CN107716762A - A kind of punching press multiaxis swing arm manipulator - Google Patents
A kind of punching press multiaxis swing arm manipulator Download PDFInfo
- Publication number
- CN107716762A CN107716762A CN201710849891.1A CN201710849891A CN107716762A CN 107716762 A CN107716762 A CN 107716762A CN 201710849891 A CN201710849891 A CN 201710849891A CN 107716762 A CN107716762 A CN 107716762A
- Authority
- CN
- China
- Prior art keywords
- punching press
- swing arm
- lifting seat
- tool
- slew gear
- 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
- 238000004080 punching Methods 0.000 title claims abstract description 26
- 230000003028 elevating effect Effects 0.000 claims abstract description 27
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 28
- 229910052782 aluminium Inorganic materials 0.000 claims description 28
- 239000004411 aluminium Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
- B21D45/04—Ejecting devices interrelated with motion of tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of punching press multiaxis swing arm manipulator of the present invention, including electronic box support, elevating mechanism, slew gear, telescoping mechanism and the tool for being used to pick and place product for being arranged on telescoping mechanism, slew gear is rotatably arranged in the top of elevating mechanism, and telescoping mechanism is arranged on slew gear and by slew gear rotation driving；Elevating mechanism includes hollow square lifting seat and the drive component for driving lifting seat to move up and down, and lifting seat is longitudinally arranged and can passed at the top of electronic box support；Telescoping mechanism includes fixed seat, telescopic arm, flexible servomotor；Tool is arranged on the end of telescopic arm.Compared with prior art, for the elevating mechanism of manipulator of the invention as a result of the lifting seat of square hollow, rigidity is strong, can ensure the stationarity of manipulator complete machine when running at high speed, possibility is provided for high speed operation and high capacity；Due to there is provided telescopic arm, tool being arranged on the end of telescopic arm, therefore working range is wide, improves operating efficiency.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of punching press multiaxis swing arm manipulator.
Background technology
Manipulator be it is a kind of can replace the cumbersome duplication of labour of manual work to realize the mechanical full-automatic of production, can be
Working at high speed under various environment, and also ensure the automation of personal safety.With the development and industry of mechanical industry
The popularization and application of automation, the use of manipulator is more and more extensive, is related to all trades and professions.With China's stamping technology
Maturation, various pressing equipments are quickly grown, and prior art is to operate by hand mostly in punching apparatus punching parts, i.e. human hand
Put the workpiece on the mould of punch press, take out stamping forming workpiece after upper die of punching press completes punching press, then with hand, it is not only
Operating efficiency is relatively low, and there is also potential safety hazard, so applicability and practicality are restricted.So punching press industry is for certainly
The demand of dynamicization is more urgent, and stamping mechanical arm at this stage, and generally existing load is smaller, arm is shorter, speed is slower, logical
With property it is poor the shortcomings of.
The content of the invention
Above-mentioned technical problem be present for prior art, the present invention provides a kind of load greatly, and working range is wide, fireballing
Punching press multiaxis swing arm manipulator.
To achieve the above object, the present invention provides following technical scheme：
A kind of punching press multiaxis swing arm manipulator is provided, including electronic box support, elevating mechanism, slew gear, telescoping mechanism and
The tool for being used to pick and place product of the telescoping mechanism is arranged on, the slew gear is rotatably arranged in the upper of elevating mechanism
Side, telescoping mechanism are arranged on the slew gear and by the slew gear rotation drivings；
The elevating mechanism includes movably being located in the hollow square lifting seat of electronic box support and for driving
The drive component that the lifting seat moves up and down, the lifting seat are longitudinally arranged and can passed at the top of electronic box support；
The slew gear includes rotary servovalve motor, harmonic wave speed reducing machine and installed part, the rotary servovalve motor and institute
State and the lifting seat, the harmonic wave are fixed on by synchronizing wheel drive connection, the rotary servovalve motor between harmonic wave speed reducing machine
Reductor is arranged at lifting seat by the installed part；
The telescoping mechanism includes the fixed seat of strip, is slidably mounted on the telescopic arm of the fixed seat, for driving
The flexible servomotor that the telescopic arm slides along the fixed seat, the servomotor are arranged at the fixed seat；It is described to control
Tool is arranged on the end of the telescopic arm.
Wherein, the telescoping mechanism is provided with feeding servomotor and feeding timing belt for driving the tool to rotate
Wheel assembly, connected between the tool and the feeding servomotor by the feeding synchronous pulley component.
