CN105149474A - Material taking mechanical arm - Google Patents
Material taking mechanical arm Download PDFInfo
- Publication number
- CN105149474A CN105149474A CN201510636759.3A CN201510636759A CN105149474A CN 105149474 A CN105149474 A CN 105149474A CN 201510636759 A CN201510636759 A CN 201510636759A CN 105149474 A CN105149474 A CN 105149474A
- Authority
- CN
- China
- Prior art keywords
- screw mandrel
- servomotor
- transverse slat
- installing rack
- grasping mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
Abstract
The invention relates to the technical field of mechanical workpiece machining, in particular to a material taking mechanical arm. A supporting frame is provided with a rotating mechanism, a lifting mechanism, telescopic mechanisms and grabbing mechanisms. The grabbing mechanisms grab workpieces, the grabbing mechanisms are controlled by the rotating mechanism to rotate in the same horizontal plane, and rising and falling of the grabbing mechanisms in the vertical plane are achieved through the lifting mechanism. Forward extending or backward contracting of the grabbing mechanisms in the same horizontal plane is achieved through the telescopic mechanisms. Equipment is compact in overall structure and easy and convenient to control, and precise control over any position can be achieved.
Description
Technical field
The present invention relates to mechanical workpieces processing technique field, specifically relate to a kind of reclaimer robot.
Background technology
In the mechanically actuated processes such as such as punch process, the application of reclaimer robot is very extensive.Its major function show by piece-holder, put into diel and punching press complete after by workpiece taking-up etc., perfectly can replace manual operation, not only production efficiency is significantly improved, and production security obtains higher degree and ensures.
But because the design principle of such manipulator on market is different, also there is bigger difference in its structure, in actual application, usually there is following defect: rotating mechanism control performance is poor, rotates inconvenience or excessively rotate, cannot meet Production requirement.The adjustment of elevating mechanism cannot meet work on the spot environmental demand, namely cannot reach the requirement for height of manipulator clamping, therefore, can not meet the clamping demand of highly different processing environment.The adjustment of telescoping mechanism cannot freely control, and action is too stiff, to such an extent as to cannot well be held by workpiece.Grasping mechanism cannot firmly be firmly grasped or suck, and workpiece easily drops, and meanwhile, workpiece is firmly grasped or after sucking, its attitude cannot regulate.
Summary of the invention
For the technical problem existed in prior art, the object of the present invention is to provide a kind of reclaimer robot of reasonable in design.To achieve these goals, the technical solution adopted in the present invention is:
A kind of reclaimer robot, comprises supporting frame, supporting frame is provided with rotating mechanism, elevating mechanism, telescoping mechanism and grasping mechanism; Grasping mechanism is by workpiece grabbing, grasping mechanism is controlled at same level rotation with in surface by rotating mechanism, realize grasping mechanism by elevating mechanism to be elevated in perpendicular, by telescoping mechanism realize grasping mechanism in same level plane forward extend or to after-contraction.
Further, described rotating mechanism comprises the shaft coupling housing of the work top being sticked in supporting frame, be placed in the fixed mount of shaft coupling housing upper, be placed in the connecting axle at fixed mount top and be placed in the motor rack of shaft coupling lower housing portion, the bottom of motor rack is disposed with rotating mechanism reductor and rotating mechanism servomotor, rotating mechanism shaft coupling is connected with the clutch shaft bearing in fixed mount and connecting axle, the top of fixed mount is provided with cushion collar and felt oil seal ring, connecting axle is connected with the installing rack of elevating mechanism, the installing rack being realized elevating mechanism by the work of rotating mechanism servomotor is rotated.
Further, described elevating mechanism comprises installing rack, and in installing rack, middle part is vertically furnished with the first screw mandrel, in installing rack, both sides are provided with the first guide rail, telescoping mechanism installing rack is arranged on guide-rail plate, and guide-rail plate is arranged on supporting seat, and supporting seat is arranged on the first screw mandrel by nut; The bottom of installing rack and connecting axle Flange joint, and be provided with spline plate; The top of installing rack is provided with motor mounting rack, and the elevating mechanism servomotor being placed in motor mounting rack top is connected by the elevating mechanism shaft coupling being placed in motor mounting rack inside with the first screw mandrel; Drive the first screw mandrel to rotate by elevating mechanism servomotor, realize supporting seat and drive telescoping mechanism to rise or decline.
