CN108582063A - A kind of inside gadget blanking mechanical hand - Google Patents
A kind of inside gadget blanking mechanical hand Download PDFInfo
- Publication number
- CN108582063A CN108582063A CN201810736651.5A CN201810736651A CN108582063A CN 108582063 A CN108582063 A CN 108582063A CN 201810736651 A CN201810736651 A CN 201810736651A CN 108582063 A CN108582063 A CN 108582063A
- Authority
- CN
- China
- Prior art keywords
- lifting
- shell
- linear
- moving apparatus
- self running
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a kind of inside gadget blanking mechanical hands, include the translating rails supported by holder, the translational movement device being slidably mounted on the translating rails, one end is mounted on the linear guide extended perpendicularly out on the translational movement device, the linear moving apparatus being slidably mounted in the linear guide, lifting gear on linear moving apparatus and the electronic clamping jaw mounted on the lifting gear external part, above the translating rails fin band is equipped with along its direction, the translational movement device includes the control module and linear drive motor on self running scooter and the installation self running scooter, the self running scooter be equipped with coaster motor and with fin engages on the fin band driving gear, the driving gear is connected with the output end of the coaster motor.In the present invention, the steady movement of self running scooter will not lead to flexural deformation because lead screw length is long, and can also overcome the deficiencies in the prior art by the smaller warp rail of curvature by fin band engagement effect.
Description
Technical field
The present invention relates to automotive upholstery fields, and in particular to a kind of inside gadget blanking mechanical hand.
Background technology
Manipulator can be used to carry out blanking work in automotive upholstery at present.Manipulator can pick up and put down automatically interior trim
Part, and it can be moved to subsequent processing or canister according to setting track, have speed fast, it is efficient, save labour and mistake
Rate low energy advantage.But current manipulator mostly uses cylinder or the direction of screw body guarantee level transfer is accurate, but if
Displacement distance is longer in translation motion, current manipulator transfer when be easy to happen stroke not enough or lead screw
The problem of reliability deficiency, it is even more impossible to be applied to the horizontal rail of bending.
Invention content
The purpose of the present invention is to provide a kind of inside gadget blanking mechanical hands, longer to solve translation distance in the prior art
When lack suitable translating device, the defect that mobile accuracy and reliability declines.
The inside gadget blanking mechanical hand includes the translating rails supported by holder, is slidably mounted on the translation
Translational movement device, one end on guide rail are mounted on the linear guide extended perpendicularly out on the translational movement device, are slidably installed
Linear moving apparatus in the linear guide, the lifting gear on linear moving apparatus and be mounted on the lifting
The electronic clamping jaw of device external part, is equipped with fin band above the translating rails along its direction, and the translational movement device includes
Control module and linear drive motor on self running scooter and the installation self running scooter, the self running scooter are equipped with coaster motor
With with the driving gear that fin engages on the fin band, the driving gear is connected with the output end of the coaster motor, institute
Stating on the upside of translating rails has protrusion guide beam, and self running scooter vehicle frame side connects with the protrusion guide beam basal sliding
It touches.
Preferably, the linear moving apparatus is located at the linear guide side, and the linear guide is internally provided in the same direction
The leading screw and nut mechanism of extension, the leading screw and nut mechanism include the straight line lead screw being connected with the linear drive motor output end
With the sliding nut on the straight line lead screw, the sliding nut is slidably matched simultaneously with the slideway in the linear guide
It is fixedly connected with the shell of the linear moving apparatus.
Preferably, the lifting gear includes the lifting motor being mounted on the linear moving apparatus, perpendicular to described
The elevating screw that the linear guide is connected with the lifting motor output end, lifting nut and peace on the elevating screw
The lifting arm in the same direction with the elevating screw on the linear moving apparatus, the electronic clamping jaw are mounted on the lifting arm
Lower end, the lifting nut are fixedly connected by link block with the lifting arm, and the lifting arm is vertical in the shell
Lift span is slidably matched.
