CN108789389B - Rotating mechanism, multi-axis robot and assembling method - Google Patents
Rotating mechanism, multi-axis robot and assembling method Download PDFInfo
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- CN108789389B CN108789389B CN201810842195.2A CN201810842195A CN108789389B CN 108789389 B CN108789389 B CN 108789389B CN 201810842195 A CN201810842195 A CN 201810842195A CN 108789389 B CN108789389 B CN 108789389B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 15
- 238000004080 punching Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000001012 protector Effects 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a multi-axis robot for stamping, which comprises a machine base, a rotating mechanism, a first shaft assembly arranged on a height adjusting assembly, a second shaft assembly movably connected to the first shaft assembly and a third shaft assembly hinged to the second shaft assembly, wherein a connecting mechanism is arranged between the rotating mechanism and the third shaft assembly, a driving device is arranged on the machine base, a protecting device for protecting stamping electric equipment is arranged on the second shaft assembly, and the driving device is connected with a joint in the protecting device through a connecting wire. The invention also discloses an assembling method, which can save the installation space, reduce the use of parts, increase the adaptability of the multi-axis robot and make the installation, the use and the maintenance of the multi-axis robot more convenient.
Description
Technical Field
The present invention relates to the field of robot equipment, and more particularly, to a rotation mechanism, a multi-axis robot equipped with the rotation mechanism, and a method of assembling the multi-axis robot.
Background
Along with development of science and technology, industrial robots gradually replace human beings to perform some monotonous, complex and tedious actions in industrial production, and compared with the human beings, the industrial robots have the advantages of high processing efficiency, continuous mass processing, labor cost saving and the like, and meanwhile, the industrial robots can replace the human beings to perform dangerous processing procedures, so that the problem that accidents are easy to occur when the human beings operate in high-risk environments is solved.
In the existing punching robot, the punching control equipment has the defects of large volume and large occupied space, so that the volume of the punching robot is overlarge, the robot cannot well complete processing actions in a processing environment with a complex machine structure, the robot is limited, and a connecting line between the punching control equipment and the punching equipment of the existing punching robot is integrated in a mechanical arm, so that inconvenience is caused in the using and maintaining processes.
Disclosure of Invention
The invention aims to solve the problems and provide a rotating mechanism which has simple structure, small volume, convenient installation, use and maintenance and can adjust the height of a first shaft.
The invention aims to solve the problems and provide a multi-axis robot with the protection device, which has a simple structure and is convenient to install, use and maintain.
The present invention aims to solve the above problems and provide a method for assembling a multi-axis robot.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the utility model provides a rotary mechanism for robot, includes rotating base, rotation seat and first rotating electrical machines, the installation opening has been seted up at the rotating base top, the rotation seat rotationally is located in the installation opening, vertically run through in this rotation seat middle part and be provided with the motor accommodation groove, the output shaft of first rotating electrical machines is located perpendicularly downwards in the motor accommodation groove, the rotating base with be provided with first drive mechanism between the output shaft of first rotating electrical machines, outwards extend on this rotation seat and be provided with altitude mixture control subassembly.
Preferably, the height adjusting assembly comprises a fixed arm fixed on the rotating seat and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating seat, two extending convex blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly formed in the extending convex blocks, a connecting rod arranged in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is formed in the top of the adjusting arm.
Preferably, the inner side wall of the rotating base is provided with an annular tooth extending towards the central shaft direction of the rotating base, an annular limiting groove is formed above the annular tooth, the rotating seat is arranged in the annular limiting groove, and the output shaft of the first rotating motor is provided with a connecting gear meshed with the annular tooth.
The utility model provides a multiaxis robot for punching press, includes the frame, still include foretell rotary mechanism, set up in first axle subassembly on the altitude mixture control subassembly, swing joint in second axle subassembly on the first axle subassembly and articulated in third axle subassembly on the second axle subassembly, rotary mechanism with be provided with coupling mechanism between the third axle subassembly, be provided with drive arrangement on the frame, be provided with the protection device who is used for protecting punching press electrical equipment on the second axle subassembly, drive arrangement with connect in the protection device through the connecting wire.
