CN107824708B - Supporting synchronous proportion following type mechanical arm - Google Patents
Supporting synchronous proportion following type mechanical arm Download PDFInfo
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- CN107824708B CN107824708B CN201711241241.5A CN201711241241A CN107824708B CN 107824708 B CN107824708 B CN 107824708B CN 201711241241 A CN201711241241 A CN 201711241241A CN 107824708 B CN107824708 B CN 107824708B
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- synchronous
- mechanical arm
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- synchronizing wheel
- wheel
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Classifications
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- 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
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- 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
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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
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a supporting synchronous proportion following type mechanical arm which is positioned on a rack, wherein the rack comprises a mechanical hand rack and a rack upper panel, and the rack upper panel is positioned on the mechanical hand rack; the mechanical arm comprises a lower layer, a middle layer and an upper layer, wherein the lower layer is a supporting synchronous proportion following group, the middle layer is a mechanical arm group, and the upper layer is a suspension main seat group; the supporting synchronous proportional following group is used for supporting the linear track of the mechanical arm and components thereof and the mechanical arm to synchronously and proportionally follow and support the linear track in the reciprocating operation process of the mechanical arm group; the suspension main seat group is used for suspending the linear track and the synchronous component. The supporting synchronous proportion following type mechanical arm provided by the invention solves the problem of automatic sending and receiving of a large-tonnage closed punch press, shortens the horizontal stroke of the sending and receiving mechanical arm of the large-tonnage closed punch press, and reduces the length of a cantilever extending out of the mechanical arm and vibration caused by overlong length of the cantilever to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to a supporting synchronous proportional following mechanical arm.
Background
In the production mode of the existing large-tonnage closed punch press, the method comprises two production modes: one is a two-person two-sided operation mode, and the other is a one-person one-sided operation mode. The two-person bilateral operation mode requires two persons to operate on two sides of the punch respectively, one person is responsible for sending blanks, and the other person is responsible for receiving finished products; the single-person single-side operation mode only needs one person to operate at one side of the punch press, but needs to complete the work of sending blanks and collecting finished products at the same time.
The stroke of the mechanical arm in and out of the die cavity of the large-tonnage closed punch press is long, for example, a 400-ton closed punch press is taken as an example, the stroke of the mechanical arm in and out of the die cavity in a single-layer mechanical arm mode needs 1000mm, and the length of a cantilever extending out of the single-layer mechanical arm is larger than 1600mm on the assumption that the critical installation position of a linear bearing supporting the linear track of the single-layer mechanical arm is the left boundary of the punch press. In order to ensure the stability of the mechanical arm, the total length of the mechanical arm can be larger than 3000mm.
Because the arm stretches out the length overlength of cantilever, cause the mechanical arm front end at the quivering of operation terminal point and strengthen, the direct adverse effect who brings has two: firstly, the blank at the front end (lower part) of the mechanical arm has deviation in mould-entering positioning; secondly, the finished product dropped by the upper die is deviated when falling into the front end (upper part) of the mechanical arm. The rejection rate is increased due to deviation of mold-entering positioning; finished products falling into the front end (upper) of the mechanical arm have deviation, so that finished products at the tail end are stacked unevenly, and manpower is consumed for sorting.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a supporting synchronous proportional following mechanical arm, which solves the problem of automatic sending and receiving of a large-tonnage closed punch press, shortens the horizontal stroke of the sending and receiving mechanical arm of the large-tonnage closed punch press, and reduces the length of a cantilever extending out of the mechanical arm and vibration caused by overlong length of the cantilever to the maximum extent.
Therefore, the invention adopts the following technical scheme:
a supporting synchronous proportion following type mechanical arm is positioned on a rack, the rack comprises a mechanical hand rack and a rack upper panel, and the rack upper panel is positioned on the mechanical hand rack; the mechanical arm comprises a lower layer, a middle layer and an upper layer, wherein the lower layer is a supporting synchronous proportion following group, the middle layer is a mechanical arm group, and the upper layer is a suspension main seat group; the supporting synchronous proportional following group is used for supporting the linear track of the mechanical arm and components thereof and the mechanical arm to synchronously and proportionally follow and support the linear track in the reciprocating operation process of the mechanical arm group; the suspension main seat group is used for suspending the linear track and the synchronous assembly.
