CN108789485A - A kind of plate high speed transfer robot - Google Patents
A kind of plate high speed transfer robot Download PDFInfo
- Publication number
- CN108789485A CN108789485A CN201811041036.9A CN201811041036A CN108789485A CN 108789485 A CN108789485 A CN 108789485A CN 201811041036 A CN201811041036 A CN 201811041036A CN 108789485 A CN108789485 A CN 108789485A
- Authority
- CN
- China
- Prior art keywords
- axis
- mounting base
- high speed
- transfer robot
- straight line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 22
- 210000000245 forearm Anatomy 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 59
- 239000003638 chemical reducing agent Substances 0.000 claims description 51
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 125000003003 spiro group Chemical group 0.000 description 2
- 206010054949 Metaplasia Diseases 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000015689 metaplastic ossification Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- 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
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of plate high speed transfer robot, including suspended structure, big arm configuration and forearm structure, Y-axis structure is installed in suspended structure, big arm configuration is installed in Y-axis structure, Y-axis structure drives big arm configuration to do mobile and rotation, the lower end of big arm configuration and connects forearm structure；The forearm structure includes the first rotational structure, and the first rotational structure connects the second rotational structure, and the second rotational structure connects third rotational structure, and third rotational structure connects terminal-collecting machine structure.The present invention realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm by the linkage of each shaft portion, and then realizes plate high speed, high load, steady conveying between forcing press.Both the production needs for having met high beat forcing press in turn ensure the quality and stability of product, meet the plate between high-speed blanking press and convey the fast and efficient demand of beat.
Description
Technical field
The present invention relates to high speed stamping automatic field, specifically a kind of plate high speed transfer robot.
Background technology
In vehicle cladding element punching industry, the production of a workpiece, typically more forcing press progressive stampings, therefore
The conveying of plate is vital between forcing press, directly affects the effect of the quality and whole stamping line of stamping products
Rate.
Traditional artificial stamping line, although put into first stage of construction it is relatively small, with the expansion of the market demand,
The shortcomings of intrinsic efficiency is low, product quality stability is poor, hand labor intensity is high and there are different degrees of security risks
The development of enterprise is increasingly influenced, therefore, more and more auto vendors are replaced using robot stamping automatic line at present
Traditional artificial production line, robot stamping automatic line can realize the automatic conveying of plate between forcing press, reach robot
Instead of artificial, ensure the quality and stability of product, robot used in robot automation's line common at present is automatic
Metaplasia producing line productive temp is general, can meet the primary demand of production substantially.But with the development of automobile industry rapidly and efficiently,
Automobile annual output constantly increases, between forcing press the transmission of plate restrict the whole productive temp of punching automation line, at present
Common robot automation's line production efficiency has been unable to meet the demand efficiently produced.
Invention content
In order to solve the above-mentioned technical problem deficiency, the present invention provides a kind of plate high speed transfer robot, the present invention
By the linkage of each shaft portion, the coordination reciprocally swinging of high speed transfer robot large arm and forearm is realized, and then is realized
Plate high speed, high load, steady conveying between forcing press, had both met the production needs of high beat forcing press, and had in turn ensured production
The quality and stability of product meet the plate between high-speed blanking press and convey the fast and efficient demand of beat.
To achieve the goals above, the technical solution adopted by the present invention is：Including suspended structure, big arm configuration and forearm knot
Structure installs Y-axis structure in suspended structure, installs big arm configuration in Y-axis structure, big arm configuration can be done with respect to Y-axis structure
Mobile and rotation, the lower end of big arm configuration connect forearm structure；The forearm structure includes the first rotational structure, the first rotation
Structure connects the second rotational structure, and the second rotational structure connects third rotational structure, and third rotational structure connects terminal-collecting machine structure.
In order to further realize the present invention, the technical solution that can also use for：The suspended structure includes at least four
A fixed seat, at least six connecting rods and triangle connecting seat, the triangle connecting seat pass through six connecting rods and four fixations
Seat connection, spherical plain bearing rod end is respectively set in the both ends of connecting rod；Positive and negative silk structure is respectively adopted in the spherical plain bearing rod end at both ends, and
It is respectively hinged in fixed seat and triangle connecting seat；Triangle connecting seat has X-axis movement, Y-axis rotation and Z axis to rotate three certainly
By spending.The Y-axis structure include Y-axis pedestal and be mounted on Y-axis pedestal and first straight line guide rail disposed in parallel and second
The linear guide, Y-axis pedestal are mounted on by connector on triangle connecting seat；On first straight line guide rail and second straight line guide rail
Driving structure and drive mechanism be set, sliding the first lower slider of setting and the respectively on first straight line guide rail and second straight line guide rail
The first rotating seat and the second rotating seat are arranged by bearing rotary respectively on two lower sliders, the first lower slider and the second lower slider.