Preferably, the lead screw protective shell being fixed on the shell, the lead screw protective shell are cased with outside the elevating screw
The sliding slot being slidably matched with the link block is equipped with towards the lifting arm side.
Preferably, the lifting arm is located at the part above the shell and has been slidably socketed position limiting slide block, and the limit is slided
The tight fixed bolt of the lifting arm side can be against by being equipped on block, and the lifting arm lower end is fixed above the electronic clamping jaw
There is lower limiting board, both sides are equipped with inductor corresponding with the position limiting slide block and the lower limiting board respectively to the shell up and down,
The inductor is electrically connected with the control module, and the lifting motor is electrically connected with the control module.
Preferably, the inductor includes the button switch being fixed in the shell, is slidably installed on the housing
The spring for being detection bar and being sleeved in the detection bar, described detection bar one end against the button switch, the other end with it is opposite
The position limiting slide block or lower limiting board, the spring one end are connected to the case inside, and the other end is connected to the detection plate
On spring coupling plate.
Preferably, it is also equipped with the follower gear engaged with the fin band on the self running scooter vehicle frame.
The advantage of the invention is that：For the self running scooter by driving gear to be engaged with fin band, sliding tooth rotates kinetic energy
Smooth drive self running scooter is moved along translating rails.Self running scooter vehicle frame is blocked by the protrusion guide beam, prevents it from tilting not
Surely.The steady movement of self running scooter will not lead to flexural deformation because lead screw length is long, and engaging effect by fin band can also
By the smaller warp rail of curvature, the deficiencies in the prior art are overcome.
Linear moving apparatus is driven by lead screw and is moved linearly, and precision is good, and short-distance movement is reliable for operation.Lifting gear
It is driven using lead screw while coordinating the stability and precision that preferably ensure lifting with shell using direct rod shape lifting arm.And silk
Bar, which is protected from, can greatly reduce it and influenced by extraneous dust debris clast, extend the service life, ensure that precision.Limit is slided
Block can adjust height as needed, and heave amplitude can easily be controlled by being combined with inductor, convenient for application.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of translational movement device in the present invention；
Fig. 3 is on cathetus guide rail of the present invention and the structural schematic diagram of linear moving apparatus；
Fig. 4 is the structural schematic diagram of inductor in the present invention；
Fig. 5 is the structural schematic diagram of cathetus mobile device and lifting gear of the present invention.
1, translating rails, 11, fin band, 12, protrusion guide beam, 2, translational movement device, 21, coaster motor, 22, voluntarily
Coaster vehicle frame, 23, driving gear, 24, follower gear, 3, the linear guide, 31, linear drive motor, 32, sliding nut, 33, straight
Filament bar, 4, linear moving apparatus, 41, inductor, 411, button switch, 412, detection bar, 413, spring, 42, shell, 5, rise
Falling unit, 51, lifting motor, 52, elevating screw, 53, lifting arm, 531, position limiting slide block, 532, lower limiting board, 54, lifting spiral shell
Mother, 6, electronic clamping jaw.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
As Figure 1-Figure 5, the present invention provides a kind of inside gadget blanking mechanical hands, including translating rails 1, translational movement
Device 2, the linear guide 3, linear moving apparatus 4, lifting gear 5 and electronic clamping jaw 6.Translating rails 1 are supported by holder, translation
Mobile device 2 is slidably mounted on the translating rails 1, and 3 one end of the linear guide is mounted on vertical on the translational movement device 2
It stretches out.Linear moving apparatus 4 is slidably mounted in the linear guide 3, and lifting gear 5 is mounted on linear moving apparatus 4, electricity
Dynamic clamping jaw 6 is mounted on 5 external part of the lifting gear.67 inside of clamping plate of electronic clamping jaw 6 can be equipped with to be connected with control module
Pressure inductor.
The translational movement device 2 includes the control module and linear drives on self running scooter and the installation self running scooter
Motor 31, the self running scooter are equipped with coaster motor 21 and driving gear 23, the driving gear 23 and the coaster motor 21
Output end be connected by belt pulley or chain-wheel mechanism.The translating rails 1 are equipped with fin band 11, sliding tooth along its direction above
Wheel 23 engage with fin on the fin band 11, and when rotation drives self running scooter to move.Also pacify on the self running scooter vehicle frame 22
Equipped with the follower gear 24 engaged with the fin band 11, keep self running scooter operation more stable.
