CN105150205A - Four-axle punching robot - Google Patents

Four-axle punching robot Download PDF

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Publication number
CN105150205A
CN105150205A CN201510615547.7A CN201510615547A CN105150205A CN 105150205 A CN105150205 A CN 105150205A CN 201510615547 A CN201510615547 A CN 201510615547A CN 105150205 A CN105150205 A CN 105150205A
Authority
CN
China
Prior art keywords
swing arm
servo motor
arm
rod
mount pad
Prior art date
Application number
CN201510615547.7A
Other languages
Chinese (zh)
Inventor
谢传海
李元兴
Original Assignee
佛山市顺德区凯硕精密模具自动化科技有限公司
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
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Application filed by 佛山市顺德区凯硕精密模具自动化科技有限公司 filed Critical 佛山市顺德区凯硕精密模具自动化科技有限公司
Priority to CN201510615547.7A priority Critical patent/CN105150205A/en
Publication of CN105150205A publication Critical patent/CN105150205A/en

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Abstract

The invention provides a four-axle punching robot which is compact in structure, quicker in action response and higher in working efficiency. The four-axle punching robot comprises a rack, a swing arm connecting rod lifting servo motor mounted in the rack, a swing arm connecting rod lifting RV speed reducer which is connected with the swing arm connecting rod lifting servo motor, a swing arm connecting rod, a harmonic-wave speed reducer, a swing arm and the like, wherein one end of the swing arm connecting rod is connected with the swing arm connecting rod lifting RV speed reducer and the other end of the swing arm connecting rod is hinged with a mounting base for mounting a servo motor; the harmonic-wave speed reducer is used for driving the mounting base to lift and move, and is connected with the output end of the servo motor; and the swing arm is driven by the harmonic-wave speed reducer to horizontally swing. According to the scheme adopted by the invention, by adopting a structural form with four servo motors which are independently and cooperatively fitted for action and corresponding transmission mechanisms, the robot in the scheme is higher in working efficiency and more flexible.

