CN105798905A - Six-axis intelligent carrying mechanical hand for stamping - Google Patents
Six-axis intelligent carrying mechanical hand for stamping Download PDFInfo
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- CN105798905A CN105798905A CN201610312861.2A CN201610312861A CN105798905A CN 105798905 A CN105798905 A CN 105798905A CN 201610312861 A CN201610312861 A CN 201610312861A CN 105798905 A CN105798905 A CN 105798905A
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- servomotor
- motion mechanism
- fixing
- frame
- synchronous pulley
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-axis intelligent carrying mechanical hand for stamping, and the six-axis intelligent carrying mechanical hand has six degrees of freedom and high sensitivity. The six-axis intelligent carrying mechanical hand for stamping comprises a swing arm rotation motion mechanism, a lifting motion mechanism, a turnover motion mechanism, a horizontal telescopic motion mechanism, a tail end rotation motion mechanism and a gripper pitching motion mechanism, wherein the lifting motion mechanism is fixedly connected with the swing arm rotation motion mechanism; the turnover rotation motion mechanism is fixedly connected with the lifting motion mechanism; the horizontal telescopic motion mechanism is fixedly connected with the turnover motion mechanism; the tail end rotation motion mechanism is fixedly connected with the horizontal telescopic motion mechanism; and the gripper pitching motion mechanism is fixedly connected with the tail end rotation motion mechanism. The six-axis intelligent carrying mechanical hand for stamping can meet material getting and placing requirements in any directions and at any positions within a stroke range, and replaces manual operation, so that the labor intensity is reduced, the efficiency is improved, and the occurrence of industrial accidents is reduced to a greater extent, and the six-axis intelligent carrying mechanical hand for stamping is safe and reliable.
Description
Technical field
The present invention relates to a kind of Intelligentized mechanical equipment, be specifically related to a kind of punching press and carry six axle puma manipulators.
Background technology
Mostly current punching press and forging and stamping are that when producing use is manually operated, punching press and forging and stamping process are carried out feeding-blanking by workman, enters back into the feeding-blanking of next process, in the process, especially for the more difficult workpiece put in position, staff is operated often having an accident；The muscle power and the energy that start workman are that comparison is abundant, but along with the carrying out of work, due to the decline of workman's carelessness or muscle power and energy, not only work efficiency declines therewith, it is easier to cause that accident occurs；When using machine to carry out loading and unloading, owing to workpiece putting position is more complicated, this is also just high to the requirement of machine degree of freedom, and workpiece flexibly, maybe can not cannot be put into required locus by general machine.
Summary of the invention
For the deficiency overcoming above-mentioned middle prior art to exist, the present invention is that six axle puma manipulators are carried in a kind of punching press, this mechanical hand is used for the loading and unloading of the occasion such as punching press and forging and stamping, not only contributing to potential safety hazard, the raising productivity ratio of avoiding manual operation to bring, the position that more can realize workpiece flexibly is put.
It is an object of the invention to be realized by below scheme: six axle puma manipulators are carried in a kind of punching press, including swing arm rotational motion mechanism, elevating movement mechanism, flip-flop movement mechanism, horizontal stretching motion mechanism, end rotational motion mechanism, handgrip elevating movement mechanism, it is characterized in that: described swing arm rotational motion mechanism is fixing with support to be connected, described elevating movement mechanism is fixing with swing arm rotational motion mechanism to be connected, described flip-flop movement mechanism is fixing with in described elevating movement mechanism to be connected, described horizontal stretching motion mechanism is fixing with described flip-flop movement mechanism to be connected, described end rotational motion mechanism is fixing with described horizontal stretching motion mechanism to be connected, described handgrip elevating movement mechanism is fixing with described end rotational motion mechanism to be connected, equipped with material gripping device on the rotation axle that described handgrip elevating movement mechanism is provided with.