There is 1 upside of the translating rails protrusion guide beam 12,22 side of self running scooter vehicle frame to be led with the protrusion
It is contacted to 12 basal sliding of beam.For the self running scooter by driving gear 23 to be engaged with fin band 11, driving gear 23 rotates energy
Smooth drive self running scooter is moved along translating rails 1.Self running scooter vehicle frame 22 is blocked by the protrusion guide beam 12, prevents it from inclining
It is tiltedly unstable.The steady movement of self running scooter will not lead to flexural deformation because lead screw length is long, and engaged and imitated by fin band 11
Fruit can also pass through the smaller warp rail of curvature.
The linear moving apparatus 4 is located at 3 side of the linear guide, and the linear guide 3, which is internally provided with, to be extended in the same direction
Leading screw and nut mechanism, the leading screw and nut mechanism includes the straight line lead screw 33 being connected with 31 output end of the linear drive motor
With the sliding nut 32 on the straight line lead screw 33, the sliding nut 32 is slided with the slideway in the linear guide 3
It is dynamic to be fixedly connected with the shell 42 of the linear moving apparatus 4 with merging.Linear moving apparatus 4 drives straight line to move by lead screw
Dynamic, precision is good, and short-distance movement is reliable for operation.
The lifting gear 5 includes the lifting motor 51 being mounted on the linear moving apparatus 4, perpendicular to the straight line
Elevating screw 52 that guide rail 3 is connected with 51 output end of the lifting motor, the lifting nut on the elevating screw 52
54 and lifting arm 53 in the same direction with the elevating screw 52 on the linear moving apparatus 4.The electronic clamping jaw 6 is installed
In 53 lower end of the lifting arm, the lifting nut 54 is fixedly connected by link block with the lifting arm 53, the lifting arm
53 are slidably matched with the vertical lift hole in the shell 42.It is cased with and is fixed on the shell 42 outside the elevating screw 52
Lead screw protective shell, the lead screw protective shell are equipped with the sliding slot being slidably matched with the link block towards 53 side of the lifting arm.It rises
Falling unit 5 is also used lead screw to drive while being coordinated the stability for preferably ensureing lifting with shell 42 using direct rod shape lifting arm 53
And precision.And lead screw is protected from and can greatly reduce it and influenced by extraneous dust debris clast, extends the service life, ensures
Precision.
The part that the lifting arm 53 is located at 42 top of the shell has been slidably socketed position limiting slide block 531, and the limit is slided
The tight fixed bolt of 53 side of the lifting arm can be against by being equipped on block 531, and 53 lower end of the lifting arm is in the electronic clamping jaw 6
Be fixedly arranged above lower limiting board 532, about 42 both sides of the shell be equipped with respectively with the position limiting slide block 531 and the lower limit
532 corresponding inductor 41 of plate, the inductor 41 are electrically connected with the control module, the lifting motor 51 and the control
Module is electrically connected.Inductor 41 controls electronic clamping jaw 6 and lifting motor 51 by control module.
The inductor 41 includes the button switch 411 being fixed in the shell 42, is slidably mounted on the shell 42
On be detection bar 412 and the spring 413 that is sleeved in the detection bar 412,412 one end of the detection bar is against the button switch
411, for the other end with against the position limiting slide block 531 or lower limiting board 532,413 one end of the spring is connected to the shell 42
Inside, the other end are connected to the spring coupling plate in the detection plate.Position limiting slide block 531 can adjust height as needed, with sense
Heave amplitude can easily be controlled by answering device 41 to combine, convenient for application.Control module need to only control coaster motor 21 and linear drives
The operation of motor 31.Coaster motor 21, linear drive motor 31 and lifting motor 51 are servo motor.
