by voltage signal being converted into torque and rotational speed with drived control object, makes the position of posture portion action more accurate relative to prior art.If the load of gripping identical weight, utilize harmonic wave speed reducing machine deceleration to increase the effect of moment of torsion more steadily, service life of equipment is long.Especially relative to knockout machine posture portion in the past, the present invention can realize the rotary movement within revolution body 190 degree, the revolution action within connecting plate 280 degree, makes gripping actuating range larger.
Compared with prior art, the present invention has the following advantages:
1, by servo motor driven, realize the upset in manipulator posture portion, revolution action, position is accurate;
2, be combined with bevel gear by harmonic wave speed reducing machine, realize the expansion of manipulator posture portion's gripping actuating range, gripping action is more steady.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is internal structure schematic diagram of the present invention.
Fig. 3 is that the present invention realizes rotary movement schematic diagram.
Fig. 4 is that the present invention realizes revolution action schematic diagram.
Fig. 5 is the partial sectional view realizing upset and rotating part of the present invention.
Fig. 6 is the present invention's application sketch.
Detailed description of the invention
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, servo motor 1 screw of M3 is fixed in motor mount plate 1, synchronizing wheel 1 is locked on servo motor 1 with exempting from key axle bush, synchronizing wheel 2 33 is connected with synchronizing wheel 1 by synchronous belt 1, and synchronizing wheel 2 33 is fixed on harmonic wave speed reducing machine 1 with flat key and its power shaft side is rotated.Servo motor 2 18 screw of M3 is fixed in motor mount plate 2 29, synchronizing wheel 3 30 is locked on servo motor 2 18 with exempting from key axle bush 31, synchronizing wheel 4 32 is connected with synchronizing wheel 3 30 by synchronous belt 2 19, and synchronizing wheel 4 32 is fixed on connecting axle 37 with flat key and makes it rotate.
Motor mount plate 1, motor mount plate 2 29 are fixed on side plate 1 and side plate 2 43 by the screw of M4, form an overall framework, and outer-hexagonal screw 1 and nut support motor mount plate 1 makes synchronous belt 1 strain; Outer-hexagonal screw 2 17 and nut support motor mount plate 2 29 makes synchronous belt 2 19 strain.
The screw of side, the top M6 of side plate 1 and side plate 2 43 is fixed on installing plate 5; Installing plate 5 is connected with lower connecting plate 4, and upper junction plate 1 is supported on lower connecting plate 4 by left connecting plate 3 and right connecting plate 2, and upper junction plate 1 screw of M6 is connected with the Z axis 36 of knockout machine, and distribution installing plate 6 M4 screw is fixed on lower connecting plate 4.
The screw of side, the bottom M6 of side plate 1 and side plate 2 43 is fixed in turnover body 23, harmonic wave speed reducing machine 1 is fixed in turnover body 23, the outlet side of harmonic wave speed reducing machine 1 is connected with revolution body 13, revolution body 13 is rotated, thus overturns within realizing 190 degree.In order to prevent revolution body 13 collision turnover body 23 when overturning, turnover body 23 is provided with block 20.
Two centripetal thrust force ball bearings 38 on connecting axle 37 are fixed in turnover body 23, input side bevel gear 25 fixing on connecting axle 37 is driven by synchronizing wheel 4 32 and rotates.Back-up block 39 is fixed on revolution body 13, and back-up block 39 connects gripper shoe 28, and gripper shoe 28 is fixed on revolution body 13.Outlet side bevel gear 24 and ball bearing 35 are equipped with in gyroaxis 21 one end, ball bearing 35 is fixed in gripper shoe 28, fixing in case anti-avulsion falls with C type snap ring 34, gyroaxis 21 other end is fixed on the power shaft side of harmonic wave speed reducing machine 2 27, outlet side bevel gear 24 engages with input side bevel gear 25, drives the power shaft of harmonic wave speed reducing machine 2 27 to rotate.Harmonic wave speed reducing machine 2 27 is fixed on revolution body 13, and its outlet side is connected with connecting plate 12 and makes it rotate, thus realizes connecting plate 12 and turn round within 280 degree.
Be arranged on the proximity switch 1 in turnover body 23, the sensor sensing plate 1 that induction revolution body 13 is installed, clash into initial point spacing in order to turn round when body 13 overturns.Be arranged on the proximity switch 2 26 on revolution body 13, the sensor sensing plate 2 11 that induction connecting plate 12 is installed, shock initial point when turning round in order to connecting plate 12 is also spacing.
Lid 1, lid 28 are separately fixed on side plate 1 and side plate 2 43, and lid 39 is contained on revolution body 13, makes the complete one of whole mechanism.
The electronic posture portion mechanism of two Shaft and NC Machining Test is arranged on knockout machine Z axis 36, realizes the automatic clamping of goods.