The big arm configuration includes that large arm pedestal, transmission mechanism and two groups of driving mechanisms, large arm pedestal are made of aluminum alloy material,
The upper end of large arm pedestal is arranged on the first rotating seat, and preceding the linear guide and rear the linear guide, rear straight line are arranged on large arm pedestal
The second rotating seat of installation is coordinated by sliding block on guide rail, setting slide is slided in preceding the linear guide；Two groups of driving mechanisms are symmetrically pacified
Mounted in the both sides of large arm pedestal, two groups of driving mechanism mating connection transmission mechanisms.First rotational structure includes the first peace
Seat is filled, driving mechanism is arranged in the upper end of the first mounting base, and the output end of driving mechanism is mounted on slide.Second rotation
Structure includes driving mechanism, and the lower end of the first mounting base opens up blind hole, and driving mechanism is located in blind hole, the output end of driving mechanism
Inner sleeve is set, and outer tube is installed in the periphery of inner sleeve by bearing, and the upper end cooperation of outer tube is fixed in the first mounting base.
The third rotational structure includes the second mounting base, and the second mounting base is mounted on inner sleeve, and the lower end of the second mounting base is opened
If blind hole, the built-in driving mechanism of blind hole, the both sides of the second mounting base are arranged cylinder, mounting bracket on cylinder, and two are installed on holder
A tensioning wheel installs drag chain on tensioning wheel；The output end of driving mechanism fills terminal-collecting machine mounting base.The driving mechanism includes watching
Motor and speed reducer is taken, speed reducer is mounted on servo motor；Transmission mechanism uses V belt translation mode, driving structure speed reducer
Output shaft connects the transmission shaft of transmission mechanism.The terminal-collecting machine structure includes two groups of pick-up structures, and every group of pick-up structure includes fast
Seat is inserted, quick change socket is mounted in terminal-collecting machine mounting base, cooperation inserting fast switching plug on quick change socket, is arranged on quick plug
The both sides of mobile jib, mobile jib pass through connector and strut connecting sucker respectively.
Beneficial effects of the present invention are：
1. high speed robot of the present invention overall structure uses big arm configuration forearm structure ganged movement, the movement of logistics direction
Space is small, and forcing press compact in design, plate transmission range is short, saves plant area.The present invention drives large arm by Y-axis structure
The swing of structure, small arm section is moved in a straight line on big arm configuration and rotary motion, by the linkage of each shaft portion, realizes
The coordination reciprocally swinging of high speed transfer robot large arm and forearm has reached plate high speed, high load, steady between forcing press
Conveying.Forearm structure in the present invention realizes forearm end high speed, stable reciprocally swinging, prominent high speed robot's high speed
Efficiently, operate steadily, compact in design the features such as, meet punching automation industry to top grade, high efficiency, high beat it is urgent
Demand；
2. suspended structure uses the fixed form of six-bar linkage oscillating bearing structure in the present invention, forcing press and machine can be weakened
The vibration generated when each self-operating of people avoids generating resonance, is conducive to the high-speed smooth operation of high speed transfer robot；
3. triangle may be implemented by adjusting the length of connecting rod using six-bar linkage suspended structure in suspended structure of the present invention
Connecting seat X-axis moves, and the movement of Y-axis rotation and Z axis rotation three degree of freedom can not only meet Multiple Type compressor size
Installation requirement, and facilitate the adjustment of high speed robot's geometric tolerance.
4. high speed robot's large arm major part material of the present invention uses aluminium alloy, the weight of moving component is alleviated, is subtracted
Small movement inertia, corresponding whole driving energy consumption decline, and save operating cost；
It, can rapid Optimum convenient for optimizing geometric locus by kinematics analysis 5. each component movement locus of the present invention is simple
Locate the track of different molds, adaptable, the debugging efforts after being easily installed；
6. second rotational structure has rotation function in forearm structure of the present invention, compact-sized and intensity is high, is not only applicable in
In the conveying of heavy duty material, and material between forcing press can be met and favour the conveying of logistics direction.
7. the rotary motion of the small arm section third rotational structure of the present invention, makes conveying plate be remained in transmission process
Level reduces air drag, avoids and interferes the risk fallen with surrounding objects.
8. the small arm section third rotational structure of the present invention directly drives T-type speed reducer mode using servo motor, entire to pass
It is dynamic to be partly hidden in the second mounting base, the size of forearm leading portion is reduced, avoids and is interfered with mold when picking and placeing material.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is high speed transfer robot structural schematic diagram of the present invention；
Fig. 2 is suspended structure structural schematic diagram of the present invention；
Fig. 3 is Y-axis structural upright schematic diagram of the present invention；
Fig. 4 is Fig. 3 front views；
Fig. 5 is the big arm configuration structural schematic diagram of the present invention；
Fig. 6 is forearm structure schematic diagram of the present invention；
Fig. 7 is Fig. 6 phantoms；
Fig. 8 is terminal-collecting machine structure structural schematic diagram of the present invention.