Preferably, the 1# output end of reducer that the box-type casing that described elevating movement mechanism is provided with is provided with described swing arm rotational motion mechanism is fixing to be connected, feed screw nut's seat of the vertical 1# ball screw that the compound frame that described flip-flop movement mechanism is provided with is provided with described elevating movement mechanism is fixing to be connected, the upset power transmission shaft that the telescoping mechanism frame that described horizontal stretching motion mechanism is provided with is provided with described flip-flop movement mechanism is fixing to be connected, the feed screw nut of the 2# ball screw of the level that the end rotary frame that described end rotational motion mechanism is provided with is provided with described horizontal stretching motion mechanism overlaps fixing connection, end rotating shaft that the pitching frame that described handgrip elevating movement mechanism is provided with is provided with described end rotational motion mechanism is fixing to be connected.
Preferably, described swing arm rotational motion mechanism is mainly made up of 1# servomotor, input gear, 1# reductor；Described 1# servomotor drives with motor and motion-control module electrical connection, and described motor drives and on motion-control module, motor output shaft vertically, is connected by flat key with input gear；Described input gear engages with the canine tooth wheel disc in 1# reductor, drives the outfan of 1# reductor to rotate clockwise or counterclockwise；The casing of described 1# reductor is fixing with support to be connected.
Preferably, described elevating movement mechanism is mainly made up of box-type casing, 3# servomotor, shaft coupling, bearing block, 1# ball screw, feed screw nut's seat, compound frame, 1# line slideway；Described box-type casing is fixing with the outfan of 1# reductor to be connected；Described 3# servomotor drives with motor and motion-control module electrical connection；Described 3# servomotor and bearing block are separately fixed at the top of box-type casing, and coaxially；Described 1# ball screw is contained on bearing block, and is connected by shaft coupling is fixing with the output shaft of 3# servomotor；Described feed screw nut's seat is connected with 1# ball screw spiral；Described compound frame and feed screw nut's seat are fixing to be connected, and fixes with the slide block of 1# line slideway and be connected, and under the constraint of the 1# line slideway being fixed on box-type casing, 1# ball screw drives, it is achieved its linear elevating movement.
Preferably, described flip-flop movement mechanism is mainly made up of 2# servomotor, 2# reductor, driving gear, output gear, pivoting support, upset power transmission shaft；Described 2# servomotor drives with motor and motion-control module electrical connection, and its output shaft end is connected by flat key with 2# reductor；Described 2# servomotor is fixed on 2# decelerator shell；Described 2# reductor is fixed in compound frame；Described 2# output end of reducer is connected with driving gear, drives gear to be fixed in compound frame by bearing；Described upset power transmission shaft is fixed on the turning collar of pivoting support, and pivoting support ring for fixing is fixed in compound frame；Described output gear is connected with upset power transmission shaft by flat key；Described driving gear engages with output gear, and 2# servomotor is driven by 2# reductor and drives gear to drive output gear to rotate, thus driving upset power transmission shaft to realize positive and negative rotary movement.
Preferably, described horizontal stretching motion mechanism is mainly made up of telescoping mechanism frame, 5# servomotor, 3# Timing Belt, 1# synchronous pulley, 2# line slideway, feed screw nut's set, 2# ball screw；Described telescoping mechanism frame is fixing with the outfan of upset power transmission shaft to be connected, and when overturning drive axis, telescoping mechanism frame rotates therewith；Described 5# servomotor drives with motor and motion-control module electrical connection；Described 5# servomotor is fixedly connected in telescoping mechanism frame, and equipped with synchronous pulley on its output shaft；Described 2# ball screw two ends are fixed in telescoping mechanism frame by bearing；Described 1# synchronous pulley is fixed on one end of 2# ball screw by flat key；Described feed screw nut set forms spiral with 2# ball screw and is connected；The synchronous pulley of 1# synchronous pulley with 5# servomotor outfan is connected by described 3# Timing Belt；Described 2# line slideway is fixed in telescoping mechanism frame；Described end rotary frame is fixed on the slide block on 2# line slideway, and overlaps with feed screw nut and be connected；Described 5# servomotor imparts power to 2# ball screw by 3# Timing Belt and 1# synchronous pulley, and under the driving of 2# ball screw, end rotary frame does rectilinear motion along with feed screw nut is enclosed within 2# line slideway.
