CN108638044A - A kind of full-automatic material-feeding machine people - Google Patents
A kind of full-automatic material-feeding machine people Download PDFInfo
- Publication number
- CN108638044A CN108638044A CN201810324874.0A CN201810324874A CN108638044A CN 108638044 A CN108638044 A CN 108638044A CN 201810324874 A CN201810324874 A CN 201810324874A CN 108638044 A CN108638044 A CN 108638044A
- Authority
- CN
- China
- Prior art keywords
- group
- lifting
- telescopic boom
- belt wheel
- support plate
- 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- Withdrawn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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/123—Linear actuators
Abstract
The present invention provides a kind of full-automatic material-feeding machine people, a kind of full-automatic material-feeding machine people includes pedestal, elevator platform group, rotation and lifting group, lift standpipe, telescopic boom fixed seat, telescopic boom group, draw support arm group, elevator platform group is mounted on the base, rotation and lifting group is mounted in elevator platform group, its top installation lifting standpipe, telescopic boom fixed seat is fixed with lifting standpipe, telescopic boom group is mounted in telescopic boom fixed seat, support arm group is drawn to be fixed in telescopic boom group, the present invention makes mechanical arm move up and down by crane group, mechanical arm is set to rotate in circumferential plane by rotation and lifting group, mechanical arm is set to do flexible linear reciprocating motion by telescopic boom group, by drawing the crawl of support arm group and placing workpiece, it increases to send and takes range, improve the degree of automation.
Description
Technical field
The present invention relates to parts machining and transhipment technical field, more particularly to a kind of full-automatic material-feeding machine people.
Background technology
With the development of industrial technology, in field of machining, the production and processing of product needs multiple working procedure, from together
During process enters next process, all kinds of transmitting devices is needed to be transported, it is how that workpiece is fast and accurately defeated
It is the key that improve working efficiency, ensure processing quality and safety in production to be sent on station, also has some enterprises to use people so far
The manufacturing mode of work feeding, the efficiency of artificial feeding is low, product quality is unreliable and of high cost, it is therefore desirable to relevant to send
Material machine solves the above problems, the conventional fixed mechanism of the artificial circumference of feeding machine, such as application No. is
201510042718.1 disclosing one kind《Multi-functional feeding robot》, include mainly motor, connecting seat, large arm, forearm, machinery
Hand, such mechanism do not have a Telescopic, and the working range of feeding and feeding is small, it is therefore desirable to a kind of novel full-automatic material-feeding
Robot.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of full-automatic material-feeding machine people, mechanical arm or more is made by crane group
Movement, makes mechanical arm rotate in circumferential plane, so that mechanical arm is done by telescopic boom group and stretch by rotation and lifting group
The linear reciprocating motion of contracting increases to send and takes range, improve automation journey by drawing the crawl of support arm group and placing workpiece
Degree.
Technical solution used in the present invention is：A kind of full-automatic material-feeding machine people includes pedestal, elevator platform group, rotation
Lifting group, telescopic boom fixed seat, telescopic boom group, draws support arm group at lifting standpipe.The elevator platform group is mounted on bottom
On seat, rotation and lifting group is mounted in elevator platform group, top installation lifting standpipe, telescopic boom fixed seat and lifting standpipe
Fixed, telescopic boom group is mounted in telescopic boom fixed seat, is drawn support arm group and is fixed in telescopic boom group.
Further, the elevator platform group includes elevator platform, lifting sliding rail, rack, it is characterised in that：Described
Two lifting sliding rails are fixed on the medial surface of elevator platform by elevator platform as reference for installation, and rack is mounted on two
Between lifting sliding rail and on the medial surface fixed to elevator platform.
Further, the rotation and lifting group includes crane, lifting decelerator, speed reducer mounting plate, rotational deceleration
Machine, rotary support, rotary sleeve, lifting slider, gear, shaft coupling, round nut, big bearing, rotary shaft, the lifting are slowed down
Machine links together and is mounted in crane with speed reducer mounting plate, and four lifting sliders are mounted on the back side of crane, rises
The projecting shaft for dropping speed reducer is inserted into gear, and rotational deceleration machine is mounted on the bottom surface above crane, and projecting shaft passes through shaft coupling
With rotation axis connection, it is inserted in two big bearing and two round nuts successively in rotary shaft, rotary support is mounted on the upper of crane
Side, rotary sleeve are inserted in rotary shaft and are fixed on the top of rotary support.