Reference numeral
1 suspended portion, 2 Y-axis structure, 3 big arm configuration, 4 first 5 second rotational structure of rotational structure, 6 third rotates
7 terminal-collecting machine structure of structure, 8 fixed seat, 9 axis pin, 10 spherical plain bearing rod end, 11 connecting rod, 12 triangle connecting seat, 13 connector
14 15 first guide-rail brake of Y-axis pedestal, 16 first servo motor, 17 first speed reducer, 18 first speed reducer mounting base 19
Second servo motor, 20 second 21 second speed reducer mounting base of speed reducer, 22 first straight line guide rail, 23 second straight line guide rail 24
Second guide-rail brake, 25 first driving shaft, 26 first driving pulley, 27 first lower slider, 28 first rotating seat 29 first from
30 first 31 first synchronous belt of driven pulley, 32 second driven shaft, 33 limited block of moving axis, 34 second driven pulley 35 second
38 second 39 second driving shaft of driving pulley of rotating seat 36 second lower slider, 37 second synchronous belt, 40 third speed reducer is installed
44 large arm pedestal of the linear guide, 45 third guide-rail brake 46 is slow after seat 41 third speed reducer, 42 third servo motor 43
Rush the 4th servo motor of 51 third driving pulley 52 of the linear guide 49 limited block, 50 third synchronous belt before 47 slide 48 of device
53 first 56 58 outer tube of the 5th speed reducer of bearing 57 of the 4th the 5th servo motor of speed reducer 55 of mounting base 54,59 inner sleeve
The 6th 65 drag chain of servo motor 62T types 63 terminal-collecting machine mounting base of speed reducer, 64 cylinder 66 of 60 second mounting base 61 of pipe
73 strut of frame 67 tensioning wheel, 68 shield, 69 quick change socket, 70 fast switching plug, 71 mobile jib, 72 connector, 74 sucker.
Specific implementation mode
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
A kind of plate high speed transfer robot hangs as shown in Figure 1, including suspended structure 1, big arm configuration 3 and forearm structure
Y-axis structure 2 is installed on hanging hang structure 1, big arm configuration 3 is installed in Y-axis structure 2, big arm configuration 3 in the Z-axis direction, large arm knot
Structure 3 can do mobile and rotation, the lower end of big arm configuration 3 relative to Y-axis structure 2 and connect forearm structure；The forearm structure packet
The first rotational structure 4 is included, the first rotational structure 4 connects the second rotational structure 5, and the second rotational structure 5 connects third rotational structure 6, the
Three rotational structures 6 connect terminal-collecting machine structure 7.
The present invention can drive big arm configuration 3 to move in a straight line and rotary motion by Y-axis structure 2, pass through each axis
Partial linkage realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm, has reached plate between forcing press
At a high speed, high load, smoothly conveying.High speed robot of the present invention overall structure is linked using big arm configuration 3 and forearm structure
Movement, logistics direction space is small, and forcing press compact in design shortens plate transmission range, saved plant area.This hair
It is bright to realize forearm end high speed, stable reciprocally swinging, high speed robot's high-speed and high-efficiency is highlighted, operates steadily, be laid out tightly
The features such as gathering meets active demand of the punching automation industry to production top grade, high efficiency, high beat.
As shown in Fig. 2, the suspended structure selected in the present invention includes at least four fixed seats 8, at least six connecting rods, 11 He
Triangle connecting seat 12, the triangle connecting seat 12 are connect by six connecting rods 11 with four fixed seats 8, and the two of connecting rod 11
Spherical plain bearing rod end 10 is respectively set in end；Positive and negative silk structure is respectively adopted in the spherical plain bearing rod end 10 at both ends, and is respectively hinged at
In fixed seat 8 and triangle connecting seat 12；Triangle connecting seat 12 has X-axis movement, Y-axis rotation and Z axis to rotate three degree of freedom.
The length of connecting rod 11 is adjusted, triangle connecting seat 12 can do mobile X-axis, the fortune of Y-axis rotation and Z axis rotation three degree of freedom
It is dynamic.Spherical plain bearing rod end 10 is respectively set in the both ends of connecting rod 11, and positive and negative silk structure is respectively adopted in the spherical plain bearing rod end 10 at both ends,
I.e. the spherical plain bearing rod end 10 of one end uses forward screw thread, the spherical plain bearing rod end 10 of the other end to use reverse thread, further
, the centre on connecting rod 11 can open up hole, facilitate and be inserted into extension bar swivel link 11 to adjust its length, and then adjust triangle
The specific location of 12 mounting surface of shape connecting seat, fixed seat 8 are mounted on forcing press column, and spherical plain bearing rod end 10 preferably uses pin
Axis 10 is connected with fixed seat 8, since spherical plain bearing rod end 10 has the characteristics that swing, inclination, rotary motion, passes through to adjust and fix
The position of seat 8, and then the specific location of triangle connecting seat 12 can be adjusted, the installation for meeting different pressures machine size is wanted
It asks；Triangle connecting seat 12 uses six-bar linkage hang, can the work of offset pressure machine when the vibration that generates, meanwhile, can also subtract
The vibration of weak high speed conveying robot man-hour.The six-bar linkage structure of this suspended portion, can not only meet Multiple Type pressure
It is the installation requirement of machine, easy to adjust, and be conducive to the even running of high speed transfer robot.