Preferred described end rotational motion mechanism is mainly made up of 4# servomotor, end rotary frame, 1# Timing Belt, 2# synchronous pulley, end rotating shaft；Described 4# servomotor drives with motor and motion-control module electrical connection；Described 4# servomotor is fixed on end rotary frame；Described 2# synchronous pulley is connected by flat key and end rotating shaft are fixing, and end rotating shaft is fixed on end rotary frame by bearing；The synchronous pulley of 2# synchronous pulley with 4# servomotor end is connected by described 1# Timing Belt；Described 4# servomotor drives end rotating shaft to realize positive/negative rotating by 1# Timing Belt, 2# synchronous pulley.
Preferably, described handgrip elevating movement mechanism is mainly made up of motor, 2# Timing Belt, pitching frame, tool mounting plate, 3# synchronous pulley；Described motor drives with motor and motion-control module electrical connection；Described pitching frame is connected with end rotating shaft by flat key, and positive/negative therewith rotates；Described motor is fixed in pitching frame；Described 3# synchronous pulley is arranged in pitching frame by flat key, bearing pin, bearing；Described tool mounting plate is connected with the bearing pin of 3# synchronous pulley by flat key；3# synchronous pulley is connected by described 2# Timing Belt with the synchronous pulley of motor；Described tool mounting plate realizes pitching motion under the drive of motor.
Preferably, also it is made up of electric-control system；Described each servomotor is equipped with absolute value encoder, and described each motor is connected to electric-control system by control line；Described electric-control system is carried out manual control by demonstrator, and described demonstrator is provided with touch screen and manual input device, and described demonstrator is connected to electric-control system by control line.
Preferably, tool mounting plate is provided with some suckers or electric magnet and/or clamping device, described some suckers or electric magnet, and/or clamping device can lineal layout or circle distribution.
Preferably, 1# reductor adopts RV reductor, and 2# reductor adopts planetary reducer.
The invention have the benefit that owing to 6 mechanisms i.e. 6 axles are reasonable in design, cooperating and co-operating by 1-6 axle, can rotate, move up and down, upset, radial level moves, the actions such as end rotation and handgrip (Manipulator Hand) pitching, meet production line at an arbitrary position with the loading and unloading requirement of any direction, thus achieve the do mechanization operation of loading and unloading, avoid because of the artificial potential safety hazard that directly loading and unloading operation brings, simultaneously, against the background of the prior art, the beat of this mechanical hand is up to 10～15 beats/min, exceed well over manually-operated efficiency, be conducive to increasing substantially production efficiency；Servomotor and step motor drive is all adopted due to each action, and RV reductor, planetary reducer, ball screw and crossed cylindrical roller bearing etc. can be adopted to be suitable for the accessory of servo-controlled high accuracy and compact conformation, be conducive to improving control accuracy, reduce equipment volume, reduce power consumption；Owing to can adopt demonstrator and motor control card control servomotor, teaching is simple, easy to operate, simultaneously due also to each servomotor all can be provided with absolute value encoder, after power-off, and the position before can remembering, teaching can be carried out easily.
Accompanying drawing explanation
Fig. 1 is the Facad structure schematic diagram of the present invention.
Fig. 2 is the top view of the present invention.
nullWherein: 1、Support，2、Motor drives and motion-control module，3、1# servomotor，4、Input gear，5、1# reductor，6、Box-type casing，7、2# servomotor，8、2# reductor，9、Drive gear，10、Feed screw nut's seat，11、Output gear，12、Compound frame，13、1# ball screw，14、1# line slideway，15、Bearing block，16、Shaft coupling，17、3# servomotor，18、Revolving support，19、Upset power transmission shaft，20、Telescoping mechanism frame，21、1# synchronous pulley，22、2# line slideway，23、Feed screw nut overlaps，24、2# ball screw，25、1# Timing Belt，26、2# synchronous pulley，27、End rotating shaft，28、Motor，29、2# Timing Belt，30、Pitching frame，31、Tool mounting plate，32、3# synchronous pulley，33、4# servomotor，34、End rotary frame，35、5# servomotor，36、3# Timing Belt.