Further, the supporting synchronous proportion following group comprises a linear bearing, a supporting synchronous proportion following seat, a linear track, a track middle support, a limiting polyester block, a track support, an inner synchronous belt clamp and an inner synchronous belt clamp seat; the linear bearing, the track middle support, the limiting polyester block, the track support, the inner synchronous belt clamp and the inner synchronous belt clamp seat are arranged on the supporting synchronous proportion following seat; the inner synchronous belt clamp is arranged on the inner synchronous belt clamp seat, and the linear track is arranged on the track middle support seat and the track support seat.
Further, the mechanical arm group comprises an outer synchronous belt clamp, a stroke induction pointer, a blank stack adsorption assembly, a linear bearing, a drag chain seat, a mechanical arm mounting seat, a mechanical arm and an adsorption picking group; the outer synchronous belt clamp, the stroke induction pointer, the blank stack adsorption component, the linear bearing, the drag chain seat and the mechanical arm are arranged on the mechanical arm mounting seat; the suction and pickup group is arranged on the mechanical arm.
Further, the suspension main seat group comprises a suspension group mounting seat plate, an outer driving synchronous wheel bearing seat, a worm gear speed reducer, a servo motor, a linear rail, a rail support, an inner driven synchronous wheel shaft, an outer driven synchronous wheel shaft, a stand column, a finished product suction assembly, a gear for an outer synchronous wheel, a gear for an inner synchronous wheel, an outer driving synchronous wheel, an inner driving synchronous wheel, an outer synchronous belt, an inner driven synchronous wheel and an outer driven synchronous wheel; the suspension group installation base plate is installed on the upright post, and the upright post is installed on the upper panel of the rack.
Further, the outer driving synchronizing wheel bearing seat, the worm gear speed reducer, the track support, the inner driven synchronizing wheel shaft, the outer driven synchronizing wheel shaft and the finished product suction-pickup assembly are mounted on the suspension group mounting base plate; the servo motor is arranged on the worm gear reducer, and the linear track is arranged on the track support; the gear for the outer synchronizing wheel and the outer driving synchronizing wheel are arranged on the bearing seat of the outer driving synchronizing wheel, and the gear for the inner synchronizing wheel and the inner driving synchronizing wheel are arranged on the output shaft of the worm gear speed reducer; the inner driven synchronizing wheel is arranged on the inner driven synchronizing wheel shaft, and the outer driven synchronizing wheel is arranged on the outer driven synchronizing wheel shaft; the outer synchronous belt is arranged on the outer driving synchronous wheel and the outer driven synchronous wheel, and the inner synchronous belt is arranged on the inner driving synchronous wheel and the inner driven synchronous wheel.
Further, the linear bearing in the supporting synchronous proportion following group is connected to the linear rail in the suspension main seat group; the linear track in the bearing synchronous proportion following group is connected with the linear bearing in the mechanical arm group; the inner synchronous belt clip is connected with the inner synchronous belt, and the outer synchronous belt clip is connected with the outer synchronous belt.
Compared with the prior art, the invention has the beneficial effects that:
(1) The automatic feeding and receiving of the large-tonnage closed punch press is realized.
(2) The extension length of the mechanical arm of the large-tonnage closed punch press is effectively shortened, the flutter amplitude of the front end of the mechanical arm at the operation end point is reduced to the maximum extent, and accurate blank die feeding and tidy finished product recovery are facilitated.
(3) Effectively shortens the total length of the mechanical arm of the large-tonnage closed punch press and the total length of the frame.
Drawings
Fig. 1 is a schematic structural diagram of a supporting synchronous proportional follower robot provided by the present invention.
FIG. 2 is a structural distribution diagram of a supporting synchronous ratio follower group in the supporting synchronous ratio follower type mechanical arm provided by the invention.
Fig. 3 is a schematic structural diagram of a supporting synchronous proportion following group in a supporting synchronous proportion following type mechanical arm provided by the invention.
FIG. 4 is a structural diagram of a robot arm assembly for supporting a synchronous proportional follower robot arm according to the present invention.