Y-axis structure 2 including Y-axis pedestal 14 and is mounted on Y-axis pedestal 14 and first straight line disposed in parallel in the present invention
Guide rail 22 and second straight line guide rail 23, Y-axis pedestal 14 are mounted on by connector 13 on triangle connecting seat 12；First straight line is led
Driving structure and drive mechanism, first straight line guide rail 22 and second straight line guide rail 23 are respectively provided on rail 22 and second straight line guide rail 23
The first lower slider 27 and the second lower slider 36 is arranged in upper sliding respectively, passes through respectively on the first lower slider 27 and the second lower slider 36
The first rotating seat 28 and the second rotating seat 35 is arranged in bearing rotary.
Y-axis pedestal 14 is fixed on by connector 13 on triangle connecting seat 12, is set successively from top to bottom on Y-axis pedestal 14
Set first straight line guide rail 22 and second straight line guide rail 23；In order to indicate clear, as shown in Figure 3 and Figure 4, on first straight line guide rail 22
Driving structure use first servo motor 16 and the first speed reducer 17, after first servo motor 16 is connect with the first speed reducer 17
On the first speed reducer mounting base 18, the first speed reducer mounting base 18 is installed with the cooperation of Y-axis pedestal 14；First straight line guide rail
Transmission mechanism on 22 includes that the first driving shaft 25,17 output shaft of the first speed reducer and the first driving shaft 25 lock company with locking plate
It connects；First driving shaft, 25 both ends are mounted on by bearing on Y-axis pedestal 14, and the first driving pulley is equipped on the first driving shaft 25
26, the first driving pulley 26 drives the first driven pulley 30, the first driven pulley 30 to pacify by bearing by the first synchronous belt 31
In first driven shaft 29, first driven shaft 29 is mounted on Y-axis pedestal 14, and the first synchronous belt 31 and the first lower slider 27 connect
It connects, therefore the driving mechanism on first straight line guide rail 22 can drive the first lower slider 27 to be led in first straight line by transmission mechanism
It is moved in a straight line on rail 22, is connected with the first rotating seat 28 by bearing among the first lower slider 27, forms a passive rotation
Turn pair, which makes passive revolute not only and can move along a straight line but also can be with rotary motion；In order to indicate clear, such as Fig. 3 and Fig. 4 institutes
Show, the driving mechanism of second straight line guide rail 23 uses the second servo motor 19 and the second speed reducer 20, the second servo motor 19 and
It is mounted on the second speed reducer mounting base 21 after the connection of second speed reducer 20, the second speed reducer mounting base 21 is matched with Y-axis pedestal 14
It closes installation, 21 output shaft of the second speed reducer and the second driving shaft 39 and locks connection with locking plate；Second driving shaft, 39 both ends pass through
Bearing is mounted on Y-axis pedestal 14, is equipped with the second driving pulley 38 on the second driving shaft 39, and the second driving pulley 38 passes through the
Two synchronous belts 37 drive the second driven pulley 34, the second driven pulley 34 to be mounted in second driven shaft 32 by bearing, and second
Driven shaft 32 is mounted on Y-axis pedestal 14, and the second synchronous belt 37 is connect with the second lower slider 36, therefore on second straight line guide rail 23
Driving mechanism the second lower slider 36 can be driven to be moved in a straight line along second straight line guide rail 23 by transmission mechanism, under second
It is connected with the second rotating seat 35 by bearing among slide 36, forms a passive revolute, which makes passive revolute
Not only it can move along a straight line but also can be with rotary motion；Tensioning apparatus is also set up on the toothed belt transmission of transmission mechanism, tensioning apparatus includes
The fixed block in hole is threaded with the movable block of through-hole, synchronous belt one end is connect with the fixed block for being threaded hole, synchronous
It is connect with the movable block with through-hole with the other end, long spiro nail passes through the through-hole of movable block to be screwed onto in the threaded hole of fixed block；
The tensioning apparatus of toothed belt transmission is installed in the inside of the first lower slider 27 and the second lower slider 36, by adjusting tensioning apparatus
Long spiro nail adjust the elastic of synchronous belt, can reduce reciprocal gap error；First straight line guide rail 22 and second straight line guide rail
Transmission mechanism on 23 is separately installed with broken belt detection switch on the first lower slider 27, the second lower slider 36, and first straight line is led
There is limited block 33 at both ends on rail 22 and second straight line guide rail 23, distinguish on first straight line guide rail 22 and second straight line guide rail 23
Equipped with the first guide-rail brake 15 and the second guide-rail brake 24, when detection switch detects synchronous belt broken belt, guide rail braking
Device locking guide rail immediately, avoids the damage of equipment after broken belt.