Detailed description of the invention
As depicted in figs. 1 and 2: six axle puma manipulators are carried in a kind of punching press, including swing arm rotational motion mechanism, elevating movement mechanism, flip-flop movement mechanism, horizontal stretching motion mechanism, end rotational motion mechanism, handgrip elevating movement mechanism, it is characterized in that: described swing arm rotational motion mechanism is fixing with support 1 to be connected, described elevating movement mechanism is fixing with swing arm rotational motion mechanism to be connected, described flip-flop movement mechanism is fixing with in described elevating movement mechanism to be connected, described horizontal stretching motion mechanism is fixing with described flip-flop movement mechanism to be connected, described end rotational motion mechanism is fixing with described horizontal stretching motion mechanism to be connected, described handgrip elevating movement mechanism is fixing with described end rotational motion mechanism to be connected, equipped with material gripping device on the rotation axle that described handgrip elevating movement mechanism is provided with, wherein:
Described swing arm rotational motion mechanism is mainly made up of 1# servomotor 3, input gear 4,1# reductor 5；Described 1# servomotor 3 drives with motor and motion-control module 2 is electrically connected, and described motor drives and on motion-control module 2, motor output shaft vertically, is connected by flat key with input gear 4；Described input gear 4 engages with the canine tooth wheel disc in 1# reductor 5, drives the outfan of 1# reductor 5 to rotate clockwise or counterclockwise；The casing of described 1# reductor 5 is fixing with support 1 to be connected；
Described elevating movement mechanism is mainly made up of box-type casing 6,3# servomotor 17, shaft coupling 16, bearing block 15,1# ball screw 13, feed screw nut's seat 10, compound frame 12,1# line slideway 14；Described box-type casing 6 is fixing with the outfan of 1# reductor 5 to be connected；Described 3# servomotor 17 drives with motor and motion-control module 2 is electrically connected；Described 3# servomotor 17 and bearing block 15 are separately fixed at the top of box-type casing 6, and coaxially；Described 1# ball screw 13 is contained on bearing block 15, and is connected by shaft coupling 16 is fixing with the output shaft of 3# servomotor 17；Described feed screw nut's seat 10 is connected with 1# ball screw 13 spiral；Described compound frame 12 and feed screw nut's seat 10 is fixing to be connected, and fixes with the slide block of 1# line slideway 14 and be connected, and under the constraint of the 1# line slideway 14 being fixed on box-type casing 6,1# ball screw 13 drives, it is achieved its linear elevating movement；
Described flip-flop movement mechanism is mainly made up of 2# servomotor 7,2# reductor 8, driving gear 9, output gear 11, pivoting support 18, upset power transmission shaft 19；Described 2# servomotor 7 drives with motor and motion-control module 2 is electrically connected, and its output shaft end is connected by flat key with 2# reductor 8；Described 2# servomotor 7 is fixed on 2# reductor 8 shell；Described 2# reductor 8 is fixed in compound frame 12；Described 2# reductor 8 outfan is connected with driving gear 9, drives gear 9 to be fixed in compound frame 12 by bearing；Described upset power transmission shaft 19 is fixed on the turning collar of pivoting support 18, and pivoting support 18 ring for fixing is fixed in compound frame 12；Described output gear 11 is connected with upset power transmission shaft 19 by flat key；Described driving gear 9 engages with output gear 11, and 2# servomotor 7 is driven by 2# reductor 8 and drives gear 9 to drive output gear 11 to rotate, thus driving upset power transmission shaft 19 to realize positive and negative rotary movement；
