CN107186702A - A kind of four axle swing arm stamping mechanical arms - Google Patents
A kind of four axle swing arm stamping mechanical arms Download PDFInfo
- Publication number
- CN107186702A CN107186702A CN201710572882.2A CN201710572882A CN107186702A CN 107186702 A CN107186702 A CN 107186702A CN 201710572882 A CN201710572882 A CN 201710572882A CN 107186702 A CN107186702 A CN 107186702A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- installing plate
- stamping mechanical
- sliding block
- belt transmission
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
Abstract
The invention discloses a kind of four axles swing arm stamping mechanical arm, including frame, the inside of the frame is provided with control cabinet, the inside left of the control cabinet is provided with balance cylinder, the top of the balance cylinder is provided with harmonic wave speed reducing machine, swing arm is installed at the top of the harmonic wave speed reducing machine, the top of the swing arm is provided with sliding block, the top of the sliding block is threadedly coupled with the bottom of installing plate, the top of the installing plate is provided with arbor press, the top of the installing plate is provided with belt transmission agency, the screw rod transmission connection of the arbor press and belt transmission agency, the lower section of the belt transmission agency is provided with material grasping arm device, one end of the swing arm is provided with servomotor, the four axles swing arm stamping mechanical arm, range of operation is big, specified operating radius 1400mm, load weight, robot hand nominal load 3KC, flexible operation, it is adapted to substitute artificial production under various working.
Description
Technical field
The present invention relates to pressing robot technical field, specially a kind of four axles swing arm stamping mechanical arm.
Background technology
In the production process of punching parts, generally require to extract stamping parts using industrial robot, shift and
The action such as discharging, its application on stamping line is for improving business productivity, improving product quality, reduction production cost
There is significant economic benefit with the production cycle is shortened.
But existing pressing robot its generally there are big complicated, ground area, the numerous item of action process and not enough
The defect such as flexible, such as one Chinese publication No. CN104308845A (publishes day on 01 28th, 2015）It is " a kind of
The patent document of four axle punching press feeding robots ", during work, first axle thereon drives the 3rd axle to rotate to feeding position, rotation
Go to behind position, the 3rd axle drives the second axle to drop to above product, while the 4th axle is rotated to proper angular position, in order to the
Three axles, which decline, carries out feeding, and after the completion of feeding action, the 3rd axle rises, while first axle drives the 3rd axle to rotate to product discharging
Above area, after being rotated in place, the 3rd axle declines the 4th axle rotation simultaneously so that the 3rd axle declines carries out product discharge afterwards in place,
So as to complete feeding, transfer and the discharging process of single product.
Although the four axles punching press feeding robot can realize the feeding to material, transfer and discharging action, its is whole
Individual complicated, drive mechanism is cumbersome, is unfavorable for improving the production efficiency and market Gao Zhengli of enterprise.Therefore, proposing one kind four
Axle swing arm stamping mechanical arm.
The content of the invention
It is an object of the invention to provide a kind of four axles swing arm stamping mechanical arm, to solve what is proposed in above-mentioned background technology
Problem.
To achieve the above object, the present invention provides following technical scheme：A kind of four axle swing arm stamping mechanical arms, including machine
Frame, the inside of the frame is provided with control cabinet, and the inside left of the control cabinet is provided with balance cylinder, the balance cylinder
Top be provided with harmonic wave speed reducing machine, swing arm is installed, the top of the swing arm is provided with sliding block, institute at the top of the harmonic wave speed reducing machine
State the top of sliding block to be threadedly coupled with the bottom of installing plate, the top of the installing plate is provided with arbor press, the top of the installing plate
End is provided with belt transmission agency, and the screw rod transmission of the arbor press and belt transmission agency is connected, the belt transmission agency
Lower section is provided with material grasping arm device, and one end of the swing arm is provided with servomotor, provided with cunning between the sliding block and servomotor
Rail, the output end of the servomotor is connected by the rotating nut of screw mandrel and slider bottom.
It is preferred that, the material grasping arm device includes limited block, and the intrinsic silicon through hole of the limited block passes through bolt and suction
Disk is fixedly connected, and spring is socketed with outside the bottom bolts of the limited block.
It is preferred that, the quantity of the sucker must not be less than four.
It is preferred that, the front and rear sides of the control cabinet are equipped with control chamber door.
It is preferred that, the bottom corner of the frame is symmetrically provided with four groups of runners.
Compared with prior art, the beneficial effects of the invention are as follows：Range of operation of the present invention is big, specified operating radius
1400mm, load weight, mechanical paw nominal load 3KC, flexible operation enters line slip to sliding block by servomotor in slide rail,
So as to drive installing plate to be stretched, by the up and down motion of balance cylinder, the sucker of material grasping arm device carries out the suction to material
Take, displacement correction is carried out to material grasping arm device by arbor press, after material is drawn, servomotor drives installing plate to stretch backward
Contracting, swing arm progress degree rotates to next seat in the plane, is adapted to substitute artificial production under various working.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is left view of the invention
In figure：1 frame, 2 control cabinets, 3 balance cylinders, 4 harmonic wave speed reducing machines, 5 swing arms, 6 sliding blocks, 7 installing plates, 8 arbor presses, 9
Servomotor, 10 belt transmission agencies, 11 material grasping arm devices, 12 springs, 13 suckers, 14 limited blocks, 15 runners, 16 slide rails, 17
Control chamber door.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：The four axles swing arm stamping mechanical arm, including frame 1, institute
The inside of frame 1 is stated provided with control cabinet 2, the inside left of the control cabinet 2 is provided with balance cylinder 3, the balance cylinder 3
Top be provided with harmonic wave speed reducing machine 4, the top of the harmonic wave speed reducing machine 4 is provided with swing arm 5, and the top of the swing arm 5 is provided with sliding
Block 6, the top of the sliding block 6 is threadedly coupled with the bottom of installing plate 7, and the top of the installing plate 7 is provided with arbor press 8, described
The top of installing plate 7 is provided with belt transmission agency 10, and the arbor press 8 is connected with the screw rod transmission of belt transmission agency 10, institute
The lower section for stating belt transmission agency 10 is provided with material grasping arm device 11, and one end of the swing arm 5 is provided with servomotor 9, the sliding block 6
Slide rail 16 is provided between servomotor 9, the output end of the servomotor 9 passes through screw mandrel and the rotation spiral shell of the bottom of sliding block 6
Mother's drive connection.