Preferably, the height adjusting assembly comprises a fixed arm fixed on the rotating seat and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating seat, two extending convex blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly formed in the extending convex blocks, a connecting rod arranged in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is formed in the top of the adjusting arm.
Preferably, the first shaft assembly comprises a second rotating motor and a first connecting arm, an output shaft of the second rotating motor penetrates through the top of the height adjusting assembly forward, a first connecting piece is connected to the output shaft of the second rotating motor, the bottom of the first connecting arm is connected to the front end of the first connecting piece in a threaded mode, and a fixing buckle is arranged on the outer surface of the first connecting arm;
the second shaft assembly comprises a third rotating motor and a second connecting arm, an output shaft of the third rotating motor penetrates through the left end of the second connecting arm forward, a second connecting piece is connected to the output shaft of the third rotating motor and protrudes out of the second connecting arm, the top of the first connecting arm is screwed onto the second connecting piece, a fixing seat for fixing the protection device is arranged at the upper end of the second connecting arm, and the fixing seat comprises a positioning portion screwed onto the second connecting arm and an adjusting portion connected through a spring.
Preferably, the third shaft assembly comprises a third connecting seat and a fourth driving motor, the third connecting seat is hinged to the right end of the second shaft assembly, a placing groove is formed in the third connecting seat, a first hinge joint of the third connecting seat and the connecting mechanism is arranged on the third connecting seat, an output shaft of the fourth driving motor is arranged to penetrate through the placing groove, and a third connecting piece for placing stamping equipment is connected to the output shaft of the fourth driving motor.
Preferably, the connecting mechanism comprises a triangle connecting piece, a first pull rod and a second pull rod, wherein two hinging parts and rotating parts are arranged on the triangle connecting piece, the top of the first pull rod is hinged with one hinging part of the triangle connecting piece, the bottom of the first pull rod is hinged with the rotating mechanism, the left end of the second pull rod is hinged with the other hinging part of the triangle connecting piece, the right end of the second pull rod is hinged with the third shaft assembly, and the rotating part of the triangle connecting piece is connected with the second shaft assembly.
The assembling method of the multi-axis robot for stamping comprises the following steps:
step one, fixing a rotating mechanism on a stand;
step two, mounting the first shaft assembly on the rotating mechanism, adjusting the height of the first shaft assembly according to the product height and the mounting space, and then sequentially connecting and mounting the second shaft assembly and the third shaft assembly;
step three, installing a connecting mechanism between the rotating mechanism and the third shaft assembly;
and fourthly, installing the stamping control electrical equipment into the protection device, installing the protection device on the second shaft assembly, connecting joints in the driving device and the protection device by using the connecting wire, and installing the connecting wire on the outer surface of the first shaft assembly.
Preferably, the height adjusting assembly comprises a fixed arm fixed on the rotating seat and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating seat, two extending convex blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly formed in the extending convex blocks, a connecting rod mounted in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is formed in the top of the adjusting arm;
in the second step, after the adjusting arm is arranged on the fixed arm, the angle of the adjusting arm is adjusted to adjust the height of the first shaft assembly, and the fastening knob is screwed after the adjustment is completed.
The beneficial effects of the invention are as follows: according to the invention, the stamping control equipment is protected by using the protection device, the protection device is arranged on the multi-axis robot, the installation space of the robot is saved, meanwhile, the connecting line between the protection device and the driving device is arranged outside the multi-axis robot, so that the whole structure of the multi-axis robot is more external and concise, and the multi-axis robot is more convenient to install, use and maintain. Compared with the prior art, the invention has the advantages of simple structure, reduced installation space, reduced use of parts, increased adaptability of the multi-axis robot, and more convenient installation, use and maintenance of the multi-axis robot.