Described horizontal stretching motion mechanism is mainly overlapped 23 by telescoping mechanism frame 20,5# servomotor 35,3# Timing Belt 36,1# synchronous pulley 21,2# line slideway 22, feed screw nut, 2# ball screw 24 is constituted；Described telescoping mechanism frame 20 is fixing with the outfan of upset power transmission shaft 19 to be connected, and when overturning power transmission shaft 19 and rotating, telescoping mechanism frame 20 rotates therewith；Described 5# servomotor 35 drives with motor and motion-control module 2 is electrically connected；Described 5# servomotor 35 is fixedly connected in telescoping mechanism frame 20, and equipped with synchronous pulley on its output shaft；Described 2# ball screw 24 two ends are fixed in telescoping mechanism frame 20 by bearing；Described 1# synchronous pulley 21 is fixed on one end of 2# ball screw 24 by flat key；Described feed screw nut overlaps 23 and forms spiral with 2# ball screw 24 and be connected；The synchronous pulley of 1# synchronous pulley 21 with 5# servomotor 35 outfan is connected by described 3# Timing Belt 36；Described 2# line slideway 22 is fixed in telescoping mechanism frame 20；Described end rotary frame 34 is fixed on the slide block on 2# line slideway 22, and overlaps 23 with feed screw nut and be connected；Described 5# servomotor 35 imparts power to 2# ball screw 24 by 3# Timing Belt 36 and 1# synchronous pulley 21, and under the driving of 2# ball screw 24, end rotary frame 34 does rectilinear motion along with feed screw nut overlaps 23 on 2# line slideway 22；
Described end rotational motion mechanism is mainly made up of 4# servomotor 33, end rotary frame 34,1# Timing Belt 25,2# synchronous pulley 26, end rotating shaft 27；Described 4# servomotor 33 drives with motor and motion-control module 2 is electrically connected；Described 4# servomotor 33 is fixed on end rotary frame 34；Described 2# synchronous pulley 26 is connected by flat key is fixing with end rotating shaft 27, and end rotating shaft 27 is fixed on end rotary frame 34 by bearing；The synchronous pulley of 2# synchronous pulley 26 with 4# servomotor 33 end is connected by described 1# Timing Belt 25；Described 4# servomotor 33 drives end rotating shaft 27 to realize positive/negative rotating by 1# Timing Belt 25,2# synchronous pulley 26；
Described handgrip elevating movement mechanism is mainly made up of motor 28,2# Timing Belt 29, pitching frame 30, tool mounting plate 31,3# synchronous pulley 32；Described motor 28 drives with motor and motion-control module 2 is electrically connected；Described pitching frame 30 is connected with end rotating shaft 27 by flat key, and positive/negative therewith rotates；Described motor 28 is fixed in pitching frame 30；Described 3# synchronous pulley 32 is arranged in pitching frame 30 by flat key, bearing pin, bearing；Described tool mounting plate 31 is connected with the bearing pin of 3# synchronous pulley 32 by flat key；The synchronous pulley of 3# synchronous pulley 32 with motor 28 is connected by described 2# Timing Belt 29；Described tool mounting plate 31 realizes pitching motion under the drive of motor 28；
Referring to Fig. 1 and Fig. 2,6 axle loading and unloading manipulators provided by the invention include swing arm rotational motion mechanism, elevating movement mechanism, flip-flop movement mechanism, horizontal stretching motion mechanism, end rotational motion mechanism, handgrip elevating movement mechanism, below in conjunction with Fig. 1 and Fig. 2, the detailed description of the invention of invention is described.
As depicted in figs. 1 and 2,6 axis robot 1 axles of the present invention and swing arm rotational motion mechanism, by 1# servomotor 3, drive 2 axles, 3 axles, 4 axles, 5 axles, 6 axles to realize horizontal revolving motion by 1# reductor 5.
As depicted in figs. 1 and 2, the present invention 2 Zhou Ji elevating movement mechanism, by 3# servomotor 17, directly drives 1# ball screw 13, it is achieved the up and down motion of 2 axles by shaft coupling 16.
If 1 and Fig. 2 shown in, the 3 Zhou Ji flip-flop movement mechanisms of the present invention are by servomotor 7,3 axles are driven to drive gear 9 by 2# reductor 8,3 axles driving gears 9 transfer torque to 3 axle output gear 11,3 axle output gears 11 and drive 4 axles, 5 axles, 6 axles to realize flip-flop movement by 3 axles upset power transmission shafts 19 and revolving support 18.
As depicted in figs. 1 and 2, the 4 Zhou Ji horizontal stretching motion mechanisms of the present invention, by 5# servomotor 35, by 3# Timing Belt 36, drive 2# ball screw 24, it is achieved 5 axles, 6 axle horizontal rectilinear motions.