Further, the telescopic boom group include servo motor, belt wheel support plate A, belt wheel support plate B, belt wheel fulcrum A,
Telescopic boom, flexible sliding rail, flexible sliding block, draws arm support plate, synchronous belt pressing plate, small bearing, belt wheel fulcrum B, band at synchronous belt
Wheel, the belt wheel support plate A and belt wheel support plate B are fixed in telescopic boom, and servo motor is mounted on belt wheel support plate A, is stretched
Shaft is inserted into one end of belt wheel fulcrum A, and three belt wheel support plate B are respectively embedded into small bearing, and the other end insertion of belt wheel fulcrum A is small
In bearing, the both ends belt wheel fulcrum B are inserted into respectively in the small bearing in other two belt wheel support plate B, another belt wheel is inserted in
By in belt wheel fulcrum B, two belt wheels are by synchronous band connection, and in the top of telescopic boom, the flexible sliding rail of installation, then will stretch
Sliding block slide into stretch sliding rail in, draw arm support plate connect with flexible sliding block, by synchronous belt pressing plate be pressed on synchronous belt and with absorption
Arm support plate is fixed together.
Further, the absorption support arm group includes drawing support arm, support plate, screw rod, sucker mounting plate, charging ram correcting
Set, charging ram, buffer spring, Suction cup assembly, the support arm are fixed on the taking on arm support plate of telescopic boom group, and support plate is mounted on
The lower section of support arm, support plate and sucker mounting plate are connected together by screw rod, and charging ram guide sleeve is fixed on sucker mounting plate,
Charging ram is inserted into charging ram guide sleeve and is inserted in buffer spring, and Suction cup assembly is mounted on the centre of sucker mounting plate.
Beneficial effects of the present invention：（1）The present invention controls robot by elevating mechanism, rotating mechanism and telescoping mechanism
Movement, so that robot is possessed more degree of freedom, increase the working range of its material-feeding and fetching；（2）All motors of the present invention
The thing servo motor being all made of so that the movement of each mechanism is more accurate, enhances the precision of material-feeding and fetching.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the elevator platform group structural schematic diagram of the present invention.
Fig. 3 ~ Fig. 5 is the rotation and lifting group structural schematic diagram of the present invention.
Fig. 6 is the telescopic boom group structural schematic diagram of the present invention.
Fig. 7 is the absorption support arm group structural schematic diagram of the present invention.
Drawing reference numeral：1- pedestals；2- elevator platform groups；3- rotation and lifting groups；4- lifts standpipe；5- telescopic booms are fixed
Seat；6- telescopic boom groups；7- draws support arm group；201- elevator platforms；202- lifting sliding rails；203- racks；301- cranes；
302- lifting decelerators；303- speed reducer mounting plates；304- rotational deceleration machines；305- rotary supports；306- rotary sleeves；307-
Lifting slider；308- gears；309- shaft couplings；310- round nuts；The big bearings of 311-；312- rotary shafts；601- servo motors；
602- belt wheel support plates A；603- belt wheel support plates B；604- belt wheel fulcrums A；605- telescopic booms；606- synchronous belts；607- is flexible to be slided
Rail；608- stretches sliding block；609- draws arm support plate；610- synchronous belt pressing plates；The small bearings of 611-；612- belt wheel fulcrums B；613- bands
Wheel；701- draws support arm；702- support plates；703- screw rods；704- sucker mounting plates；705- charging ram guide sleeves；706- charging rams；
707- buffer springs；708- Suction cup assemblies.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of full-automatic material-feeding machine people includes pedestal 1, elevator platform group 2, rotation
Lifting group 3, telescopic boom fixed seat 5, telescopic boom group 6, draws support arm group 7 at lifting standpipe 4.Elevator platform group 2 is mounted on bottom
On seat 1, rotation and lifting group 3 is in elevator platform group 2, top installation lifting standpipe 4, telescopic boom fixed seat 5 and liter
It drops standpipe 4 to fix, telescopic boom group 6 is mounted in telescopic boom fixed seat 5, is drawn support arm group 7 and is fixed to telescopic boom group 6
On.
Elevator platform group 2 includes elevator platform 201, lifting sliding rail 202, rack 203, and elevator platform 201 is as installation base
Two lifting sliding rails 202 are fixed on the medial surface of elevator platform 201 by standard, and rack 203 is mounted on two lifting sliding rails
Between 202 and on the medial surface fixed to elevator platform 201.