Wherein, the harmonic wave speed reducing machine is hollow type.
Wherein, the lifting seat and the fixed seat are the square base of aluminium material.
Wherein, the drive component is including elevating screw, the nut being enclosed on outside the elevating screw and described for driving
The lift servo motor that elevating screw rotates, the nut are connected with the lifting seat, and the lifting motor is fixed on the electricity
Punch-out equipment seat.
Wherein, the drive component also includes being arranged at the lifting sliding rail of the electronic box support, the lifting seat with it is described
Lifting sliding rail is slidably connected.
Wherein, the tool is vacuum cup or electromagnet.
Wherein, the tool includes disk and sets a plurality of aluminum strip on disk, radial arrangement of the aluminum strip along disk
And extend to outside the disk, vacuum slot is provided with a plurality of aluminum strip, the disk is provided with deep-slotted chip breaker, the aluminium
Bar can adjust and fix along the deep-slotted chip breaker, and the aluminum strip is provided with the bar hole set along aluminum strip length direction, described true
Suction mouth can adjust and fix along the strip hole.
Wherein, every aluminum strip is provided with least two vacuum slots.
Beneficial effects of the present invention：
A kind of punching press multiaxis swing arm manipulator of the present invention, including electronic box support, elevating mechanism, slew gear, telescopic machine
Structure and the tool for being used to pick and place product for being arranged on telescoping mechanism, slew gear are rotatably arranged in the top of elevating mechanism,
Telescoping mechanism is arranged on slew gear and by slew gear rotation driving；Elevating mechanism includes movably being located in electronic box machine
The hollow square lifting seat of seat and the drive component for driving lifting seat to move up and down, lifting seat are longitudinally arranged and can
Passed at the top of electronic box support；Slew gear includes rotary servovalve motor, harmonic wave speed reducing machine and installed part, rotary servovalve motor
By synchronizing wheel drive connection between harmonic wave speed reducing machine, rotary servovalve motor is fixed on lifting seat, and harmonic wave speed reducing machine passes through peace
Piece installing is arranged at lifting seat；Telescoping mechanism includes the fixed seat of strip, is slidably mounted on the telescopic arm of fixed seat, for driving
The flexible servomotor that dynamic telescopic arm slides along fixed seat, servomotor are arranged at fixed seat；Tool is arranged on the end of telescopic arm
Portion.Compared with prior art, for the elevating mechanism of manipulator of the invention as a result of the lifting seat of square hollow, rigidity is strong,
The stationarity of manipulator complete machine when running at high speed can be ensured, possibility is provided for high speed operation and high capacity；Due to setting
Telescopic arm, tool is arranged on the end of telescopic arm, therefore working range is wide, improves operating efficiency.
Brief description of the drawings
Fig. 1 is a kind of stereogram of punching press multiaxis swing arm manipulator in embodiment.
Fig. 2 is a kind of exploded view of punching press multiaxis swing arm manipulator in embodiment.
Fig. 3 is a kind of stereogram of the tool of punching press multiaxis swing arm manipulator in embodiment.
Fig. 4 is a kind of part-structure schematic diagram of the telescoping mechanism of punching press multiaxis swing arm manipulator in embodiment.
Reference：
Electronic box support 1, mounting bracket 11, top plate 12, bottom plate 13, shock-absorbing foot cup 14；
Elevating mechanism 2, lifting seat 21, drive component 22, elevating screw 221, nut 222, lift servo motor 223, liter
Slide rail 224 drops；
Slew gear 3, rotary servovalve motor 31, harmonic wave speed reducing machine 32, installed part 33；
Telescoping mechanism 4, fixed seat 41, telescopic arm 42, flexible servomotor 43, feeding servomotor 44, feeding timing belt
Wheel assembly 45；
Tool 5, disk 51, deep-slotted chip breaker 511, aluminum strip 52, bar hole 521, vacuum slot 53.
Embodiment
Below in conjunction with specific embodiment and accompanying drawing, the present invention is described in detail.