Further：The material grasping arm device 11 includes limited block 14, and the intrinsic silicon through hole of the limited block 14 passes through
Bolt is fixedly connected with sucker 13, and spring 12 is socketed with outside the bottom bolts of the limited block 14.
Further：The quantity of the sucker 13 must not be easy to material grasping less than four so that material grasping is more stablized.
Further：The front and rear sides of the control cabinet 2 are equipped with control chamber door 17.It is easy to the inspection to controlling cabinet 2
Repair and install.
Further：The bottom corner of the frame 1 is symmetrically provided with four groups of runners 15.It is easy to the balance of frame 1 to pacify
Dress.
Specifically, in use, by controlling cabinet 2 to carry out upper and lower displacement swing arm 5 to balance cylinder 3, passing through harmonic reduction
Machine 4 can effectively to swing arm 5 motor adjustment, enhancing swing arm 5 rotate when power, sliding block 6 is existed by servomotor 9
Slide rail 16 enters line slip, so that drive installing plate 7 to be stretched, by the up and down motion of balance cylinder 3, material grasping arm device 11
Sucker 13 carries out the absorption to material, carries out displacement correction to material grasping arm device 11 by arbor press 8, after material is drawn, watches
Taking motor 9 drives installing plate 7 to stretch backward, and swing arm 5 carries out 360 degree and rotates to next seat in the plane.The four axles swing arm press
Hand, simple in construction, strong adaptability is easy to use, is adapted to promote.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of four axles swing arm stamping mechanical arm, including frame（1）, it is characterised in that：The frame（1）Inside provided with control
Cabinet（2）, the control cabinet（2）Inside left be provided with balance cylinder（3）, the balance cylinder（3）Top provided with humorous
Ripple reductor（4）, the harmonic wave speed reducing machine（4）Top swing arm is installed（5）, the swing arm（5）Top be provided with sliding block
（6）, the sliding block（6）Top and installing plate（7）Bottom threaded connection, the installing plate（7）Top be provided with arbor press
（8）, the installing plate（7）Top be provided with belt transmission agency（10）, the arbor press（8）With belt transmission agency（10）'s
Screw rod transmission is connected, the belt transmission agency（10）Lower section be provided with material grasping arm device（11）, the swing arm（5）One end set
There is servomotor（9）, the sliding block（6）With servomotor（9）Between be provided with slide rail（16）, the servomotor（9）It is defeated
Go out end and pass through screw mandrel and sliding block（6）The rotating nut drive connection of bottom.
2. a kind of four axles swing arm stamping mechanical arm according to claim 1, it is characterised in that：The material grasping arm device（11）
Including limited block（14）, the limited block（14）Intrinsic silicon through hole pass through bolt and sucker（13）It is fixedly connected, the limit
Position block（14）Bottom bolts outside be socketed with spring（12）.
3. a kind of four axles swing arm stamping mechanical arm according to claim 2, it is characterised in that：The sucker（13）Quantity
Four must not be less than.
4. a kind of four axles swing arm stamping mechanical arm according to claim 1, it is characterised in that：The control cabinet（2）'s
Front and rear sides are equipped with control chamber door（17）.
5. a kind of four axles swing arm stamping mechanical arm according to claim 1, it is characterised in that：The frame（1）Bottom
Corner is symmetrically provided with four groups of runners（15）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572882.2A CN107186702A (en) | 2017-07-14 | 2017-07-14 | A kind of four axle swing arm stamping mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572882.2A CN107186702A (en) | 2017-07-14 | 2017-07-14 | A kind of four axle swing arm stamping mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186702A true CN107186702A (en) | 2017-09-22 |
Family
ID=59882941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710572882.2A Withdrawn CN107186702A (en) | 2017-07-14 | 2017-07-14 | A kind of four axle swing arm stamping mechanical arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186702A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107716763A (en) * | 2017-10-30 | 2018-02-23 | 广东腾山机器人有限公司 | Stamping mechanical arm |
| CN109108955A (en) * | 2018-09-28 | 2019-01-01 | 杭州金浪机电有限公司 | A kind of four axis stamping mechanical arms |
-
2017
- 2017-07-14 CN CN201710572882.2A patent/CN107186702A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107716763A (en) * | 2017-10-30 | 2018-02-23 | 广东腾山机器人有限公司 | Stamping mechanical arm |
| CN109108955A (en) * | 2018-09-28 | 2019-01-01 | 杭州金浪机电有限公司 | A kind of four axis stamping mechanical arms |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170922 |
|
| WW01 | Invention patent application withdrawn after publication |