Further, described telescoping mechanism comprises the installing plate be connected with telescoping mechanism installing rack, the top of installing plate is provided with telescoping mechanism servomotor, the bottom of installing plate is connected with horizontally disposed base plate, the end being placed in the second screw mandrel above base plate is connected with telescoping mechanism servomotor by the first Timing Belt, the two ends of the second screw mandrel are all placed on screw mandrel holder, are placed between sliding sleeve on the second screw mandrel and screw mandrel holder and are also provided with buffing pad; One side bottom of the transverse slat of grasping mechanism is fixed on sliding sleeve, is placed on extension board, extension board is fixed with chute bottom the opposite side of transverse slat, and the second guide rail be placed in bottom transverse slat is embedded at this chute; Drive the second screw mandrel to rotate by telescoping mechanism servomotor, make to slide on the second screw mandrel and run, thus drive the transverse slat of grasping mechanism to run above the second screw mandrel, and limit its operating path under by the second guide rail and chute mating reaction.
Further, described grasping mechanism comprises transverse slat, and the bottom of transverse slat is provided with the second guide rail, and the top of transverse slat is provided with link near the side of telescoping mechanism servomotor, and the end side on transverse slat top is fixed with bearing block; The top of link is provided with the grasping mechanism reductor and grasping mechanism servomotor that are connected to each other successively, the first synchronizing wheel be connected with grasping mechanism reductor is connected with the second synchronizing wheel being placed in bearing block top by the second Timing Belt, the top being placed in the second bearing in bearing block is connected with the second synchronizing wheel, the bottom of the second bearing is connected with support arm plate, support arm plate is connected with four support arms, the end of support arm is provided with sucker disk seat, is provided with organ sucker in the bottom of sucker disk seat; Worked by grasping mechanism servomotor, realize the rotation of support arm plate, rotate to drive the workpiece sucked by organ sucker.
Beneficial effect of the present invention shows:
Grasping mechanism is by workpiece grabbing, grasping mechanism is controlled at same level rotation with in surface by rotating mechanism, realize grasping mechanism by elevating mechanism to be elevated in perpendicular, by telescoping mechanism realize grasping mechanism in same level plane forward extend or to after-contraction.Equipment overall structure is compact, controls easy, can realize the accurate control of optional position.
Accompanying drawing explanation
Fig. 1 is the front view of reclaimer robot complete machine.
Fig. 2 is the top view of reclaimer robot complete machine.
Fig. 3 is the side view of reclaimer robot complete machine.
Fig. 4 is the structural representation of rotating mechanism.
Fig. 5 is the side view of elevating mechanism.
Fig. 6 is the front view of elevating mechanism.
Fig. 7 is the front view of telescoping mechanism.
Fig. 8 is the top view of telescoping mechanism.
Fig. 9 is the structural representation of grasping mechanism.
Figure 10 is the structural representation of the grasping mechanism after removing support arm and sucker.
Figure 11 is the mounting structure schematic diagram of support arm and sucker.
Detailed description of the invention
For further describing the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, but within the scope of embodiments therefore do not limited the present invention to.
Refer to shown in Fig. 1-3, a kind of reclaimer robot, comprise supporting frame 10, supporting frame 10 is provided with rotating mechanism 20, elevating mechanism 30, telescoping mechanism 40 and grasping mechanism 50, supporting frame 10 is placed in equipment sides such as treating working machine, grasping mechanism 50 is by workpiece grabbing, grasping mechanism 50 is controlled at same level rotation with in surface by rotating mechanism 20, realize grasping mechanism 50 by elevating mechanism 30 to be elevated in perpendicular, by telescoping mechanism 40 realize grasping mechanism 50 in same level plane forward extend or to after-contraction (conversion as between the state one in Fig. 1 and state two).