The invention will be further described with reference to the drawings and examples.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of an exploded view of a rotation mechanism, a first shaft assembly of the multi-axis robot of the present invention;
FIG. 4 is a schematic view showing an exploded structure of a second shaft assembly and a protection device of the multi-axis robot according to the present invention;
FIG. 5 is a schematic view of a fixing base on a second shaft assembly according to the present invention;
FIG. 6 is a schematic structural view of a third axis assembly of the multi-axis robot of the present invention;
fig. 7 is a schematic view showing an exploded structure of the protection device of the present invention.
Detailed Description
As shown in fig. 1 to 7, in the present embodiment, a rotating mechanism 1 for a robot includes a rotating base 10, a rotating base 11 and a first rotating motor 12, wherein an installation opening is provided at the top of the rotating base 10, the rotating base 11 is rotatably provided in the installation opening, a motor accommodating groove 110 is longitudinally provided in the middle of the rotating base 11 in a penetrating manner, an output shaft of the first rotating motor 12 is vertically provided in the motor accommodating groove 110 downward, a first transmission mechanism is provided between the rotating base 10 and the output shaft of the first rotating motor 12, and a height adjusting assembly 111 is provided on the rotating base 11 in an outward extending manner.
In this embodiment, the height adjusting assembly 111 includes a fixed arm fixed on the rotating base 11 and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating base 11, two extending protruding blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly arranged on the extending protruding blocks, a connecting rod installed in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is arranged at the top of the adjusting arm.
In this embodiment, an annular tooth is disposed on the inner sidewall of the rotating base 10 and extends toward the central axis direction of the rotating base 10, an annular limiting groove is disposed above the annular tooth, the rotating base 11 is disposed in the annular limiting groove, and a connecting gear engaged with the annular tooth is disposed on the output shaft of the first rotating motor 12.
The utility model provides a multiaxis robot for punching press, includes the frame, still include foretell rotary mechanism 1, set up in first axle subassembly 2 on the high adjusting part 111, swing joint in second axle subassembly 3 on the first axle subassembly 2 and articulated in third axle subassembly 4 on the second axle subassembly 3, rotary mechanism 1 with be provided with coupling mechanism 5 between the third axle subassembly 4, be provided with drive arrangement 6 on the frame, be provided with the protection device 7 that is used for protecting punching press electrical equipment on the second axle subassembly 3, drive arrangement 6 with connect in the protection device 7 through the connecting wire.
Specifically, the protection device 7 includes a mounting base 70 and a protection cover 71 covered on the mounting base 70, a connection screw 72 is provided at the bottom of the protection cover 71, so that the protection cover 71 is fixedly connected with the mounting base 70, a sealing ring is provided between the mounting base 70 and the bottom of the protection cover 71, the sealing ring is shaped like a Chinese character 'kou', an annular groove is provided on the inner side wall of the sealing ring, and the annular groove is coated on the periphery of the mounting base 70.
More specifically, the mounting base 70 is screwed with a plug mounting seat, a vacuum generator mounting seat, an electromagnetic valve mounting seat and a terminal row mounting seat, the electromagnetic valve mounting seat and the vacuum generator mounting seat are arranged at the front end and the rear end of the upper end face of the mounting base 70, the connector mounting seat and the terminal row mounting seat are arranged at the left end and the right end of the electromagnetic valve mounting seat in parallel, the vacuum generator mounting seat is provided with a connector and a vacuum generator, the connector is connected with a driving device through a connecting wire, and the vacuum generator is used for controlling stamping equipment;
in this embodiment, the height adjusting assembly 111 includes a fixed arm fixed on the rotating base 11 and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating base 11, two extending protruding blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly arranged on the extending protruding blocks, a connecting rod installed in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is arranged at the top of the adjusting arm.