Description

A kind of four axle pressing robot
Technical field
The present invention relates to mechanical stamping equipment technical field, refer more particularly to a kind of four axle pressing robot.
Background technology
In the production process of punching parts, often need to adopt industrial robot to extract stamping parts, shift and the action such as discharging, its application on stamping line for raising business productivity, improve the quality of products, reduce production cost and all there is significant economic benefit the shortening production cycle.But existing pressing robot its generally there is complex structure, floor space is large, the defects such as the loaded down with trivial details and underaction of course of action, such as Chinese publication No. is the patent document of " a kind of four axle punching press feeding robots " of CN104308845A (date of publication is on 01 28th, 2015), during work, the first axle on it drives the 3rd axle to rotate to feeding position, after being rotated in place, 3rd axle drives the second axle to drop to above product, 4th axle rotates to proper angular position simultaneously, so that the 3rd axle declines carry out feeding, after feeding action completes, 3rd axle rises, first axle drives the 3rd axle to rotate above product discharge zone simultaneously, after being rotated in place, the while that 3rd axle declining, the 4th axle rotates, 3rd axle is declined to put in place laggard row product discharge, thus complete the feeding of single product, transfer and discharging process.Although this four axles punching press feeding robot can realize feeding to material, transfer and discharging action, its total is complicated, and drive mechanism is loaded down with trivial details, is unfavorable for the production efficiency and the market competitiveness that improve enterprise.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of compact conformation, action reflection is faster, operating efficiency is higher four axle pressing robot are provided.
For achieving the above object, technical scheme provided by the present invention is: a kind of four axle pressing robot, comprise frame, also comprise the swing arm connecting rod lifting servo motor be installed in described frame, the swing arm connecting rod lifting RV reductor be connected with this swing arm connecting rod lifting servo motor, the swing arm connecting rod that one end is connected with described swing arm connecting rod lifting RV reductor, the other end be hinged for the mount pad installing servo motor, for driving described mount pad lifting moving, the harmonic wave speed reducing machine be connected with this servo motor output, the swing arm of horizontal hunting is driven by this harmonic wave speed reducing machine, be fixedly installed in the telescopic arm servo motor of described swing arm one end, the first belt gear of transmission is driven by this telescopic arm servo motor, driven by this first belt gear and formed linear reciprocation with described swing arm and move the telescopic arm be slidably connected, be fixed on the material grasping arm servo motor on this telescopic arm one end, the second belt gear be connected with this material grasping arm servo motor and to be fixed on the described telescopic arm other end and to be driven the material grasping arm of horizontal hunting by this second belt gear, wherein said mount pad and frame form being slidably connected of vertical direction.
Further, a balance cylinder for its lifting moving auxiliary be fixedly linked with described mount pad is also included.
Again further, described mount pad is one with the strip shell structure of cavity, and wherein said balance cylinder is vertically installed in described mount pad cavity.
This programme is mainly through adopting the version of the servo motor of four independent coordinated actions and corresponding transmission mechanism, make the robot in this programme its operationally operating efficiency is higher and more flexible, be wherein swing arm connecting rod lifting servo motor by being arranged in frame for realizing the part of whole robot lifting action, the swing arm connecting rod lifting RV reductor be connected with this swing arm connecting rod lifting servo motor, the swing arm connecting rod that one end is connected with this swing arm connecting rod lifting RV reductor, the other end be hinged for the mount pad installing servo motor, and mount pad and frame form the version be slidably connected of vertical direction, adopt this this kind of version can make ensureing under the prerequisite reducing costs and be swift in motion, structure is more simply compact, adopt the horizontal hunting function of machine National People's Congress amplitude when driving swing arm to realize work by the servo motor be arranged on this mount pad and harmonic wave speed reducing machine simultaneously, and moving the telescopic arm be slidably connected and the telescopic arm servo motor driving this telescopic arm to move back and forth by forming linear reciprocation with this swing arm, realizing the rectilinear movement action of machine man-hour, in addition also by being arranged on material grasping arm servo motor on one end of this telescopic arm and driving by it material grasping arm horizontally rotating action be installed on this telescopic arm other end, realize by a small margin horizontally rotate action, said structure form can make robot in the course of the work, and its lifting, swing and straight reciprocating motion can be carried out simultaneously, thus greatly improve machine task efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is of the present invention point of de-assembly schematic diagram.
In figure: 100-tetra-axle pressing robot, 1-frame, 2-swing arm connecting rod lifting servo motor, 3-swing arm connecting rod lifting RV reductor, 4-swing arm connecting rod, 5-mount pad, 6-servo motor, 7-harmonic wave speed reducing machine, 8-swing arm, 9-telescopic arm servo motor, 10-first belt gear, 11-telescopic arm, 12-material grasping arm servo motor, 13-second belt gear, 14-material grasping arm, 15-balance cylinder.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described:
Shown in accompanying drawing 1 to 2, one four axle pressing robot 100 described in the present embodiment, it comprises frame 1, be arranged on the swing arm connecting rod lifting servo motor 2 of this frame 1 inner chamber bottom, the swing arm connecting rod lifting RV reductor 3 be connected with this swing arm connecting rod lifting servo motor 2, the swing arm connecting rod 4 that one end is connected with this swing arm connecting rod lifting RV reductor 3, the other end of this swing arm connecting rod 4 is hingedly mounted on a side of the mount pad 5 for installing servo motor 6, for driving this mount pad 5 lifting moving, the harmonic wave speed reducing machine 7 be connected with this servo motor 6 output, the swing arm 8 of horizontal hunting is driven by this harmonic wave speed reducing machine 7, be fixedly installed in the telescopic arm servo motor 9 of above-mentioned swing arm 8 one end, the first belt gear 10 of transmission is driven by this telescopic arm servo motor 9, driven by this first belt gear 10 and form linear reciprocation with above-mentioned swing arm 8 and move the telescopic arm 11 be slidably connected, be fixed on the material grasping arm servo motor 12 on this telescopic arm 11 one end, the second belt gear 13 be connected with this material grasping arm servo motor 12 and to be fixed on above-mentioned telescopic arm 11 other end and to be driven the material grasping arm 14 of horizontal hunting by this second belt gear 13, wherein formed by the slide rail that is provided with and chute between this mount pad 5 and frame 1 inner face and be vertically slidably connected.
Refer again to shown in accompanying drawing 2, in addition in order to make robot keep stability better in the course of the work, this programme is also provided with a balance cylinder 15 for its lifting moving auxiliary be fixedly linked with above-mentioned mount pad 5 in frame 1.Preferably, mount pad 5 in this programme is adopt the strip shell structure with cavity, wherein above-mentioned balance cylinder 15 is vertically arranged in mount pad 5 cavity, and this version can make whole robot architecture compacter, makes full use of the inner space of frame.
During lathe press work, after raw material are put into punching machine mold by material grasping arm 14, material grasping arm 14 action returns to home position, after lathe punching press action to be punched completes, swing arm 3 action is in rotary moving above punching machine mold, simultaneous retractable arm 11 action moves down, material grasping arm 14 captures raw material, after raw material grasping movement completes, telescopic arm 11 rises and resets and move retraction, and the action of swing arm 3 simultaneously rotates and realizes discharging action, after discharging action completes, material grasping arm 14 captures next raw material to be processed and puts into punching machine mold, repeats said process.
The examples of implementation of the above are only the preferred embodiment of the present invention, not limit practical range of the present invention with this, therefore the change that all shapes according to the present invention, principle are done, all should be encompassed in protection scope of the present invention.