Refer to shown in Fig. 4, described rotating mechanism 20 comprises the shaft coupling housing 211 of the work top being sticked in supporting frame 10, be placed in the fixed mount 207 on shaft coupling housing 211 top, be placed in the connecting axle 210 at fixed mount 207 top and be placed in the motor rack 203 of shaft coupling housing 211 bottom, the bottom of motor rack 203 is disposed with rotating mechanism reductor 202 and rotating mechanism servomotor 201, rotating mechanism shaft coupling 205 is connected with the clutch shaft bearing 206 in fixed mount 207 and connecting axle 210, the top of fixed mount 207 is provided with cushion collar 208 and felt oil seal ring 209, connecting axle 210 is connected with the installing rack 310 of elevating mechanism 30, the installing rack 310 being realized elevating mechanism 30 by rotating mechanism servomotor 201 work is rotated.
Refer to shown in Fig. 5 and 6, described elevating mechanism 30 comprises installing rack 310, in installing rack 310, middle part is vertically furnished with the first screw mandrel 309, in installing rack 310, both sides are provided with the first guide rail 311, telescoping mechanism installing rack 304 is arranged on guide-rail plate 306, guide-rail plate 306 is arranged on supporting seat 307, and supporting seat 307 is arranged on the first screw mandrel 309 by nut 305; The bottom of installing rack 310 and connecting axle 210 Flange joint, and be provided with spline plate 312; The top of installing rack 310 is provided with motor mounting rack 302, and the elevating mechanism servomotor 301 being placed in motor mounting rack 302 top is connected by the elevating mechanism shaft coupling 303 being placed in motor mounting rack 302 inside with the first screw mandrel 309; Drive the first screw mandrel 309 to rotate by elevating mechanism servomotor 301, realize supporting seat 307 and drive telescoping mechanism 40 to rise or decline.
Refer to shown in Fig. 7 and 8, described telescoping mechanism 40 comprises the installing plate 406 be connected with telescoping mechanism installing rack 304, the top of installing plate 406 is provided with telescoping mechanism servomotor 407, the bottom of installing plate 406 is connected with horizontally disposed base plate 401, the end being placed in the second screw mandrel 410 above base plate 401 is connected with telescoping mechanism servomotor 407 by the first Timing Belt 405, the two ends of the second screw mandrel 410 are all placed on screw mandrel holder 404, are placed between sliding sleeve 408 on the second screw mandrel 410 and screw mandrel holder 404 and are also provided with buffing pad 403; One side bottom of the transverse slat 509 of grasping mechanism 50 is fixed on sliding sleeve 408, is placed on extension board 409, extension board 409 is fixed with chute 518 bottom the opposite side of transverse slat 509, and the second guide rail 514 be placed in bottom transverse slat 509 is embedded at this chute 518; The second screw mandrel 410 is driven to rotate by telescoping mechanism servomotor 407, sliding sleeve 408 is run on the second screw mandrel 410, thus drive the transverse slat 509 of grasping mechanism 50 to run above the second screw mandrel 410, and limit its operating path under by the second guide rail 514 and chute 518 mating reaction.
Refer to shown in Fig. 9-11, described grasping mechanism 50 comprises transverse slat 509, the bottom of transverse slat 509 is provided with the second guide rail 514, and the top of transverse slat 509 is provided with link 515 near the side of telescoping mechanism servomotor 407, and the end side on transverse slat 509 top is fixed with bearing block 504, the top of link 515 is provided with the grasping mechanism reductor 516 and grasping mechanism servomotor 513 that are connected to each other successively, the first synchronizing wheel 517 be connected with grasping mechanism reductor 516 is connected with the second synchronizing wheel 511 being placed in bearing block 504 top by the second Timing Belt 510, the top being placed in the second bearing 503 in bearing block 504 is connected with the second synchronizing wheel 511, the bottom of the second bearing 503 is connected with support arm plate 506, support arm plate 506 is connected with four support arms 502, the end of support arm 502 is provided with sucker disk seat 501, organ sucker 507 is provided with in the bottom of sucker disk seat 501, worked by grasping mechanism servomotor 513, realize the rotation of support arm plate 506, rotate to drive the workpiece sucked by organ sucker 507.