FIG. 5 is a schematic structural diagram of a robot arm set in a follower robot arm supporting synchronous ratio according to the present invention.
FIG. 6 is a structural diagram of a suspended main seat set in a trailing arm with synchronous ratio support according to the present invention.
Fig. 7 is a schematic structural diagram of a suspension main seat set in a trailing arm supporting synchronous ratio provided by the present invention.
FIG. 8 is a schematic plan view of the assembly of a structure for supporting a synchronous proportional follower robot arm according to the present invention.
FIG. 9 is a perspective view of the structure of the follower robot arm with synchronous ratio support according to the present invention.
FIG. 10 is a schematic diagram of the operation of a support synchronous ratio follower robot provided by the present invention.
FIG. 11 is a diagram of the operation of the present invention in supporting a synchronous ratio follower robot.
Description of the reference numerals: 3. a frame; 31. a robot holder; 32. a frame upper panel; 5. supporting a synchronous proportion following group; 51. a linear bearing; 52. a supporting synchronous proportional following seat; 53. a linear track; 54. a track middle support; 55. limiting a polyester block; 56. a rail support; 57. an inner synchronous belt clip; 58. an inner synchronous belt clamping seat; 7. a mechanical arm group; 71. an outer synchronous belt clip; 72. a trip sensing pointer; 73. a blank stack adsorption assembly; 74. a linear bearing; 75. a drag chain seat; 76. a mechanical arm mounting seat; 77. a mechanical arm; 78. a suction group; 9. suspending a main seat group; 9a, mounting a seat plate on the suspension group; 9b, an outer driving synchronous wheel bearing seat; 9c, a worm gear reducer; 9d, a servo motor; 9e, a linear track; 9f, a rail support; 9g, an inner driven synchronous wheel shaft; 9h, an external driven synchronous wheel shaft; 9i, a column; 9j, a finished product suction picking assembly; 9k, a gear for an outer synchronizing wheel; 9l, a gear for an inner synchronizing wheel; 9m, an outer driving synchronizing wheel; 9n, an inner driving synchronous wheel; 9o, an external synchronous belt; 9p, an inner synchronous belt; 9q, an inner driven synchronous wheel; 9r and an outer driven synchronizing wheel. Unit: mm.
Detailed description of the preferred embodiments
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 1, the invention discloses a supporting synchronous proportional following type mechanical arm, which is located on a rack 3, wherein the rack 3 comprises a mechanical arm rack 31 and a rack upper panel 32, and the rack upper panel 32 is located on a mechanical arm rack 31; the mechanical arm comprises a lower layer, a middle layer and an upper layer, wherein the lower layer is a supporting synchronous proportion following group 5, the middle layer is a mechanical arm group 7, and the upper layer is a suspension main seat group 9; the supporting synchronous proportional following group 5 is used for supporting the linear track of the mechanical arm and components thereof and the mechanical arm to synchronously and proportionally follow and support the linear track and the components in the process of reciprocating operation of the mechanical arm group 7; the suspension main seat group 9 is used for suspending a linear track and a synchronous assembly.
As shown in fig. 2 and 3, the supporting synchronous ratio following group 5 includes a linear bearing 51, a supporting synchronous ratio following base 52, a linear rail 53, a rail intermediate base 54, a limit polyester block 55, a rail base 56, an inner synchronous belt clip 57 and an inner synchronous belt clip base 58; the linear bearing 51, the track middle support 54, the limit polyester block 55, the track support 56, the inner synchronous belt clamp 57 and the inner synchronous belt clamp base 58 are arranged on the support synchronous proportion following base 52; the inner synchronous belt clip 57 is mounted on the inner synchronous belt clip holder 58, and the linear rail 53 is mounted on the rail intermediate holder 54 and the rail holder 56.
As shown in fig. 4 and 5, the mechanical arm group 7 comprises an outer synchronous belt clip 71, a stroke sensing pointer 72, a blank stack adsorption assembly 73, a linear bearing 74, a drag chain base 75, a mechanical arm mounting base 76, a mechanical arm 77 and a suction picking group 78; the outer synchronous belt clamp 71, the stroke sensing pointer 72, the blank stack adsorption component 73, the linear bearing 74, the drag chain base 75 and the mechanical arm 77 are arranged on the mechanical arm mounting base 76; the pick-up group 78 is mounted on the robotic arm 77.