As shown in figure 5, big arm configuration 3 includes large arm pedestal 44, transmission mechanism and two groups of driving mechanisms, large arm in the present invention
Pedestal 44 is made of aluminum alloy material, and the upper end of large arm pedestal 44 is arranged on the first rotating seat 28, is set on large arm pedestal 44
Preceding the linear guide 48 and rear the linear guide 43 are set, is coordinated by sliding block in rear the linear guide 43 and second rotating seat 35 is installed, it is preceding straight
Sliding setting slide 47 on line guide rail 48；Two groups of driving mechanisms are symmetrically mounted on the both sides of large arm pedestal 44, two groups of driving mechanisms
Mating connection transmission mechanism.
Big arm configuration 3 is located in Z-direction；Large arm pedestal 44 is connected to alleviate the quality of motion parts using aluminium sheet
It connects, reduces the power configuration of Y-axis structure 2 in this way；It is clear in order to describe, as shown in figure 5, the transmission of big arm configuration 3
Mechanism uses third driving pulley 51 and third synchronous belt 50, the third driving pulley 51 of transmission mechanism, third synchronous belt 50 etc.
Transmission parts are mounted on large arm pedestal 44；The upper end of large arm pedestal 44 and the first rotating seat 28 are fixed, large arm pedestal 44 it is upper
End can be moved in a straight line along first straight line guide rail 22, and can be around 27 rotary motion of the first lower slider；44 front-back of large arm pedestal is each
The linear guide is installed, is fixed by sliding block and the second rotating seat 35 of Y-axis structure 2 in rear the linear guide 43, such large arm
Pedestal 44 can not only be moved in a straight line along the second straight line guide rail 23 of Y-axis structure 2, but also can be under the second of Y-axis structure 2
Slide 36 rotates, and ensures first straight line guide rail 22 and second straight line guide rail 23 formation of the big arm configuration 3 in Y-axis structure 2 in this way
Move in plane, by adjusting the movement velocity and direction of the first lower slider 27 and the second lower slider 36 in Y-axis structure 2,
To determine the motion conditions of big arm configuration 3：When the first lower slider 27 is opposite with 36 direction of motion of the second lower slider, big arm configuration
3 do reciprocally swinging, and when the first lower slider 27 is with 36 direction of motion of the second lower slider and identical speed, big arm configuration 3 does level
Conveying；Preceding the linear guide 48 is connected by sliding block with slide 47, and slide 47 can be with along the preceding the linear guide 48 on big arm configuration 3
It moves in a straight line；Third guide-rail brake 45 is also installed, third guide-rail brake 45 is disconnected in shutdown or synchronous belt on slide 47
When band can the linear guide 48 before locking immediately, reduce motor braking power suffered under shutdown status, avoid slide 47 and exist
It is damaged when broken belt；Limited block 49 and buffer 46 can also be installed, which prevents slide 47 installing on large arm pedestal 44
Or the linear guide 48 before being detached from when misoperation, to cause casualties and equipment damage.The structure substantially increases peace
Quan Xing avoids security risk.In order to indicate clear, as shown in figure 5, the driving structure of big arm configuration 3 uses two groups of driving machines
Structure, driving mechanism use third servo motor 42 and third speed reducer 41, third servo motor 42 to coordinate with third speed reducer 41
It is mounted on third speed reducer mounting base 40, is fitted on third speed reducer mounting base 40 on large arm pedestal 44 after connection,
The transmission shaft of 41 output shaft of third speed reducer and transmission mechanism in this structure is locked with locking plate to be connected, this structure can be transmitted greatly
Torque, and easy disassembly；Driving structure in this structure is driven using two groups of driving mechanisms, and two groups of driving mechanisms are symmetrical
On big arm configuration 3, center of gravity is maintained on the plane of symmetry, unbalance stress when avoiding big 3 reciprocally swinging of arm configuration, to large arm
The driving when swing of structure 3 and operating steadily impacts.