Above content is only to design example of the present invention and explanation; affiliated those skilled in the art make various amendment to described specific embodiment or supplement or adopt similar mode to substitute; only otherwise depart from the design of invention or surmount this scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (5)
1. a reclaimer robot, is characterized in that: comprise supporting frame (10), and supporting frame (10) is provided with rotating mechanism (20), elevating mechanism (30), telescoping mechanism (40) and grasping mechanism (50); Grasping mechanism (50) is by workpiece grabbing, grasping mechanism (50) is controlled at same level rotation with in surface by rotating mechanism (20), realize grasping mechanism (50) by elevating mechanism (30) to be elevated in perpendicular, by telescoping mechanism (40) realize grasping mechanism (50) in same level plane forward extend or to after-contraction.
2. reclaimer robot according to claim 1, it is characterized in that: described rotating mechanism (20) comprises the shaft coupling housing (211) of the work top being sticked in supporting frame (10), be placed in the fixed mount (207) on shaft coupling housing (211) top, be placed in the connecting axle (210) at fixed mount (207) top and be placed in the motor rack (203) of shaft coupling housing (211) bottom, the bottom of motor rack (203) is disposed with rotating mechanism reductor (202) and rotating mechanism servomotor (201), rotating mechanism shaft coupling (205) is connected with the clutch shaft bearing (206) in fixed mount (207) and connecting axle (210), the top of fixed mount (207) is provided with cushion collar (208) and felt oil seal ring (209), connecting axle (210) is connected with the installing rack (310) of elevating mechanism (30), the installing rack (310) being realized elevating mechanism (30) by rotating mechanism servomotor (201) work is rotated.
3. reclaimer robot according to claim 2, it is characterized in that: described elevating mechanism (30) comprises installing rack (310), in installing rack (310), middle part is vertically furnished with the first screw mandrel (309), installing rack (310) interior both sides are provided with the first guide rail (311), telescoping mechanism installing rack (304) is arranged on guide-rail plate (306), guide-rail plate (306) is arranged on supporting seat (307), and supporting seat (307) is arranged on the first screw mandrel (309) by nut (305); The bottom of installing rack (310) and connecting axle (210) Flange joint, and be provided with spline plate (312); The top of installing rack (310) is provided with motor mounting rack (302), and the elevating mechanism servomotor (301) being placed in motor mounting rack (302) top is connected by the elevating mechanism shaft coupling (303) being placed in motor mounting rack (302) inner with the first screw mandrel (309); Drive the first screw mandrel (309) to rotate by elevating mechanism servomotor (301), realize supporting seat (307) and drive telescoping mechanism (40) to rise or decline.
4. reclaimer robot according to claim 3, it is characterized in that: described telescoping mechanism (40) comprises the installing plate (406) be connected with telescoping mechanism installing rack (304), the top of installing plate (406) is provided with telescoping mechanism servomotor (407), the bottom of installing plate (406) is connected with horizontally disposed base plate (401), the end being placed in second screw mandrel (410) of base plate (401) top is connected with telescoping mechanism servomotor (407) by the first Timing Belt (405), the two ends of the second screw mandrel (410) are all placed on screw mandrel holder (404), be placed between sliding sleeve (408) on the second screw mandrel (410) and screw mandrel holder (404) and be also provided with buffing pad (403), one side bottom of the transverse slat (509) of grasping mechanism (50) is fixed on sliding sleeve (408), be placed on extension board (409) bottom the opposite side of transverse slat (509), extension board (409) is fixed with chute (518), the second guide rail (514) being placed in transverse slat (509) bottom is embedded at this chute (518), the second screw mandrel (410) is driven to rotate by telescoping mechanism servomotor (407), make sliding sleeve (408) in the upper operation of the second screw mandrel (410), thus drive the transverse slat (509) of grasping mechanism (50) to run in the second screw mandrel (410) top, and limit its operating path under by the second guide rail (514) and chute (518) mating reaction.