Claims (3)

1. an axle pressing robot, comprise frame (1), it is characterized in that: also comprise the swing arm connecting rod lifting servo motor (2) be installed in described frame (1), swing arm connecting rod lifting RV reductor (3) be connected with this swing arm connecting rod lifting servo motor (2), the swing arm connecting rod (4) that one end is connected with described swing arm connecting rod lifting RV reductor (3), the other end be hinged for the mount pad (5) installing servo motor (6), for driving described mount pad (5) lifting moving, the harmonic wave speed reducing machine (7) be connected with this servo motor (6) output, the swing arm (8) of horizontal hunting is driven by this harmonic wave speed reducing machine (7), be fixedly installed in the telescopic arm servo motor (9) of described swing arm (8) one end, first belt gear (10) of transmission is driven by this telescopic arm servo motor (9), driven by this first belt gear (10) and formed linear reciprocation with described swing arm (8) and move the telescopic arm (11) be slidably connected, be fixed on the material grasping arm servo motor (12) on this telescopic arm (11) one end, the second belt gear (13) be connected with this material grasping arm servo motor (12) and to be fixed on described telescopic arm (11) other end and to be driven the material grasping arm (14) of horizontal hunting by this second belt gear (13), wherein said mount pad (5) and frame (1) form being slidably connected of vertical direction.
2. a kind of four axle pressing robot according to claim 1, is characterized in that: also include a balance cylinder (15) for its lifting moving auxiliary be fixedly linked with described mount pad (5).
3. a kind of four axle pressing robot according to claim 2, it is characterized in that: described mount pad (5) is one with the strip shell structure of cavity, and wherein said balance cylinder (15) is vertically installed in described mount pad (5) cavity.
CN201510615547.7A 2015-09-23 2015-09-23 Four-axle punching robot CN105150205A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510615547.7A CN105150205A (en) 2015-09-23 2015-09-23 Four-axle punching robot

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Application Number Priority Date Filing Date Title
CN201510615547.7A CN105150205A (en) 2015-09-23 2015-09-23 Four-axle punching robot