A kind of punching press multiaxis swing arm manipulator of the present embodiment, as shown in Figures 1 to 4, including electronic box support 1, lift
Structure 2, slew gear 3, telescoping mechanism 4 and the tool 5 for being used to pick and place product for being arranged on telescoping mechanism 4, electronic box support 1 include
Mounting bracket 11, electronic box, the top plate 12 and bottom plate 13 of thickness 20mm ironys, the centre of mounting bracket 11 use 30mm thickness welded plates
Connection, it is solid and reliable, four shock-absorbing foot cups 14 are provided with below bottom plate 13, the horizontal height of electronic box support 1 can be adjusted,
And play the role of damping, ensure machine operate steadily and high accuracy.Slew gear 3 is rotatably arranged in elevating mechanism 2
Top, telescoping mechanism 4 are arranged on slew gear 3 and by the rotation drivings of slew gear 3；Elevating mechanism 2 includes movably wearing
The hollow square lifting seat 21 of electronic box support 1 and the drive component 22 for driving lifting seat 21 to move up and down are located at, is risen
Drop seat 21 is longitudinally arranged and can passed from the top of electronic box support 1；Slew gear 3 includes rotary servovalve motor 31, harmonic wave subtracts
Fast machine 32 and installed part 33, harmonic wave speed reducing machine 32 are hollow type, are passed through between rotary servovalve motor 31 and harmonic wave speed reducing machine 32
Synchronizing wheel drive connection, rotary servovalve motor 31 are fixed on lifting seat 21, and harmonic wave speed reducing machine 32 is arranged at by installed part 33
Lifting seat 21；Telescoping mechanism 4 includes the fixed seat 41 of strip, is slidably mounted on the telescopic arm 42 of fixed seat 41, for driving
The flexible servomotor 43 that telescopic arm 42 slides along fixed seat 41, servomotor are arranged at fixed seat 41, the stroke of telescopic arm 42
For 550mm；Tool 5 is arranged on the end of telescopic arm 42.Compared with prior art, the elevating mechanism 2 of the manipulator of the present embodiment
As a result of the lifting seat 21 of square hollow, intensity is high, and rigidity is strong, can ensure manipulator when running at high speed complete machine it is flat
Stability, possibility is provided for high speed operation and high capacity；Due to there is provided telescopic arm 42, tool 5 is arranged on telescopic arm 42
End, therefore working range is wide, improves operating efficiency.
In the present embodiment, telescoping mechanism 4 is provided with feeding servomotor 44 and feeding synchronization for driving the rotation of tool 5
Pulley assemblies 45, connected between tool 5 and feeding servomotor 44 by feeding synchronous pulley component 45, tool 5 can turn
It is dynamic, more products can be disposably captured, rotating jig 5 is put into product in punch press successively.
In the present embodiment, lifting seat 21 and fixed seat 41 are the square base of aluminium material, and lifting seat 21 is
200x200x10t aluminium square tube, rigidity is strong, in light weight, and complete machine is steady when can guarantee that high-speed motion.Typical round or L
The support of shape is easily deformed, it is impossible to meets the work requirements of high speed high capacity.Square lifting seat 21 can overcome torsion, meet
Slew gear 3 drives the requirement that telescoping mechanism 4 runs at high speed.
In the present embodiment, drive component 22 includes elevating screw 221, the nut 222 being enclosed on outside elevating screw 221 and is used for
The lift servo motor 223 for driving elevating screw 221 to rotate, nut 222 are connected with lifting seat 21, and lifting motor is fixed on electronic box
Support 1, drive component 22 also include the lifting sliding rail 224 for being arranged at electronic box support 1, and lifting seat 21 slides with lifting sliding rail 224
Connection, using the type of drive more accurate stable of feed screw nut.
In the present embodiment, tool 5 includes disk 51 and sets four aluminum strips 52 on disk 51, and aluminum strip 52 is along disk 51
Radial arrangement and extend to outside disk 51, every aluminum strip 52 is provided with two vacuum slots 53, and disk 51 is provided with arc
Shape groove 511, aluminum strip 52 arcuately groove 511 can adjust and fixed, i.e., can opposed discs 51 horizontally rotate adjustment aluminum strip 52, make
Aluminum strip 52 is located on the different radiuses of disk 51, or adjustment aluminum strip 52 extends the length of disk 51.Aluminum strip 52 is provided with
The bar hole 521 set along the length direction of aluminum strip 52, vacuum slot 53 can be moved along strip hole and fixed in predeterminated position.
In addition, tool 5 can also be electromagnet.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than it is new to this practicality
The limitation of type protection domain, although being explained with reference to preferred embodiment to the present invention, the ordinary skill people of this area
Member to technical scheme it should be appreciated that can modify or equivalent substitution, without departing from the utility model technology
The spirit and scope of scheme.