As depicted in figs. 1 and 2,5 axles of the present invention and end rotational motion mechanism are by 4# servomotor 33, and by planetary reducer, 1# Timing Belt 25 drives end rotating shaft 27, it is achieved 6 axle rotary motions.
As depicted in figs. 1 and 2,6 axles of the present invention and handgrip elevating movement mechanism, by the motor 28 with planetary reducer, drive tool mounting plate 31 by 2# Timing Belt 29, it is achieved handgrip pitching.
Tool mounting plate 31 is provided with some suckers or electric magnet and/or clamping device, the some suckers of institute or electric magnet, and/or clamping device can lineal layout or circle distribution, fetch for material.
Preferably, this mechanical hand is also made up of electric-control system；Each servomotor is equipped with absolute value encoder, and each motor is connected to electric-control system by control line；Electric-control system is carried out manual control by demonstrator, and demonstrator is provided with touch screen and manual input device, and demonstrator is connected to electric-control system by control line.
Last it is noted that above example only in order to the present invention is described and and unrestricted technical scheme described in the invention；Therefore, although this specification with reference to each above-mentioned embodiment to present invention has been detailed description, but, it will be understood by those within the art that, still the present invention can be modified or equivalent replace；And all are without departing from the technical scheme of the spirit and scope of the present invention and improvement thereof, all should be encompassed in scope of the presently claimed invention.
Claims (10)
1. six axle puma manipulators are carried in a punching press, including swing arm rotational motion mechanism, elevating movement mechanism, flip-flop movement mechanism, horizontal stretching motion mechanism, end rotational motion mechanism, handgrip elevating movement mechanism, it is characterized in that: described swing arm rotational motion mechanism is fixing with support (1) to be connected, described elevating movement mechanism is fixing with swing arm rotational motion mechanism to be connected, described flip-flop movement mechanism is fixing with in described elevating movement mechanism to be connected, described horizontal stretching motion mechanism is fixing with described flip-flop movement mechanism to be connected, described end rotational motion mechanism is fixing with described horizontal stretching motion mechanism to be connected, described handgrip elevating movement mechanism is fixing with described end rotational motion mechanism to be connected, equipped with material gripping device on the rotation axle that described handgrip elevating movement mechanism is provided with.
null2. six axle puma manipulators are carried in a kind of punching press according to claim 1，It is characterized in that: 1# reductor (5) outfan that the box-type casing (6) that described elevating movement mechanism is provided with is provided with described swing arm rotational motion mechanism is fixing to be connected，Feed screw nut's seat (10) of the vertical 1# ball screw (13) that the compound frame (12) that described flip-flop movement mechanism is provided with is provided with described elevating movement mechanism is fixing to be connected，The upset power transmission shaft (19) that the telescoping mechanism frame (20) that described horizontal stretching motion mechanism is provided with is provided with described flip-flop movement mechanism is fixing to be connected，Feed screw nut's set (23) of the 2# ball screw (24) of the level that the end rotary frame (34) that described end rotational motion mechanism is provided with is provided with described horizontal stretching motion mechanism is fixing to be connected，End rotating shaft (27) that the pitching frame (30) that described handgrip elevating movement mechanism is provided with is provided with described end rotational motion mechanism is fixing to be connected.
3. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterised in that: described swing arm rotational motion mechanism is mainly made up of 1# servomotor (3), input gear (4), 1# reductor (5)；Described 1# servomotor (3) drives with motor and motion-control module (2) electrical connection, and described motor drives and the upper motor output shaft of motion-control module (2) is vertical, is connected by flat key with input gear (4)；Described input gear (4) engages with the canine tooth wheel disc in 1# reductor (5), drives the outfan of 1# reductor (5) to rotate clockwise or counterclockwise；The casing of described 1# reductor (5) is fixing with support (1) to be connected.
4. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterised in that: described elevating movement mechanism is mainly made up of box-type casing (6), 3# servomotor (17), shaft coupling (16), bearing block (15), 1# ball screw (13), feed screw nut's seat (10), compound frame (12), 1# line slideway (14)；Described box-type casing (6) is fixing with the outfan of 1# reductor (5) to be connected；Described 3# servomotor (17) drives with motor and motion-control module (2) electrical connection；Described 3# servomotor (17) and bearing block (15) are separately fixed at the top of box-type casing (6), and coaxially；Described 1# ball screw (13) is contained on bearing block (15), and is connected by shaft coupling (16) is fixing with the output shaft of 3# servomotor (17)；Described feed screw nut's seat (10) is connected with 1# ball screw (13) spiral；Described compound frame (12) is fixing with feed screw nut's seat (10) to be connected, and fixing with the slide block of 1# line slideway (14) be connected, under the constraint of the 1# line slideway (14) being fixed on box-type casing (6), 1# ball screw (13) drive, it is achieved its linear elevating movement.
5. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterised in that: described flip-flop movement mechanism is mainly made up of 2# servomotor (7), 2# reductor (8), driving gear (9), output gear (11), pivoting support (18), upset power transmission shaft (19)；Described 2# servomotor (7) drives with motor and motion-control module (2) electrical connection, and its output shaft end is connected by flat key with 2# reductor (8)；Described 2# servomotor (7) is fixed on 2# reductor (8) shell；Described 2# reductor (8) is fixed in compound frame (12)；Described 2# reductor (8) outfan is connected with driving gear (9), drives gear (9) to be fixed in compound frame (12) by bearing；Described upset power transmission shaft (19) is fixed on the turning collar of pivoting support (18), and pivoting support (18) ring for fixing is fixed in compound frame (12)；Described output gear (11) is connected with upset power transmission shaft (19) by flat key；Described driving gear (9) is engaged with output gear (11), and 2# servomotor (7) is driven by 2# reductor (8) and drives gear (9) to drive output gear (11) to rotate, thus driving upset power transmission shaft (19) to realize positive and negative rotary movement.
6. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterised in that: described horizontal stretching motion mechanism is mainly made up of telescoping mechanism frame (20), 5# servomotor (35), 3# Timing Belt (36), 1# synchronous pulley (21), 2# line slideway (22), feed screw nut's set (23), 2# ball screw (24)；Described telescoping mechanism frame (20) is fixing with the outfan of upset power transmission shaft (19) to be connected, and when overturning power transmission shaft (19) and rotating, telescoping mechanism frame (20) rotates therewith；Described 5# servomotor (35) drives with motor and motion-control module (2) electrical connection；Described 5# servomotor (35) is fixedly connected in telescoping mechanism frame (20), and equipped with synchronous pulley on its output shaft；Described 2# ball screw (24) two ends are fixed in telescoping mechanism frame (20) by bearing；Described 1# synchronous pulley (21) is fixed on one end of 2# ball screw (24) by flat key；Described feed screw nut set (23) forms spiral with 2# ball screw (24) and is connected；The synchronous pulley of 1# synchronous pulley (21) with 5# servomotor (35) outfan is connected by described 3# Timing Belt (36)；Described 2# line slideway (22) is fixed in telescoping mechanism frame (20)；Described end rotary frame (34) is fixed on the slide block on 2# line slideway (22), and is connected with feed screw nut's set (23)；Described 5# servomotor (35) imparts power to 2# ball screw (24) by 3# Timing Belt (36) and 1# synchronous pulley (21), under the driving of 2# ball screw (24), end rotary frame (34) does rectilinear motion along with feed screw nut overlaps (23) on 2# line slideway (22).
7. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterized in that, described end rotational motion mechanism is mainly made up of 4# servomotor (33), end rotary frame (34), 1# Timing Belt (25), 2# synchronous pulley (26), end rotating shaft (27)；Described 4# servomotor (33) drives with motor and motion-control module (2) electrical connection；Described 4# servomotor (33) is fixed on end rotary frame (34)；Described 2# synchronous pulley (26) is connected by flat key and end rotating shaft (27) are fixing, and end rotating shaft (27) is fixed on end rotary frame (34) by bearing；The synchronous pulley that 2# synchronous pulley (26) is held with 4# servomotor (33) is connected by described 1# Timing Belt (25)；Described 4# servomotor (33) drives end rotating shaft (27) to realize positive/negative rotating by 1# Timing Belt (25), 2# synchronous pulley (26).