Claims (4)
1. the electronic posture portion mechanism of two Shaft and NC Machining Test, it is characterized in that: electronic posture portion mechanism comprises electric turnover part and motoring part, electronic posture portion mechanism is connected with knockout machine;
Synchronizing wheel one (40) on the servo motor one (15) of described electric turnover part is by synchronous belt one (16), be connected with the synchronizing wheel two (33) be contained on harmonic wave speed reducing machine one (22) power shaft, servo motor one (15) is fixed in motor mount plate one (41), harmonic wave speed reducing machine one (22) is fixed in turnover body (23), the outlet side of harmonic wave speed reducing machine one (22) is connected with revolution body (13), and revolution body (13) is overturn;
Synchronizing wheel three (30) on the servo motor two (18) of described motoring part is by synchronous belt two (19), be connected with the synchronizing wheel four (32) being contained in connecting axle (37) one end, servo motor two (18) is fixed in motor mount plate two (29), the other end of connecting axle (37) is equipped with input side bevel gear (25), the outlet side bevel gear (24) be contained on gyroaxis (21) one end engages with input side bevel gear (25), gyroaxis (21) other end is connected with the power shaft of harmonic wave speed reducing machine two (27), harmonic wave speed reducing machine two (27) is fixed in revolution body (13), the outlet side of harmonic wave speed reducing machine two (27) is connected with connecting plate (12) and makes it turn round.
2. the electronic posture portion mechanism of two Shaft and NC Machining Test according to claim 1, it is characterized in that: described motor mount plate one (41), motor mount plate two (29) are connected with side plate one (14), side plate two (43) respectively, motor mount plate one (41) being equipped with the outer-hexagonal screw one (44) for straining synchronous belt one (16), motor mount plate two (29) being equipped with the outer-hexagonal screw two (17) for straining synchronous belt two (19);
The top of side plate one (14), side plate two (43) is fixed with installing plate (5), installing plate (5) is connected with lower connecting plate (4), upper junction plate (1) is fixed with lower connecting plate (4) by left connecting plate (3), right connecting plate (2), and upper junction plate (1) is connected with the axle (36) of knockout machine; Lower connecting plate (4) is fixed with distribution installing plate (6);
The bottom of side plate one (14), side plate two (43) is connected with turnover body (23), and connecting axle (37) is fixed in turnover body (23) by two centripetal thrust force ball bearings (38);
Gripper shoe (28) is fixed in turnover body (23), gripper shoe (28) is connected with back-up block (39), back-up block (39) is fixed in revolution body (13), gyroaxis (21) is fixed in gripper shoe (28) by ball bearing (35), and snap ring (34) is fixed on gyroaxis (21) side;
Lid one (7), lid two (8) are separately fixed on side plate one (14), side plate two (43), and lid three (9) is fixed in turnover body (23).
3. the electronic posture portion mechanism of two Shaft and NC Machining Test according to claim 1, is characterized in that: described turnover body (23) is equipped with the block (20) preventing from turning round body (13) collision turnover body (23) when overturning.
4. the electronic posture portion mechanism of two Shaft and NC Machining Test according to claim 1, is characterized in that: described turnover body (23) is equipped with the proximity switch one (42) for responding to the sensor sensing plate one (10) in revolution body (13); The proximity switch two (26) for responding to the sensor sensing plate two (11) on connecting plate (12) described revolution body (13) is equipped with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310447948.7A CN104511899A (en) | 2013-09-27 | 2013-09-27 | Biaxial numerical control electric posture portion mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310447948.7A CN104511899A (en) | 2013-09-27 | 2013-09-27 | Biaxial numerical control electric posture portion mechanism |
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| CN104511899A true CN104511899A (en) | 2015-04-15 |
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| CN201310447948.7A Pending CN104511899A (en) | 2013-09-27 | 2013-09-27 | Biaxial numerical control electric posture portion mechanism |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85107220A (en) * | 1985-06-07 | 1986-12-03 | 大日机工株式会社 | Articulated robot |
| WO1994023911A1 (en) * | 1993-04-16 | 1994-10-27 | Brooks Automation, Inc. | Articulated arm transfer device |
| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103101058A (en) * | 2011-11-11 | 2013-05-15 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN203471778U (en) * | 2013-09-27 | 2014-03-12 | 中日龙(襄阳)机电技术开发有限公司 | Two-shaft numerical control electric posture portion mechanism |
-
2013
- 2013-09-27 CN CN201310447948.7A patent/CN104511899A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85107220A (en) * | 1985-06-07 | 1986-12-03 | 大日机工株式会社 | Articulated robot |
| WO1994023911A1 (en) * | 1993-04-16 | 1994-10-27 | Brooks Automation, Inc. | Articulated arm transfer device |
| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103101058A (en) * | 2011-11-11 | 2013-05-15 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN203471778U (en) * | 2013-09-27 | 2014-03-12 | 中日龙(襄阳)机电技术开发有限公司 | Two-shaft numerical control electric posture portion mechanism |
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Application publication date: 20150415 |