As shown in fig. 6 and 7, the suspension master seat set 9 includes a suspension set mounting seat plate 9a, an outer driven synchronizing wheel bearing seat 9b, a worm gear reducer 9c, a servo motor 9d, a linear rail 9e, a rail bearing seat 9f, an inner driven synchronizing wheel shaft 9g, an outer driven synchronizing wheel shaft 9h, a column 9i, a finished product suction pickup assembly 9j, a gear 9k for an outer synchronizing wheel, a gear 9l for an inner synchronizing wheel, an outer driven synchronizing wheel 9m, an inner driven synchronizing wheel 9n, an outer synchronizing belt 9o, an inner synchronizing belt 9p, an inner driven synchronizing wheel 9q, and an outer driven synchronizing wheel 9r; the suspension group mounting base plate 9a is mounted on the upright 9i, and the upright 9i is mounted on the rack upper panel 32.
The outer driving synchronous wheel bearing seat 9b, the worm gear reducer 9c, the track support seat 9f, the inner driven synchronous wheel shaft 9g, the outer driven synchronous wheel shaft 9h and the finished product suction assembly 9j are arranged on the suspension group mounting base plate 9 a; the servo motor 9d is installed on the worm gear reducer 9c, and the linear track 9e is installed on the track support 9 f; the gear 9k for the outer synchronizing wheel and the outer driving synchronizing wheel 9m are installed on the bearing seat 9b for the outer driving synchronizing wheel, and the gear 9l for the inner synchronizing wheel and the inner driving synchronizing wheel 9n are installed on the output shaft of the worm gear speed reducer 9 c; the inner driven synchronizing wheel 9q is arranged on the inner driven synchronizing wheel shaft 9g, and the outer driven synchronizing wheel 9r is arranged on the outer driven synchronizing wheel shaft 9 h; outer hold-in range 9o is installed on outer driving synchronizing wheel 9m and the outer driven synchronizing wheel 9r, interior hold-in range 9p is installed on interior driving synchronizing wheel 9n and the interior driven synchronizing wheel 9 q.
As shown in fig. 8 and 9, the linear bearing 51 in the supporting synchronous ratio following group 5 is connected to the linear rail 9e in the suspension main seat group 9; the linear track 53 in the bearing synchronous ratio following group 5 is connected with the linear bearing 74 in the mechanical arm group 7; the inner timing belt clip 57 is connected to the inner timing belt 9p, and the outer timing belt clip 71 is connected to the outer timing belt 9 o.
Examples
Fig. 10 is a schematic diagram illustrating the operation of the follower robot arm with synchronous ratio support according to the present invention, and the specific operation manner is as follows:
when the servo motor 9d drives the worm speed reducer 9c, the output shaft of the worm speed reducer 9c drives the gear 9l for the inner synchronizing wheel and the inner driving synchronizing wheel 9n to rotate counterclockwise; the inner driving synchronous wheel 9n drives the inner synchronous belt 9p, the inner synchronous belt 9p drives the inner synchronous belt clip 57 and the inner synchronous belt clip holder 58, so that the whole supporting synchronous proportion following group 5 (lower layer) is driven to move from left to right along the linear track 9 e; the gear 9l for the inner synchronizing wheel drives the gear 9k for the outer synchronizing wheel and the outer driving synchronizing wheel 9m to rotate clockwise and drive the outer synchronizing belt 9o, and the outer synchronizing belt 9o drives the synchronizing belt clip 71 and the linear bearing 74, so that the whole mechanical arm group 7 (middle layer) is driven to move from left to right along the linear track 53; the gear 9k for the outer synchronous wheel has the same tooth number as the gear 9l for the inner synchronous wheel, and the moving direction of the synchronous belt is changed by meshing; the gear ratio of the outer driving synchronizing wheel 9m, the outer driven synchronizing wheel 9r to the inner driving synchronizing wheel 9n and the inner driven synchronizing wheel 9q is 2:1, the running speed and the stroke ratio of the mechanical arm group 7 (middle layer) and the supporting synchronous proportion following group 5 (lower layer) are both 2:1; when the operation stroke of the mechanical arm group 7 (middle layer) is L, the operation stroke of the supporting synchronous proportion following group 5 (lower layer) is 1/2L.