Robot forearm part in the present invention includes the first rotational structure 4, the second rotational structure 5 and third rotational structure
6, three rotational structures realize the various functions of forearm respectively；As shown in Figure 6 and Figure 7, first rotational structure 4 includes
Driving mechanism is arranged in the upper end of first mounting base 53, the first mounting base 53, and the output end of driving mechanism is mounted on slide 47.For
Expression is clear, and the driving structure of first rotational structure 4 uses the 4th servo motor 52 and the 4th speed reducer 54, the 4th speed reducer
54 use RV speed reducers, and the first mounting base 53 in the first rotational structure 4 is mounted on by RV speed reducers on slide 47, and RV slows down
Machine output end is fixed on slide 47, and when the 4th servo motor 52 starts, the first mounting base 53 rotates.RV in this structure
Speed reducer has the characteristics that size is small, light-weight, and the overall dimension, again of the first rotational structure 4 is made using RV speed reducers
Amount reduces；RV speed reducers are mounted on the slide 47 of big arm configuration 3, and the 4th servo motor 52 drives RV speed reducers to carry out after starting
Rotation, because RV output end of reducer is fixed on slide 47, then the first mounting base 53 of RV speed reducers connection rotates therewith, into
And entire first rotational structure 4 is driven to swing, realize the reciprocally swinging function of small arm section, it is preferred that RV speed reducers are installed
Seat is process using aluminum alloy material, in the case where meeting intensity requirement, alleviates the weight of robot leading portion moving component
Amount, reduces driving power, has saved operation energy consumption.
Second rotational structure 5 includes driving mechanism, and the lower end of the first mounting base 53 opens up blind hole, and driving mechanism is located at blind hole
Interior, inner sleeve 59 is arranged in the output end of driving mechanism, and outer tube 58, outer tube 58 are installed in the periphery of inner sleeve 59 by bearing 56
Upper end cooperation be fixed in the first mounting base 53.In order to indicate clear, as shown in Figure 6 and Figure 7, the drive of the second rotational structure 5
Motivation structure uses the 5th servo motor 55, installs the 5th speed reducer 57 on the 5th servo motor 55, the 5th servo motor 55 and the
It is mounted in the blind hole of 53 lower end of the first mounting base after the connection of five speed reducers 57, in the output end of the 5th speed reducer 57 is fixedly connected
The first mounting base 53 cooperation of casing 59, outer tube 58 and the first rotational structure 4 is fixed, and the 5th speed reducer 57 can drive inner sleeve
Pipe 59 rotates, and bearing is added between inner sleeve 59 and outer tube 58, and this architecture enhance the stress of forearm leading portion, thus
It ensure that the load capacity of high speed robot；The 5th speed reducer 57 and the 5th servo motor 55 of second rotational structure 5 are mounted on
It in the blind hole of first mounting base 53 of the first rotational structure 4, rotates relative to the first rotational structure 4, which reduces
Leading portion size, avoids when robot leading portion enters in forcing press and interferes phenomenon；The rotational work of second rotational structure 5
Can, plate favours logistics direction conveying function between meeting forcing press.
Third rotational structure 6 includes the second mounting base 60, and the second mounting base 60 is mounted on the inner sleeve of the second rotational structure 5
On 59, gas is arranged in the both sides of the vertically arranged blind hole in lower end of the second mounting base 60, the built-in driving mechanism of blind hole, the second mounting base 60
Cylinder 64, mounting bracket 66 on cylinder 64 install two tensioning wheels 67 on holder 66, drag chain 65 are installed on tensioning wheel 67；Driving machine
The output end dress terminal-collecting machine mounting base 63 of structure, the second mounting base 60 is mounted on the inner sleeve 59 of the second rotational structure 5, the second peace
Dress seat 60 is welded using proximate matter with plank, in order to indicate clear, as shown in figure 8, the driving mechanism in third rotational structure 6
Using the 6th servo motor 61 and T-type speed reducer 62, the 6th servo motor 61 and T-type speed reducer 62 after connection are hidden in second
In the blind hole of mounting base 60, the geometries shrink size of forearm leading portion avoids when picking and placeing material and the interference of mold；Terminal-collecting machine
Mounting base 63 is fixed on the output shaft of T-type speed reducer 62, can be rotated with the rotation of T-type speed reducer 62, can be according to end
The connection type of terminal-collecting machine replaces terminal-collecting machine mounting base 63, is convenient for the connection of end terminal-collecting machine；Cylinder 64 is mounted on the second peace
The both sides of seat 60 are filled, holder 66 is mounted on cylinder 64, and tensioning wheel 67 is mounted on holder 66, and the drag chain 65 of both sides bypasses respectively
The drag chain 65 of tensioning wheel 67, both sides remains tensioning state, which turns convenient for the arrangement of tracheae and circuit, herein third
The turning effort of dynamic structure 6 keeps level for plate in transmission process, and then reduces air drag, it is therefore prevented that plate and
Surrounding objects are interfered.