Claims (9)
1. a kind of punching press multiaxis swing arm manipulator, it is characterized in that：Including electronic box support, elevating mechanism, slew gear, telescoping mechanism
With the tool for being used to pick and place product for being arranged on the telescoping mechanism, the slew gear is rotatably arranged in elevating mechanism
Top, telescoping mechanism are arranged on the slew gear and by the slew gear rotation drivings；
The elevating mechanism includes the hollow square lifting seat for being movably located in electronic box support and described for driving
The drive component that lifting seat moves up and down, the lifting seat are longitudinally arranged and can passed at the top of electronic box support；
The slew gear includes rotary servovalve motor, harmonic wave speed reducing machine and installed part, the rotary servovalve motor with it is described humorous
The lifting seat, the harmonic reduction are fixed on by synchronizing wheel drive connection, the rotary servovalve motor between ripple reductor
Machine is arranged at lifting seat by the installed part；
It is the fixed seat of the telescoping mechanism including strip, the telescopic arm for being slidably mounted on the fixed seat, described for driving
The flexible servomotor that telescopic arm slides along the fixed seat, the servomotor are arranged at the fixed seat；The tool is set
Put in the end of the telescopic arm.
2. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The telescoping mechanism is provided with use
In the feeding servomotor and feeding synchronous pulley component that drive the tool to rotate, the tool and the feeding servomotor
Between connected by the feeding synchronous pulley component.
3. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The harmonic wave speed reducing machine is hollow
Type.
4. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The lifting seat and the fixation
Seat is the square base of aluminium material.
5. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The drive component includes lifting
Screw mandrel, the nut being enclosed on outside the elevating screw and the lift servo motor for driving the elevating screw to rotate, the spiral shell
Female to be connected with the lifting seat, the lifting motor is fixed on the electronic box support.
6. a kind of punching press multiaxis swing arm manipulator according to claim 5, it is characterized in that：The drive component also includes setting
The lifting sliding rail of the electronic box support is placed in, the lifting seat is slidably connected with the lifting sliding rail.
7. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The tool be vacuum cup or
Person's electromagnet.
8. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The tool includes disk and set
Put a plurality of aluminum strip on disk, radial arrangement of the aluminum strip along disk and extend to outside the disk, a plurality of aluminum strip
On be provided with vacuum slot, the disk is provided with deep-slotted chip breaker, and the aluminum strip can adjust and fix along the deep-slotted chip breaker, described
Aluminum strip is provided with the bar hole set along aluminum strip length direction, and the vacuum slot can adjust and fix along the strip hole.
9. a kind of punching press multiaxis swing arm manipulator according to claim 8, it is characterized in that：Every aluminum strip is provided with least
Two vacuum slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710849891.1A CN107716762A (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710849891.1A CN107716762A (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107716762A true CN107716762A (en) | 2018-02-23 |
Family
ID=61207521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710849891.1A Pending CN107716762A (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107716762A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203611246U (en) * | 2013-11-01 | 2014-05-28 | 莱恩精机(深圳)有限公司 | Industrial robot |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN204685875U (en) * | 2015-02-13 | 2015-10-07 | 符迎利 | A kind of manipulator |
| CN205075065U (en) * | 2015-09-22 | 2016-03-09 | 深圳市同川科技有限公司 | Stamping mechanical arm |
| CN205766158U (en) * | 2016-06-06 | 2016-12-07 | 东莞市海威智能装备股份有限公司 | A high-precision five-axis manipulator |
| CN207372181U (en) * | 2017-09-20 | 2018-05-18 | 广东拓斯达科技股份有限公司 | A kind of punching press multiaxis swing arm manipulator |
-
2017
- 2017-09-20 CN CN201710849891.1A patent/CN107716762A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN203611246U (en) * | 2013-11-01 | 2014-05-28 | 莱恩精机(深圳)有限公司 | Industrial robot |
| CN204685875U (en) * | 2015-02-13 | 2015-10-07 | 符迎利 | A kind of manipulator |
| CN205075065U (en) * | 2015-09-22 | 2016-03-09 | 深圳市同川科技有限公司 | Stamping mechanical arm |
| CN205766158U (en) * | 2016-06-06 | 2016-12-07 | 东莞市海威智能装备股份有限公司 | A high-precision five-axis manipulator |
| CN207372181U (en) * | 2017-09-20 | 2018-05-18 | 广东拓斯达科技股份有限公司 | A kind of punching press multiaxis swing arm manipulator |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180223 |
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| RJ01 | Rejection of invention patent application after publication |