5. reclaimer robot according to claim 4, it is characterized in that: described grasping mechanism (50) comprises transverse slat (509), the bottom of transverse slat (509) is provided with the second guide rail (514), the top of transverse slat (509) is provided with link (515) near the side of telescoping mechanism servomotor (407), and the end side on transverse slat (509) top is fixed with bearing block (504), the top of link (515) is provided with the grasping mechanism reductor (516) and grasping mechanism servomotor (513) that are connected to each other successively, the first synchronizing wheel (517) be connected with grasping mechanism reductor (516) is connected with the second synchronizing wheel (511) being placed in bearing block (504) top by the second Timing Belt (510), the top being placed in the second bearing (503) in bearing block (504) is connected with the second synchronizing wheel (511), the bottom of the second bearing (503) is connected with support arm plate (506), support arm plate (506) is connected with four support arms (502), the end of support arm (502) is provided with sucker disk seat (501), organ sucker (507) is provided with in the bottom of sucker disk seat (501), by grasping mechanism servomotor (513) work, realize the rotation of support arm plate (506), rotate to drive the workpiece sucked by organ sucker (507).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636759.3A CN105149474A (en) | 2015-10-01 | 2015-10-01 | Material taking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636759.3A CN105149474A (en) | 2015-10-01 | 2015-10-01 | Material taking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105149474A true CN105149474A (en) | 2015-12-16 |
Family
ID=54790677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510636759.3A Pending CN105149474A (en) | 2015-10-01 | 2015-10-01 | Material taking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105149474A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077336A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of handgrip |
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN110883255A (en) * | 2019-12-13 | 2020-03-17 | 辽宁汇智机器人有限公司 | Automatic calendering manipulator device |
| CN114619430A (en) * | 2022-03-10 | 2022-06-14 | 山东理工职业学院 | Single-upright-column plane coordinate mechanical arm on box filler |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080253876A1 (en) * | 2007-04-10 | 2008-10-16 | Erowa Ag | Handling Manipulator Assembly |
| CN202952265U (en) * | 2012-11-08 | 2013-05-29 | 周武 | Five-axis intelligent manipulator |
| CN103737587A (en) * | 2014-01-23 | 2014-04-23 | 昆山威创精密机械有限公司 | Intelligent five-shaft manipulator |
| CN103785766A (en) * | 2014-01-21 | 2014-05-14 | 袁应超 | Carrying and stacking mechanical hand |
| 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 |
| CN204278014U (en) * | 2014-10-31 | 2015-04-22 | 亿和精密工业（苏州）有限公司 | Punching press conveying robot |
-
2015
- 2015-10-01 CN CN201510636759.3A patent/CN105149474A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080253876A1 (en) * | 2007-04-10 | 2008-10-16 | Erowa Ag | Handling Manipulator Assembly |
| CN202952265U (en) * | 2012-11-08 | 2013-05-29 | 周武 | Five-axis intelligent manipulator |
| CN103785766A (en) * | 2014-01-21 | 2014-05-14 | 袁应超 | Carrying and stacking mechanical hand |
| CN103737587A (en) * | 2014-01-23 | 2014-04-23 | 昆山威创精密机械有限公司 | Intelligent five-shaft manipulator |
| 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 |
| CN204278014U (en) * | 2014-10-31 | 2015-04-22 | 亿和精密工业（苏州）有限公司 | Punching press conveying robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077336A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of handgrip |
| CN106077336B (en) * | 2016-07-22 | 2018-02-27 | 惠州市仨联自动化设备有限公司 | Driven rod and its multistage tools material transfer robot with handgrip |
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN110883255A (en) * | 2019-12-13 | 2020-03-17 | 辽宁汇智机器人有限公司 | Automatic calendering manipulator device |
| CN114619430A (en) * | 2022-03-10 | 2022-06-14 | 山东理工职业学院 | Single-upright-column plane coordinate mechanical arm on box filler |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151216 |
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| WD01 | Invention patent application deemed withdrawn after publication |