Terminal-collecting machine structure in the present invention includes two groups of pick-up structures, as shown in figure 8, every group of pick-up structure includes inserting soon
Seat 69, quick change socket 69 are mounted in terminal-collecting machine mounting base 63, cooperation inserting fast switching plug 70, fast switching plug on quick change socket 69
Mobile jib 71 is set on 70, and the both sides of mobile jib 71 pass through 73 connecting sucker 74 of connector 72 and strut respectively.The quick change socket 69
In the terminal-collecting machine mounting base 63 of third rotational structure 6, fast switching plug 70 is directly inserted on quick change socket 69, is picked up convenient for end
The quick-replaceable of device；It is mounted on mobile jib 71 by connector 72 and strut 73, branch is adjusted according to the shape of plate and weight
The arrangement of bar 73 quantity and position, sucker 74 is mounted on strut 73, for drawing plate.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (9)
1. a kind of plate high speed transfer robot, including suspended structure (1), big arm configuration (3) and forearm structure, feature exist
In：Y-axis structure (2) is installed in suspended structure (1), big arm configuration (3) is installed in Y-axis structure (2), big arm configuration (3) can
Mobile and rotation, the lower end of big arm configuration (3), which are done, relative to Y-axis structure (2) connects forearm structure；The forearm structure includes
First rotational structure (4), the first rotational structure (4) connect the second rotational structure (5), and the second rotational structure (5) connects third rotation knot
Structure (6), third rotational structure (6) connect terminal-collecting machine structure (7).
2. a kind of plate high speed transfer robot according to claim 1, it is characterised in that：The suspended structure includes extremely
Few four fixed seats (8), at least six connecting rods (11) and triangle connecting seat (12), the triangle connecting seat (12) pass through
Six connecting rods (11) connect with four fixed seats (8), and spherical plain bearing rod end (10) is respectively set in the both ends of connecting rod (11)；Both ends
Positive and negative silk structure is respectively adopted in spherical plain bearing rod end (10), and is respectively hinged in fixed seat (8) and triangle connecting seat (12)；
Triangle connecting seat (12) has X-axis movement, Y-axis rotation and Z axis to rotate three degree of freedom.
3. a kind of plate high speed transfer robot according to claim 2, it is characterised in that：The Y-axis structure (2)
Including Y-axis pedestal (14) and mounted on Y-axis pedestal (14) and first straight line guide rail disposed in parallel (22) and second straight line guide rail
(23), Y-axis pedestal (14) is mounted on by connector (13) on triangle connecting seat (12)；First straight line guide rail (22) and second
It is respectively provided with driving structure and drive mechanism in the linear guide (23), divides on first straight line guide rail (22) and second straight line guide rail (23)
First lower slider (27) and the second lower slider (36) Hua Dong be set, distinguished on the first lower slider (27) and the second lower slider (36)
By bearing rotary, the first rotating seat (28) and the second rotating seat (35) are set.
4. a kind of plate high speed transfer robot according to claim 3, it is characterised in that：The big arm configuration (3)
Including large arm pedestal (44), transmission mechanism and two groups of driving mechanisms, large arm pedestal (44) is made of aluminum alloy material, large arm bottom
The upper end of seat (44) is arranged on the first rotating seat (28), and preceding the linear guide (48) is arranged on large arm pedestal (44) and rear straight line is led
Rail (43) coordinates the second rotating seat of installation (35) by sliding block on rear the linear guide (43), slides and set on preceding the linear guide (48)
Set slide (47)；Two groups of driving mechanisms are symmetrically mounted on the both sides of large arm pedestal (44), and two groups of driving mechanisms, which are connected, to be driven
Mechanism.
5. a kind of plate high speed transfer robot according to claim 4, it is characterised in that：First rotational structure
(4) including the first mounting base (53), driving mechanism is arranged in the upper end of the first mounting base (53), and the output end of driving mechanism is mounted on
On slide (47).
6. a kind of plate high speed transfer robot according to claim 5, it is characterised in that：Second rotational structure
(5) include driving mechanism, the lower end of the first mounting base (53) opens up blind hole, and driving mechanism is located in blind hole, driving mechanism it is defeated
Outlet is arranged inner sleeve (59), and outer tube (58) is installed in the periphery of inner sleeve (59) by bearing (56), outer tube (58) it is upper
End cooperation is fixed in the first mounting base (53).
7. a kind of plate high speed transfer robot according to claim 6, it is characterised in that：The third rotational structure
(6) include the second mounting base (60), the second mounting base (60) on inner sleeve (59), open by the lower end of the second mounting base (60)
If blind hole, the built-in driving mechanism of blind hole, the both sides setting cylinder (64) of the second mounting base (60), mounting bracket on cylinder (64)
(66), two tensioning wheels (67) are installed on holder (66), drag chain (65) is installed on tensioning wheel (67)；The output end of driving mechanism fills
Terminal-collecting machine mounting base (63).
8. a kind of plate high speed transfer robot according to claim 7, it is characterised in that：The driving mechanism includes
Servo motor and speed reducer, speed reducer are mounted on servo motor；Transmission mechanism uses V belt translation mode, driving structure speed reducer
Output shaft connect the transmission shaft of transmission mechanism.