Taking a 400-ton closed punch as an example, after the technical scheme of the invention is adopted, the total length of the mechanical arm can be shortened from 3000mm to 2500mm, and the length of the cantilever extending out of the mechanical arm is shortened from 1600mm to 1000mm, as shown in fig. 11.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and scope of the present invention should be included in the present invention.
Claims (3)
1. A bearing synchronous proportion following mechanical arm is located on frame (3), frame (3) are including manipulator frame (31) and frame top panel (32), frame top panel (32) are located manipulator frame (31), its characterized in that: the mechanical arm comprises a lower layer, a middle layer and an upper layer, wherein the lower layer is a supporting synchronous proportion following group (5), the middle layer is a mechanical arm group (7), and the upper layer is a suspension main seat group (9); the supporting synchronous proportional following group (5) is used for supporting the linear track of the mechanical arm and components thereof and the mechanical arm to synchronously follow and support the linear track of the mechanical arm in a proportional reciprocating way in the reciprocating operation process of the mechanical arm group (7); the suspension main seat group (9) is used for suspending a linear track and a synchronous assembly;
the supporting synchronous proportion following group (5) comprises a linear bearing (51), a supporting synchronous proportion following seat (52), a linear track (53), a track middle support (54), a limiting polyester block (55), a track support (56), an inner synchronous belt clamp (57) and an inner synchronous belt clamp seat (58); the linear bearing (51), the track middle support (54), the limiting polyester block (55), the track support (56), the inner synchronous belt clamp (57) and the inner synchronous belt clamp seat (58) are arranged on the supporting synchronous proportion following seat (52); the inner synchronous belt clamp (57) is mounted on the inner synchronous belt clamp seat (58), and the linear track (53) is mounted on the track middle support (54) and the track support (56);
the mechanical arm group (7) comprises an outer synchronous belt clamp (71), a stroke induction pointer (72), a blank stack adsorption component (73), a linear bearing (74), a drag chain base (75), a mechanical arm mounting base (76), a mechanical arm (77) and an adsorption picking group (78); the outer synchronous belt clamp (71), the stroke induction pointer (72), the blank stack adsorption assembly (73), the linear bearing (74), the drag chain base (75) and the mechanical arm (77) are arranged on the mechanical arm mounting base (76); the pick-up group (78) is mounted on the robotic arm (77);
the suspension main seat group (9) comprises a suspension group mounting seat plate (9 a), an outer driving synchronous wheel bearing seat (9 b), a worm gear reducer (9 c), a servo motor (9 d), a linear track (9 e), a track support (9 f), an inner driven synchronous wheel shaft (9 g), an outer driven synchronous wheel shaft (9 h), a stand column (9 i), a finished product suction pickup assembly (9 j), a gear (9 k) for an outer synchronous wheel, a gear (9 l) for an inner synchronous wheel, an outer driving synchronous wheel (9 m), an inner driving synchronous wheel (9 n), an outer synchronous belt (9 o), an inner synchronous belt (9 p), an inner driven synchronous wheel (9 q) and an outer driven synchronous wheel (9 r); the suspension group mounting base plate (9 a) is mounted on the upright post (9 i), and the upright post (9 i) is mounted on the rack upper panel (32);
when the servo motor (9 d) drives the worm speed reducer (9 c), the output shaft of the worm speed reducer (9 c) drives the gear (9 l) for the inner synchronizing wheel and the inner driving synchronizing wheel (9 n) to rotate anticlockwise; the inner driving synchronous wheel (9 n) drives an inner synchronous belt (9 p), the inner synchronous belt (9 p) drives an inner synchronous belt clamp (57) and an inner synchronous belt clamping seat (58), and therefore the lower layer of the whole supporting synchronous proportion following group 5 is driven to move from left to right along a linear track (9 e) of the suspension main seat group (9); the inner synchronizing wheel gear (9 l) drives the outer synchronizing wheel gear (9 k) and the outer driving synchronizing wheel (9 m) to rotate clockwise and drive the outer synchronizing belt (9 o), the outer synchronizing belt (9 o) drives a synchronizing belt clamp (71) and a linear bearing (74), and therefore the middle layer of the whole mechanical arm group (7) is driven to move from left to right along a linear track (53) of the supporting synchronous proportion following group (5); the gear (9 k) for the outer synchronous wheel has the same tooth number as the gear (9 l) for the inner synchronous wheel, and the moving direction of the synchronous belt is changed by meshing; the gear ratios of the outer driving synchronizing wheel (9 m), the outer driven synchronizing wheel (9 r), the inner driving synchronizing wheel (9 n) and the inner driven synchronizing wheel (9 q) are 2:1.