It is run by control module control coaster motor 21 and linear drive motor 31 when this manipulator is run, realization is voluntarily slided
Vehicle moves on demand along translating rails 1, and linear moving apparatus 4 is moved to sliding nut 32 after reaching 1 specified point of translating rails
The appointed place of the linear guide 3 simultaneously starts lifting motor 51.Lifting motor 51 drives lifting arm 53 to fall by elevating screw 52,
Inductor 41 is started electronic clamping jaw 6 by the triggering of position limiting slide block 531 and clamps inside gadget, is then risen immediately, lower limiting board 532 triggers
41 lifting arm 53 of inductor stops, while being controlled under coaster motor 21 and the operation arrival of linear drive motor 31 by control module
One process or transport box, lifting arm 53 is fallen to be fallen again, and electronic clamping jaw 6 unclamps after inductor 41 is triggered, then again
Go up, completes the blanking process of inside gadget.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the method for the present invention design and the improvement of various unsubstantialities that technical solution carries out
Present inventive concept and technical solution are directly applied into other occasions, within the scope of the present invention.
Claims (7)
1. a kind of inside gadget blanking mechanical hand, it is characterised in that：Include the translating rails (1) supported by holder, be slidably installed
Translational movement device (2), one end on the translating rails (1) are mounted on the translational movement device (2) and extend perpendicularly out
The linear guide (3), be slidably mounted in the linear guide (3) linear moving apparatus (4), be mounted on linear moving apparatus
(4) lifting gear (5) on and the electronic clamping jaw (6) mounted on the lifting gear (5) external part, the translating rails (1)
It is equipped with fin band (11) along its direction above, the translational movement device (2) includes self running scooter and the installation self running scooter
On control module and linear drive motor (31), the self running scooter be equipped with coaster motor (21) and with the fin band (11)
The driving gear (23) of upper fin engagement, the driving gear (23) is connected with the output end of the coaster motor (21), described
There is protrusion guide beam (12), self running scooter vehicle frame (22) side and the protrusion guide beam on the upside of translating rails (1)
(12) basal sliding contacts.
2. a kind of inside gadget blanking mechanical hand according to claim 1, it is characterised in that：The linear moving apparatus (4)
Positioned at the linear guide (3) side, the linear guide (3) is internally provided with the leading screw and nut mechanism extended in the same direction, the silk
Stem nut mechanism include the straight line lead screw (33) being connected with the linear drive motor (31) output end and be mounted on the straight line
Sliding nut (32) on lead screw (33), the sliding nut (32) are slidably matched simultaneously with the slideway in the linear guide (3)
It is fixedly connected with the shell (42) of the linear moving apparatus (4).
3. a kind of inside gadget blanking mechanical hand according to claim 1 or 2, it is characterised in that：Lifting gear (5) packet
Include the lifting motor (51) being mounted on the linear moving apparatus (4), perpendicular to the linear guide (3) and lifting electricity
It the connected elevating screw (52) of machine (51) output end, the lifting nut (54) being mounted on the elevating screw (52) and is mounted on
The lifting arm (53) in the same direction with the elevating screw (52) on the linear moving apparatus (4), the electronic clamping jaw (6) are mounted on
Lifting arm (53) lower end, the lifting nut (54) are fixedly connected by link block with the lifting arm (53), the liter
Drop arm (53) is slidably matched with the vertical lift hole in the shell (42).
4. a kind of inside gadget blanking mechanical hand according to claim 3, it is characterised in that：Elevating screw (52) housing
There are the lead screw protective shell being fixed on the shell (42), the lead screw protective shell to be equipped with and institute towards the lifting arm (53) side
State the sliding slot that link block is slidably matched.
5. a kind of inside gadget blanking mechanical hand according to claim 3, it is characterised in that：The lifting arm (53) is located at institute
It states the part above shell (42) and has been slidably socketed position limiting slide block (531), institute can be against by being equipped on the position limiting slide block (531)
The tight fixed bolt of lifting arm (53) side is stated, lifting arm (53) lower end is fixedly arranged above lower limit in the electronic clamping jaw (6)
Position plate (532), the shell (42) up and down both sides be equipped with respectively with the position limiting slide block (531) and the lower limiting board (532)
Corresponding inductor (41), the inductor (41) are electrically connected with the control module, the lifting motor (51) and the control
Molding block is electrically connected.