Publications (1)

Publication Number Publication Date
CN105150205A true CN105150205A (en) 2015-12-16

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105729444A (en) * 2016-04-07 2016-07-06 朗锐包装技术(沧州)有限公司 Manipulator
CN105750441A (en) * 2016-04-21 2016-07-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Integrated swing arm punching robot for punch
CN105855901A (en) * 2016-06-22 2016-08-17 佛山市顺德区凯硕精密模具自动化科技有限公司 Production line for rice cooker stamping and forming stacking intelligent robots
CN108081010A (en) * 2017-11-10 2018-05-29 江苏新光数控技术有限公司 A kind of four shaft mechanical arms
CN108217216A (en) * 2018-01-03 2018-06-29 安溪县雅池茶业有限公司 A kind of stacking machine with mechanical hand protecting means

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08197463A (en) * 1995-01-26 1996-08-06 Fanuc Ltd Link device for industrial robot or the like
JP2013212580A (en) * 2013-06-19 2013-10-17 Denso Wave Inc Bin picking system
CN103707296A (en) * 2013-12-31 2014-04-09 哈尔滨工业大学 Four-shaft mechanical arm for grabbing sheet metal parts
CN203831402U (en) * 2014-05-28 2014-09-17 惠州市博赛数控机床有限公司 Intelligent four-shaft manipulator
CN203955950U (en) * 2014-06-25 2014-11-26 东莞市信腾机器人科技有限公司 The four axle stamping machine manipulators that arm load capacity is strong
CN204585213U (en) * 2015-04-30 2015-08-26 佛山市顺德区凯硕精密模具自动化科技有限公司 A kind of tong lifting structure for rotor
CN204954840U (en) * 2015-09-23 2016-01-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Four -axis punching press machine people

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08197463A (en) * 1995-01-26 1996-08-06 Fanuc Ltd Link device for industrial robot or the like
JP2013212580A (en) * 2013-06-19 2013-10-17 Denso Wave Inc Bin picking system
CN103707296A (en) * 2013-12-31 2014-04-09 哈尔滨工业大学 Four-shaft mechanical arm for grabbing sheet metal parts
CN203831402U (en) * 2014-05-28 2014-09-17 惠州市博赛数控机床有限公司 Intelligent four-shaft manipulator
CN203955950U (en) * 2014-06-25 2014-11-26 东莞市信腾机器人科技有限公司 The four axle stamping machine manipulators that arm load capacity is strong
CN204585213U (en) * 2015-04-30 2015-08-26 佛山市顺德区凯硕精密模具自动化科技有限公司 A kind of tong lifting structure for rotor
CN204954840U (en) * 2015-09-23 2016-01-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Four -axis punching press machine people

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105729444A (en) * 2016-04-07 2016-07-06 朗锐包装技术(沧州)有限公司 Manipulator
CN105750441A (en) * 2016-04-21 2016-07-13 佛山市顺德区凯硕精密模具自动化科技有限公司 Integrated swing arm punching robot for punch
CN105855901A (en) * 2016-06-22 2016-08-17 佛山市顺德区凯硕精密模具自动化科技有限公司 Production line for rice cooker stamping and forming stacking intelligent robots
CN105855901B (en) * 2016-06-22 2019-02-22 佛山市顺德区凯硕精密模具自动化科技有限公司 The stamping stacking intelligent robot production line of electric cooker
CN108081010A (en) * 2017-11-10 2018-05-29 江苏新光数控技术有限公司 A kind of four shaft mechanical arms
CN108217216A (en) * 2018-01-03 2018-06-29 安溪县雅池茶业有限公司 A kind of stacking machine with mechanical hand protecting means
CN108217216B (en) * 2018-01-03 2019-08-23 安溪县雅池茶业有限公司 A kind of stacking machine with mechanical hand protecting means

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Application publication date: 20151216