2. a supporting synchronous ratio follower robot as defined in claim 1 further comprising: the outer driving synchronous wheel bearing seat (9 b), the worm gear speed reducer (9 c), the track support (9 f), the inner driven synchronous wheel shaft (9 g), the outer driven synchronous wheel shaft (9 h) and the finished product suction pickup assembly (9 j) are arranged on the suspension group mounting base plate (9 a); the servo motor (9 d) is installed on the worm gear speed reducer (9 c), and the linear track (9 e) is installed on the track support (9 f); the gear (9 k) for the outer synchronizing wheel and the outer driving synchronizing wheel (9 m) are arranged on the bearing seat (9 b) of the outer driving synchronizing wheel, and the gear (9 l) for the inner synchronizing wheel and the inner driving synchronizing wheel (9 n) are arranged on the output shaft of the worm gear speed reducer (9 c); the inner driven synchronizing wheel (9 q) is arranged on the inner driven synchronizing wheel shaft (9 g), and the outer driven synchronizing wheel (9 r) is arranged on the outer driven synchronizing wheel shaft (9 h); outer hold-in range (9 o) are installed on outer initiative synchronizing wheel (9 m) and outer driven synchronizing wheel (9 r), interior hold-in range (9 p) are installed on interior initiative synchronizing wheel (9 n) and interior driven synchronizing wheel (9 q).
3. A supporting synchronous ratio follower robot as defined in claim 2 wherein: the linear bearing (51) in the bearing synchronous proportion following group (5) is connected to a linear track (9 e) in the suspension main seat group (9); the linear track (53) in the bearing synchronous proportion following group (5) is connected with a linear bearing (74) in the mechanical arm group (7); the inner synchronous belt clip (57) is connected with the inner synchronous belt (9 p), and the outer synchronous belt clip (71) is connected with the outer synchronous belt (9 o).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711241241.5A CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711241241.5A CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
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| CN107824708A CN107824708A (en) | 2018-03-23 |
| CN107824708B true CN107824708B (en) | 2023-04-11 |
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| CN201711241241.5A Active CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109127934A (en) * | 2018-09-25 | 2019-01-04 | 靖江市天勤电机科技有限公司 | The double-deck double speed manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202726043U (en) * | 2012-07-14 | 2013-02-13 | 马鞍山市博威液压机械制造有限责任公司 | Three-section telescopic boom type cantilever ginpole telescopic mechanism |
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN105269593B (en) * | 2015-11-20 | 2016-08-17 | 亿嘉和科技股份有限公司 | A kind of crusing robot telescopic arm |
| CN205766134U (en) * | 2016-05-17 | 2016-12-07 | 佛山市中机一超机器人科技有限公司 | A kind of have the parallel-moving type stamping mechanical arm synchronizing wheel drive mechanism |
| CN106311922A (en) * | 2016-08-31 | 2017-01-11 | 佛山市顺德区天本模具制造有限公司 | Novel stamping robot |
| CN207563614U (en) * | 2017-11-30 | 2018-07-03 | 常州市臻程智能设备有限公司 | Support synchronous proportional trailing type mechanical arm |
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2017
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Effective date of registration: 20180504 Address after: 213000 Ching Song Village, Zhenglu Town, Tianning District, Changzhou, Jiangsu Applicant after: CHANGZHOU ZHENCHENG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 213000 Di Shu Village, Zhenglu Town, Tianning District, Changzhou, Jiangsu, China Applicant before: CHANGZHOU CHENYUAN CASTING CO.,LTD. |
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