6. a kind of inside gadget blanking mechanical hand according to claim 5, it is characterised in that：The inductor (41) includes solid
The button switch (411) that is scheduled in the shell (42) is slidably mounted on the shell (42) and is detection bar (412) and is sleeved on
Spring (413) on the detection bar (412), described detection bar (412) one end is against the button switch (411), the other end
With against the position limiting slide block (531) or lower limiting board (532), described spring (413) one end is connected in the shell (42)
Side, the other end are connected to spring (413) connecting plate in the detection plate.
7. a kind of inside gadget blanking mechanical hand according to claim 1, it is characterised in that：The self running scooter vehicle frame (22)
On be also equipped with the follower gear (24) engaged with the fin band (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736651.5A CN108582063B (en) | 2018-07-06 | 2018-07-06 | Interior trim part discharging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810736651.5A CN108582063B (en) | 2018-07-06 | 2018-07-06 | Interior trim part discharging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108582063A true CN108582063A (en) | 2018-09-28 |
| CN108582063B CN108582063B (en) | 2020-06-19 |
Family
ID=63617571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810736651.5A Active CN108582063B (en) | 2018-07-06 | 2018-07-06 | Interior trim part discharging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582063B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
| CN113843668A (en) * | 2021-09-26 | 2021-12-28 | 广东拓斯达科技股份有限公司 | Full-automatic external grinding equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0639758A (en) * | 1992-07-23 | 1994-02-15 | Matsushita Electric Ind Co Ltd | Robot arm |
| CN102091943A (en) * | 2010-12-31 | 2011-06-15 | 太仓市康辉科技发展有限公司 | Curve guide rail |
| CN106426761A (en) * | 2016-11-25 | 2017-02-22 | 安徽智联投资集团有限公司 | Mechanical arm applied to injection molding machine |
| CN206936929U (en) * | 2016-12-21 | 2018-01-30 | 天津盛世纵横科技有限公司 | The loading and unloading manipulator that a kind of numerical control device uses |
| CN207415358U (en) * | 2017-09-13 | 2018-05-29 | 西安精雕软件科技有限公司 | A kind of truss manipulator for automatic loading/unloading |
-
2018
- 2018-07-06 CN CN201810736651.5A patent/CN108582063B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0639758A (en) * | 1992-07-23 | 1994-02-15 | Matsushita Electric Ind Co Ltd | Robot arm |
| CN102091943A (en) * | 2010-12-31 | 2011-06-15 | 太仓市康辉科技发展有限公司 | Curve guide rail |
| CN106426761A (en) * | 2016-11-25 | 2017-02-22 | 安徽智联投资集团有限公司 | Mechanical arm applied to injection molding machine |
| CN206936929U (en) * | 2016-12-21 | 2018-01-30 | 天津盛世纵横科技有限公司 | The loading and unloading manipulator that a kind of numerical control device uses |
| CN207415358U (en) * | 2017-09-13 | 2018-05-29 | 西安精雕软件科技有限公司 | A kind of truss manipulator for automatic loading/unloading |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
| CN113843668A (en) * | 2021-09-26 | 2021-12-28 | 广东拓斯达科技股份有限公司 | Full-automatic external grinding equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108582063B (en) | 2020-06-19 |
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Effective date of registration: 20200527 Address after: 528100 (F1) and (F2) No. 17, Chuangxin Avenue West, Leping Town, Sanshui District, Foshan City, Guangdong Province Applicant after: FOSHAN HUASHENGYANG DIE PLASTIC MANUFACTURING Co.,Ltd. Address before: 241000 No. 15, Wuhu economic and Technological Development Zone, Anhui, Huaihailu Road Applicant before: WUHU BOKANG AUTOMOBILE ACCESSORIES Co.,Ltd. |
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