CN105150194A - Lifting mechanism of material taking mechanical arm - Google Patents

Lifting mechanism of material taking mechanical arm Download PDF

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Publication number
CN105150194A
CN105150194A CN201510636758.9A CN201510636758A CN105150194A CN 105150194 A CN105150194 A CN 105150194A CN 201510636758 A CN201510636758 A CN 201510636758A CN 105150194 A CN105150194 A CN 105150194A
Authority
CN
China
Prior art keywords
arranged
installing frame
lifting mechanism
mechanism
installing rack
Prior art date
Application number
CN201510636758.9A
Other languages
Chinese (zh)
Inventor
肖春莲
刘权
陈勇章
王可胜
Original Assignee
合肥金海康五金机械制造有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 合肥金海康五金机械制造有限公司 filed Critical 合肥金海康五金机械制造有限公司
Priority to CN201510636758.9A priority Critical patent/CN105150194A/en
Publication of CN105150194A publication Critical patent/CN105150194A/en

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Abstract

The invention relates to the technical field of mechanical workpiece machining, in particular to a lifting mechanism of a material taking mechanical arm. A first lead screw is vertically arranged in the middle of an installing frame. First guide rails are arranged on the two sides in the installing frame. Telescopic mechanism installing frames are installed above guide rail plates. The guide rail plates are installed above supporting bases. The supporting bases are arranged above the first lead screw through nuts. The bottom of the installing frame is connected with a connecting shaft through flanges, and a rotation stopping plate is arranged. A motor installing frame is arranged on the top of the installing frame, and a lifting mechanism servo motor arranged at the upper portion of the motor installing frame is connected with the first lead screw through a lifting mechanism coupler arranged in the motor installing frame. The first lead screw is driven by the lifting mechanism servo motor to rotate, and the supporting bases drive telescopic mechanisms to ascend or descend. Equipment is compact in overall structure and easy and convenient to control, and precise control over any position can be achieved.

Description

Reclaimer robot elevating mechanism

Technical field

The present invention relates to mechanical workpieces processing technique field, specifically relate to a kind of reclaimer robot elevating mechanism.

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 elevating mechanism of reasonable in design.To achieve these goals, the technical solution adopted in the present invention is:

A kind of reclaimer robot elevating mechanism, comprise installing rack, 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, 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.

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 (1)

1. a reclaimer robot elevating mechanism, it is characterized in that: comprise 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.
CN201510636758.9A 2015-10-01 2015-10-01 Lifting mechanism of material taking mechanical arm CN105150194A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510636758.9A CN105150194A (en) 2015-10-01 2015-10-01 Lifting mechanism of material taking mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510636758.9A CN105150194A (en) 2015-10-01 2015-10-01 Lifting mechanism of material taking mechanical arm

Publications (1)

Publication Number Publication Date
CN105150194A true CN105150194A (en) 2015-12-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510636758.9A CN105150194A (en) 2015-10-01 2015-10-01 Lifting mechanism of material taking mechanical arm

Country Status (1)

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CN (1) CN105150194A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0154825A1 (en) * 1984-03-12 1985-09-18 Kabushiki Kaisha Sankyo Seiki Seisakusho Lifting head of swivel arm of assembly robot
CN201198134Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Cylindrical storehouse stacking robot
CN201198135Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Laneway storehouse stacking robot
CN101829999A (en) * 2010-04-26 2010-09-15 北京交通大学 Reachable domain detection device for astronaut spatial activities
CN103009173A (en) * 2012-12-31 2013-04-03 合肥工业大学 Five-axis automatic double-station material loading and unloading mechanism of plate part
CN204160476U (en) * 2014-10-08 2015-02-18 广东宏兴机械有限公司 Servo four axle stamping mechanical arm
CN104668837A (en) * 2015-02-05 2015-06-03 珠海格力电器股份有限公司 Tooling block taking device
KR20150097298A (en) * 2014-02-18 2015-08-26 (주) 러스 the horizontality transfer arm for transfer and the transfer robot theirwith

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0154825A1 (en) * 1984-03-12 1985-09-18 Kabushiki Kaisha Sankyo Seiki Seisakusho Lifting head of swivel arm of assembly robot
CN201198134Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Cylindrical storehouse stacking robot
CN201198135Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Laneway storehouse stacking robot
CN101829999A (en) * 2010-04-26 2010-09-15 北京交通大学 Reachable domain detection device for astronaut spatial activities
CN103009173A (en) * 2012-12-31 2013-04-03 合肥工业大学 Five-axis automatic double-station material loading and unloading mechanism of plate part
KR20150097298A (en) * 2014-02-18 2015-08-26 (주) 러스 the horizontality transfer arm for transfer and the transfer robot theirwith
CN204160476U (en) * 2014-10-08 2015-02-18 广东宏兴机械有限公司 Servo four axle stamping mechanical arm
CN104668837A (en) * 2015-02-05 2015-06-03 珠海格力电器股份有限公司 Tooling block taking device

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Application publication date: 20151216

WD01 Invention patent application deemed withdrawn after publication