In this embodiment, the first shaft assembly 2 includes a second rotating electrical machine 20 and a first connecting arm 21, an output shaft of the second rotating electrical machine 20 is disposed forward through a top of the height adjusting assembly 111, a first connecting member 22 is connected to the output shaft of the second rotating electrical machine 20, a bottom of the first connecting arm 21 is screwed to a front end of the first connecting member 22, and a fixing buckle 23 is disposed on an outer surface of the first connecting arm 21;
the second shaft assembly 3 includes a third rotating electrical machine 30 and a second connecting arm 31, an output shaft of the third rotating electrical machine 30 passes forward through a left end of the second connecting arm 31, a second connecting piece 32 is connected to an output shaft of the third rotating electrical machine 30, the second connecting piece 32 protrudes out of the second connecting arm 31, a top of the first connecting arm 21 is screwed onto the second connecting piece 32, a fixing seat 310 for fixing the protection device 7 is provided at an upper end of the second connecting arm 31, and the fixing seat 310 includes a positioning portion 3101 screwed onto the second connecting arm 31 and an adjusting portion 3102 connected by a spring;
specifically, in use, the adjusting portion 3102 is pulled apart, the protector 7 is fitted into the positioning portion 3101 with the protector 7 side against the positioning portion 3101, the adjusting portion 3102 is released, and the protector 7 is pressed against the positioning portion 3101 by the adjusting portion 3102; the second connecting arm 31 is connected transversely between the top of the first connecting arm 21 and the third shaft assembly 4.
In this embodiment, the third shaft assembly 4 includes a third connecting seat 40 and a fourth driving motor 41, the third connecting seat 40 is hinged to the right end of the second shaft assembly 3, a placement groove 42 is provided on the third connecting seat 40, a first hinge joint with the connecting mechanism 5 is provided on the third connecting seat 40, an output shaft of the fourth driving motor 41 is disposed through the placement groove 42 toward the output shaft of the fourth driving motor 41, and a third connecting piece 43 for placing a stamping device is connected to the output shaft of the fourth driving motor 41.
Specifically, the third connecting member 43 includes a plurality of axially disposed connecting flanges.
In this embodiment, the connection mechanism 5 includes a triangle connection member 50, a first pull rod 51 and a second pull rod 52, two hinge portions 501 and a rotation portion 502 are disposed on the triangle connection member 50, the top of the first pull rod 51 is hinged to one hinge portion 501 of the triangle connection member 50, the bottom of the first pull rod 51 is hinged to the rotation mechanism 1, the left end of the second pull rod 52 is hinged to the other hinge portion 501 of the triangle connection member 50, the right end of the second pull rod 52 is hinged to the third shaft assembly 4, and the rotation portion 502 of the triangle connection member 50 is connected to the second shaft assembly 3.
Specifically, the triangular connecting piece 50 is an irregular triangle, and when in use, the second shaft assembly 3 rotates to drive the triangular connecting piece 50 to swing leftwards and rightwards, and at this time, the second pull rod 52 is pulled to drive the third connecting seat 40 to rotate at a certain angle.
The assembling method of the multi-axis robot for stamping comprises the following steps:
step one, fixing a rotating mechanism 1 on a stand;
step two, mounting the first shaft assembly 2 on the rotating mechanism 1, adjusting the height of the first shaft assembly 2 according to the product height and the mounting space, and then sequentially connecting and mounting the second shaft assembly 3 and the third shaft assembly 4;
step three, installing a connecting mechanism 5 between the rotating mechanism 1 and the third shaft assembly 4;
and step four, mounting the stamping control electric equipment into the protection device 7, mounting the protection device 7 on the second shaft assembly 3, connecting joints in the driving device 6 and the protection device 7 by using connecting wires, and mounting the connecting wires on the outer surface of the first shaft assembly 2.
In this embodiment, the height adjusting assembly 111 includes a fixed arm fixed on the rotating base 11 and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating base 11, two extending protrusions are arranged in parallel at the top of the fixed arm, mounting holes are correspondingly arranged on the extending protrusions, a connecting rod installed in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is arranged at the top of the adjusting arm;
in the second step, after the adjusting arm is mounted on the fixed arm, the angle of the adjusting arm is adjusted to adjust the height of the first shaft assembly 2, and the fastening knob is tightened after the adjustment is completed.