Rotation and lifting group 3 include crane 301, lifting decelerator 302, speed reducer mounting plate 303, rotational deceleration machine 304,
Rotary support 305, rotary sleeve 306, lifting slider 307, gear 308, shaft coupling 309, round nut 310, big bearing 311, rotation
Shaft 312, lifting decelerator 302 link together with speed reducer mounting plate 303 and in cranes 301, four liftings
Sliding block 307 is mounted on the back side of crane 301, and the projecting shaft of lifting decelerator 302 is inserted into gear 308, and rotational deceleration machine 304 is pacified
Bottom surface above crane 301, projecting shaft are connect by shaft coupling 309 with rotary shaft 312, rotary shaft 312 successively
Two big bearing 311 and two round nuts 310 are inserted in, rotary support 305 is mounted on the top of crane 301, rotary sleeve
306 are inserted in rotary shaft 312 and are fixed on the top of rotary support 305.
Telescopic boom group 6 include servo motor 601, belt wheel support plate A 602, belt wheel support plate B 603, belt wheel fulcrum A 604,
Telescopic boom 605, flexible sliding rail 607, flexible sliding block 608, draws arm support plate 609, is synchronous belt pressing plate 610, small synchronous belt 606
Bearing 611, belt wheel fulcrum B 612, belt wheel 613, belt wheel support plate A 602 and belt wheel support plate B 603 are fixed on telescopic boom 605
On, servo motor 601 is mounted on belt wheel support plate A 602, and projecting shaft is inserted into one end of belt wheel fulcrum A 604, three bands
Wheel support plate B 603 is respectively embedded into small bearing 611, and the other end of belt wheel fulcrum A 604 is inserted into small bearing 611, by belt wheel fulcrum B
612 both ends are inserted into respectively in the small bearing 611 in other two belt wheel support plate B 603, another belt wheel 613 is inserted in belt wheel
In fulcrum B 612, two belt wheels 613 are connected by synchronous belt 606, the flexible sliding rail 607 of installation in the top of telescopic boom 605,
Then flexible sliding block 608 is slid into stretching sliding rail 607, draws arm support plate 609 and connect with flexible sliding block 608, will be synchronized with pressure
Plate 610 is pressed on synchronous belt 606 and is fixed together with arm support plate 609 is drawn.
It includes drawing support arm 701, support plate 702, screw rod 703, sucker mounting plate 704, charging ram guide sleeve to draw support arm group 7
705, charging ram 706, buffer spring 707, Suction cup assembly 708, what support arm 701 was fixed on telescopic boom group 6 takes arm support plate 609
On, support plate 702 is mounted on the lower section of support arm 701, and support plate 702 is connected together by screw rod 703 with sucker mounting plate 704, pushed away
Material bar guide sleeve 705 is fixed on sucker mounting plate 704, and charging ram 706 is inserted into charging ram guide sleeve 705 and is inserted in buffering
Spring 707, Suction cup assembly 708 are mounted on the centre of sucker mounting plate 704.
The operation principle of the present invention：When the present invention starts to work, the work of rotational deceleration machine 304 at this time passes through shaft coupling
309 drive rotary shaft 312 to rotate, and rotate, watch in circumferential plane to make telescopic boom group 6 and draw support arm group 7
It takes the work band movable belt pulley 613 of motor 601 to rotate that synchronous belt 606 is driven to move, the movement of synchronous belt 606, which drives, draws arm support plate
609 move reciprocatingly that absorption support arm group 7 is made to do stretching motion, and on earth behind designated position, the work of lifting decelerator 302 drives
Gear 308 rotates, and rack 203 is engaged with gear 308, to be moved downward with mobile robot so that Suction cup assembly 708 contacts work
It part and adsorbs, the reversion of lifting decelerator 302 makes total move upwards, and workpiece is picked up, rotational deceleration machine 304 and servo
Motor 601 inverts, and workpiece is transported to above next station, and the reversion of lifting decelerator 302 at this time makes entire mechanism transport downwards
It moves until workpiece reaches designated position, the release of Suction cup assembly 708 simultaneously carries out same next feeding and acts.