8. six axle puma manipulators are carried in a kind of punching press according to claim 1, it is characterized in that, described handgrip elevating movement mechanism is mainly made up of motor (28), 2# Timing Belt (29), pitching frame (30), tool mounting plate (31), 3# synchronous pulley (32)；Described motor (28) drives with motor and motion-control module (2) electrical connection；Described pitching frame (30) is connected with end rotating shaft (27) by flat key, and positive/negative therewith rotates；Described motor (28) is fixed in pitching frame (30)；Described 3# synchronous pulley (32) is arranged in pitching frame (30) by flat key, bearing pin, bearing；Described tool mounting plate (31) is connected by the bearing pin of flat key with 3# synchronous pulley (32)；The synchronous pulley of 3# synchronous pulley (32) with motor (28) is connected by described 2# Timing Belt (29)；Described tool mounting plate (31) realizes pitching motion under the drive of motor (28).
9. carry six axle puma manipulators according to the arbitrary described a kind of punching press of claim 1-8, it is characterised in that be also made up of electric-control system；Described each servomotor is equipped with absolute value encoder, and described each motor is connected to electric-control system by control line；Described electric-control system is carried out manual control by demonstrator, and described demonstrator is provided with touch screen and manual input device, and described demonstrator is connected to electric-control system by control line.
10. six axle puma manipulators are carried in a kind of punching press according to claim 8, it is characterized in that, tool mounting plate (31) is provided with some suckers or electric magnet and/or clamping device, described some suckers or electric magnet, and/or clamping device can lineal layout or circle distribution.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610312861.2A CN105798905A (en) | 2016-05-12 | 2016-05-12 | Six-axis intelligent carrying mechanical hand for stamping |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610312861.2A CN105798905A (en) | 2016-05-12 | 2016-05-12 | Six-axis intelligent carrying mechanical hand for stamping |
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| CN201610312861.2A Pending CN105798905A (en) | 2016-05-12 | 2016-05-12 | Six-axis intelligent carrying mechanical hand for stamping |
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| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN106504807A (en) * | 2016-12-30 | 2017-03-15 | 清华大学天津高端装备研究院 | Graphite more changing device on the outside of a kind of HTGR |
| CN107381035A (en) * | 2017-05-25 | 2017-11-24 | 铜陵富仕三佳机器有限公司 | A kind of high-accuracy five axles intelligent robot carried for stamping parts |
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| CN108856334A (en) * | 2018-04-25 | 2018-11-23 | 广州华奥智能科技有限公司 | Long bar feeder and its feeding method |
| CN109158499B (en) * | 2018-09-12 | 2023-08-18 | 昆山巨航智能化设备有限公司 | Handling device for stamping production line |
| CN109158499A (en) * | 2018-09-12 | 2019-01-08 | 昆山巨航智能化设备有限公司 | A kind of handling device for stamping line |
| CN109822113A (en) * | 2019-03-21 | 2019-05-31 | 刘朝龙 | Six axis loading and unloading robot systems of one kind and its control method |
| CN109822113B (en) * | 2019-03-21 | 2024-02-27 | 刘朝龙 | Six-axis feeding and discharging robot system and control method thereof |
| CN111688333A (en) * | 2020-07-07 | 2020-09-22 | 广东萨米特陶瓷有限公司 | Automatic production line and production method for laying back net on large ceramic plate |
| CN112536793A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN112536793B (en) * | 2020-12-16 | 2021-10-22 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Multi-degree-of-freedom modular industrial robot |
| CN113103214A (en) * | 2021-04-09 | 2021-07-13 | 株洲时代新材料科技股份有限公司 | Wind power blade root baffle installation equipment and installation method |
| CN113232350A (en) * | 2021-05-24 | 2021-08-10 | 上海工程技术大学 | Press machine |
| CN113909983A (en) * | 2021-12-08 | 2022-01-11 | 大连理工江苏研究院有限公司 | Automatic feeding and discharging robot for machine tool machining equipment |
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