According to the invention, the protection device 7 is used for protecting the stamping control equipment, the protection device 7 is arranged on the multi-axis robot, the installation space of the robot is saved, meanwhile, the connecting line between the protection device 7 and the driving device 6 is arranged outside the multi-axis robot, so that the whole structure of the multi-axis robot is more concise, and the multi-axis robot is more convenient to install, use and maintain. Compared with the prior art, the invention has the advantages of simple structure, reduced installation space, reduced use of parts, increased adaptability of the multi-axis robot, and more convenient installation, use and maintenance of the multi-axis robot.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modifications to equivalent embodiments using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present invention. Therefore, all equivalent changes according to the shape, structure and principle of the present invention are covered in the protection scope of the present invention.
Claims (6)
1. A multiaxis robot for punching press, includes frame, its characterized in that: the device comprises a machine seat, a height adjusting assembly, a first shaft assembly, a second shaft assembly and a third shaft assembly, wherein the first shaft assembly is arranged on the height adjusting assembly, the second shaft assembly is movably connected to the first shaft assembly, the third shaft assembly is hinged to the second shaft assembly, a connecting mechanism is arranged between the rotating mechanism and the third shaft assembly, a driving device is arranged on the machine seat, a protecting device for protecting stamping electric equipment is arranged on the second shaft assembly, and the driving device is connected with a joint in the protecting device through a connecting wire;
the rotating mechanism comprises a rotating base, a rotating seat and a first rotating motor, wherein an installation opening is formed in the top of the rotating base, the rotating seat is rotatably arranged in the installation opening, a motor accommodating groove is longitudinally formed in the middle of the rotating seat in a penetrating mode, an output shaft of the first rotating motor is vertically arranged in the motor accommodating groove downwards, a first transmission mechanism is arranged between the rotating base and the output shaft of the first rotating motor, and a height adjusting assembly is outwards arranged on the rotating seat in an extending mode;
the height adjusting assembly comprises a fixed arm fixed on the rotating seat and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating seat, two extending convex blocks are arranged at the top of the fixed arm in parallel, mounting holes are correspondingly formed in the extending convex blocks, a connecting rod mounted in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is formed in the top of the adjusting arm;
an annular tooth is arranged on the inner side wall of the rotating base in an extending way towards the central shaft direction of the rotating base, an annular limiting groove is arranged above the annular tooth, the rotating seat is arranged in the annular limiting groove, and a connecting gear meshed with the annular tooth is arranged on the output shaft of the first rotating motor;
the protection device comprises a mounting base and a protection cover covered on the mounting base, wherein a connecting screw is arranged at the bottom of the protection cover, the protection cover is fixedly connected with the mounting base, a sealing ring is arranged between the mounting base and the bottom of the protection cover, the sealing ring is shaped like a Chinese character 'kou', an annular groove is arranged on the inner side wall of the sealing ring, and the annular groove is coated on the periphery of the mounting base.
2. The multi-axis robot for stamping according to claim 1, wherein the first shaft assembly comprises a second rotating motor and a first connecting arm, an output shaft of the second rotating motor is arranged forward to penetrate through the top of the height adjusting assembly, a first connecting piece is connected to the output shaft of the second rotating motor, the bottom of the first connecting arm is in threaded connection with the front end of the first connecting piece, and a fixing buckle is arranged on the outer surface of the first connecting arm;
the second shaft assembly comprises a third rotating motor and a second connecting arm, an output shaft of the third rotating motor penetrates through the left end of the second connecting arm forward, a second connecting piece is connected to the output shaft of the third rotating motor and protrudes out of the second connecting arm, the top of the first connecting arm is screwed onto the second connecting piece, a fixing seat for fixing the protection device is arranged at the upper end of the second connecting arm, and the fixing seat comprises a positioning portion screwed onto the second connecting arm and an adjusting portion connected through a spring.