Claims (1)
1. a kind of full-automatic material-feeding machine people, including pedestal（1）, elevator platform group（2）, rotation and lifting group（3）, lifting standpipe
（4）, telescopic boom fixed seat（5）, telescopic boom group（6）, draw support arm group（7）, it is characterised in that：The elevator platform group
（2）Mounted on pedestal（1）On, rotation and lifting group（3）Mounted on elevator platform group（2）In, top installation lifting standpipe（4）,
Telescopic boom fixed seat（5）With lifting standpipe（4）It is fixed, telescopic boom group（6）Mounted on telescopic boom fixed seat（5）On, it inhales
Take support arm group（7）Fixed to telescopic boom group（6）On；The elevator platform group（2）Including elevator platform（201）, lifting slide
Rail（202）, rack（203）, the elevator platform（201）As reference for installation, by two lifting sliding rails（202）It is fixed on liter
Rack drops（201）Medial surface on, by rack（203）Mounted on two lifting sliding rails（202）Between and be fixed to elevator platform
（201）Medial surface on；The rotation and lifting group（3）Including crane（301）, lifting decelerator（302）, speed reducer installation
Plate（303）, rotational deceleration machine（304）, rotary support（305）, rotary sleeve（306）, lifting slider（307）, gear（308）、
Shaft coupling（309）, round nut（310）, big bearing（311）, rotary shaft（312）, the lifting decelerator（302）With speed reducer
Mounting plate（303）It links together and is mounted on crane（301）In, four lifting sliders（307）Mounted on crane（301）
The back side, the projecting shaft of lifting decelerator 302 is inserted into gear（308）, rotational deceleration machine（304）Above crane 301
Bottom surface, projecting shaft passes through shaft coupling（309）With rotary shaft（312）Connection, in rotary shaft（312）It is inserted in two big axis successively
It holds（311）With two round nuts（310）, rotary support（305）Mounted on crane（301）Top, rotary sleeve（306）Set
Enter rotary shaft（312）And it is fixed on rotary support（305）Top；The telescopic boom group（6）Including servo motor
（601）, belt wheel support plate A（602）, belt wheel support plate B（603）, belt wheel fulcrum A（604）, telescopic boom（605）, synchronous belt
（606）, flexible sliding rail（607）, flexible sliding block（608）, draw arm support plate（609）, synchronous belt pressing plate（610）, small bearing
（611）, belt wheel fulcrum B（612）, belt wheel（613）, the belt wheel support plate A（602）With belt wheel support plate B（603）It is fixed on
Telescopic boom（605）On, servo motor（601）Mounted on belt wheel support plate A（602）On, projecting shaft is inserted into belt wheel fulcrum A
（604）One end in, three belt wheel support plate B（603）It is respectively embedded into small bearing（611）, belt wheel fulcrum A（604）The other end
It is inserted into small bearing（611）In, by belt wheel fulcrum B（612）Other two belt wheel support plate B is inserted at both ends respectively（603）In it is small
Bearing（611）In, by another belt wheel（613）It is inserted in belt wheel fulcrum B（612）In, two belt wheels（613）Pass through synchronous belt
（606）Connection, in telescopic boom（605）Top installation stretch sliding rail（607）, then by flexible sliding block（608）It slides into flexible
Sliding rail（607）In, draw arm support plate（609）With flexible sliding block（608）Connection, by synchronous belt pressing plate（610）It is pressed in synchronous belt
（606）It is upper and with draw arm support plate（609）It is fixed together；The absorption support arm group（7）Including drawing support arm（701）, branch
Plate（702）, screw rod（703）, sucker mounting plate（704）, charging ram guide sleeve（705）, charging ram（706）, buffer spring
（707）, Suction cup assembly（708）, the support arm（701）It is fixed on telescopic boom group（6）Take arm support plate（609）On, support plate
（702）Mounted on support arm（701）Lower section, support plate（702）With sucker mounting plate（704）Pass through screw rod（703）It connects together,
Charging ram guide sleeve（705）It is fixed on sucker mounting plate（704）On, charging ram（706）It is inserted into charging ram guide sleeve（705）In simultaneously
And it is inserted in buffer spring（707）, Suction cup assembly（708）Mounted on sucker mounting plate（704）Centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810324874.0A CN108638044A (en) | 2018-04-12 | 2018-04-12 | A kind of full-automatic material-feeding machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810324874.0A CN108638044A (en) | 2018-04-12 | 2018-04-12 | A kind of full-automatic material-feeding machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638044A true CN108638044A (en) | 2018-10-12 |
Family
ID=63746220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810324874.0A Withdrawn CN108638044A (en) | 2018-04-12 | 2018-04-12 | A kind of full-automatic material-feeding machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108638044A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI689390B (en) * | 2019-10-28 | 2020-04-01 | 陳逢霖 | Cantilever system of mechanical arm |
| CN115781224A (en) * | 2022-12-06 | 2023-03-14 | 江苏森鹏能源科技有限公司 | Automatic assembling equipment for air source heat pump |
-
2018
- 2018-04-12 CN CN201810324874.0A patent/CN108638044A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI689390B (en) * | 2019-10-28 | 2020-04-01 | 陳逢霖 | Cantilever system of mechanical arm |
| CN115781224A (en) * | 2022-12-06 | 2023-03-14 | 江苏森鹏能源科技有限公司 | Automatic assembling equipment for air source heat pump |
| CN115781224B (en) * | 2022-12-06 | 2024-04-16 | 江苏森鹏能源科技有限公司 | Automatic equipment of air source heat pump |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181012 |
|
| WW01 | Invention patent application withdrawn after publication |