3. The multi-axis robot for stamping according to claim 1, wherein the third shaft assembly comprises a third connecting seat and a fourth driving motor, the third connecting seat is hinged to the right end of the second shaft assembly, a placing groove is formed in the third connecting seat, a first hinge joint hinged to the connecting mechanism is formed in the third connecting seat, an output shaft of the fourth driving motor is arranged to penetrate through the placing groove, and a third connecting piece for placing stamping equipment is connected to the output shaft of the fourth driving motor.
4. The multi-axis robot for stamping according to claim 1, wherein the connecting mechanism comprises a triangle connecting piece, a first pull rod and a second pull rod, two hinging parts and a rotating part are arranged on the triangle connecting piece, the top of the first pull rod is hinged with one hinging part of the triangle connecting piece, the bottom of the first pull rod is hinged with the rotating mechanism, the left end of the second pull rod is hinged with the other hinging part of the triangle connecting piece, the right end of the second pull rod is hinged with the third shaft assembly, and the rotating part of the triangle connecting piece is connected with the second shaft assembly.
5. A method of assembling a multi-axis robot for stamping as claimed in claim 1, characterized in that it comprises the steps of:
step one, fixing a rotating mechanism on a stand;
step two, mounting the first shaft assembly on the rotating mechanism, adjusting the height of the first shaft assembly according to the product height and the mounting space, and then sequentially connecting and mounting the second shaft assembly and the third shaft assembly;
step three, installing a connecting mechanism between the rotating mechanism and the third shaft assembly;
and fourthly, installing the stamping control electrical equipment into the protection device, installing the protection device on the second shaft assembly, connecting joints in the driving device and the protection device by using the connecting wire, and installing the connecting wire on the outer surface of the first shaft assembly.
6. The assembly method according to claim 5, wherein the height adjusting assembly comprises a fixed arm fixed on the rotating base and an adjusting arm hinged on the fixed arm, the bottom of the fixed arm is fixed on the rotating base, two extending protruding blocks are arranged on the top of the fixed arm in parallel, mounting holes are correspondingly formed in the extending protruding blocks, a connecting rod installed in the mounting holes is arranged at the bottom of the adjusting arm, a fastening knob for fixing the adjusting arm is arranged on the connecting rod, and a first shaft mounting groove is formed in the top of the adjusting arm;
in the second step, after the adjusting arm is arranged on the fixed arm, the angle of the adjusting arm is adjusted to adjust the height of the first shaft assembly, and the fastening knob is screwed after the adjustment is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842195.2A CN108789389B (en) | 2018-07-27 | 2018-07-27 | Rotating mechanism, multi-axis robot and assembling method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842195.2A CN108789389B (en) | 2018-07-27 | 2018-07-27 | Rotating mechanism, multi-axis robot and assembling method |
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| Publication Number | Publication Date |
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| CN108789389A CN108789389A (en) | 2018-11-13 |
| CN108789389B true CN108789389B (en) | 2023-11-03 |
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| CN206568159U (en) * | 2017-03-02 | 2017-10-20 | 成都信息工程大学 | Mechanical handing system |
| CN207044173U (en) * | 2017-05-27 | 2018-02-27 | 广东拓斯达科技股份有限公司 | A kind of robot for being easy to manufacture |
| CN207564481U (en) * | 2017-12-11 | 2018-07-03 | 东莞市华炬智能机器人有限公司 | A kind of rotatable robot |
| CN107877499A (en) * | 2017-12-15 | 2018-04-06 | 长沙志唯电子科技有限公司 | A kind of 360 degree of all-round full wind-ups to rotary machine human arm |
| CN108152860A (en) * | 2018-02-08 | 2018-06-12 | 山东大学 | A kind of vehicular transient electromagnetic detection device and method of work suitable in tunnel |
| CN208629441U (en) * | 2018-07-27 | 2019-03-22 | 广东伯朗特智能装备股份有限公司 | A kind of rotating mechanism and multi-axis robot |
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|---|---|
| CN108789389A (en) | 2018-11-13 |
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