9. a kind of plate high speed transfer robot according to claim 8, it is characterised in that：The terminal-collecting machine structure packet
Two groups of pick-up structures are included, every group of pick-up structure includes quick change socket (69), and quick change socket (69) is mounted on terminal-collecting machine mounting base
(63) on, inserting fast switching plug (70) is coordinated on quick change socket (69), mobile jib (71), mobile jib (70) are set on quick plug (70)
Both sides pass through connector (72) and strut (73) connecting sucker (74) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811041036.9A CN108789485A (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811041036.9A CN108789485A (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789485A true CN108789485A (en) | 2018-11-13 |
Family
ID=64081910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811041036.9A Pending CN108789485A (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789485A (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201677321U (en) * | 2010-03-03 | 2010-12-22 | 奇瑞汽车股份有限公司 | Front inserted tooling |
| CN104736264A (en) * | 2012-10-23 | 2015-06-24 | 株式会社日立造船福井 | Workpiece conveyance device |
| CN105397830A (en) * | 2015-12-14 | 2016-03-16 | 苏州源硕精密模具有限公司 | Suction cup type end picking device for board machining |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN105658350A (en) * | 2013-08-16 | 2016-06-08 | 固都集团股份公司 | Transfer device for workpiece |
| CN106426127A (en) * | 2016-10-25 | 2017-02-22 | 徐洪恩 | Large-scale cargo handling robot |
| CN107639625A (en) * | 2016-07-21 | 2018-01-30 | 发那科株式会社 | Carrying robot |
| CN107981958A (en) * | 2017-11-27 | 2018-05-04 | 黄正秀 | A kind of orthopaedics patient with cervical Spondylopathy pushes size manipulator with multiple degrees of freedom is adjustable |
| CN207373168U (en) * | 2017-08-24 | 2018-05-18 | 深圳汉邦自动化设备有限公司 | A kind of rail structure applied to SCARA robots |
| CN108098818A (en) * | 2018-02-08 | 2018-06-01 | 济南奥图自动化股份有限公司 | A kind of high air penetrability workpiece handling terminal-collecting machine system |
| CN108262739A (en) * | 2016-06-23 | 2018-07-10 | 安溪县中磊设备制造有限公司 | A kind of slotting paper intelligent robot |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208790700U (en) * | 2018-09-07 | 2019-04-26 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208930299U (en) * | 2018-09-07 | 2019-06-04 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN209006552U (en) * | 2018-09-07 | 2019-06-21 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
-
2018
- 2018-09-07 CN CN201811041036.9A patent/CN108789485A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201677321U (en) * | 2010-03-03 | 2010-12-22 | 奇瑞汽车股份有限公司 | Front inserted tooling |
| CN104736264A (en) * | 2012-10-23 | 2015-06-24 | 株式会社日立造船福井 | Workpiece conveyance device |
| CN105658350A (en) * | 2013-08-16 | 2016-06-08 | 固都集团股份公司 | Transfer device for workpiece |
| CN105397830A (en) * | 2015-12-14 | 2016-03-16 | 苏州源硕精密模具有限公司 | Suction cup type end picking device for board machining |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN108262739A (en) * | 2016-06-23 | 2018-07-10 | 安溪县中磊设备制造有限公司 | A kind of slotting paper intelligent robot |
| CN107639625A (en) * | 2016-07-21 | 2018-01-30 | 发那科株式会社 | Carrying robot |
| CN106426127A (en) * | 2016-10-25 | 2017-02-22 | 徐洪恩 | Large-scale cargo handling robot |
| CN207373168U (en) * | 2017-08-24 | 2018-05-18 | 深圳汉邦自动化设备有限公司 | A kind of rail structure applied to SCARA robots |
| CN107981958A (en) * | 2017-11-27 | 2018-05-04 | 黄正秀 | A kind of orthopaedics patient with cervical Spondylopathy pushes size manipulator with multiple degrees of freedom is adjustable |
| CN108098818A (en) * | 2018-02-08 | 2018-06-01 | 济南奥图自动化股份有限公司 | A kind of high air penetrability workpiece handling terminal-collecting machine system |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208790700U (en) * | 2018-09-07 | 2019-04-26 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208930299U (en) * | 2018-09-07 | 2019-06-04 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN209006552U (en) * | 2018-09-07 | 2019-06-21 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108941360A (en) | A kind of high speed stamping transfer robot | |
| CN209006552U (en) | A kind of high speed stamping transfer robot | |
| CN207724023U (en) | A kind of spiral bevel gear chamfering device | |
| CN111283710A (en) | Multifunctional industrial robot mechanical gripper | |
| CN208930299U (en) | A kind of plate high speed transfer robot | |
| CN108946160A (en) | A kind of high speed transfer robot | |
| CN109278031B (en) | Hollow six-joint industrial robot | |
| CN208790700U (en) | A kind of high speed transfer robot | |
| CN108706214A (en) | A kind of material canister | |
| CN108789485A (en) | A kind of plate high speed transfer robot | |
| CN207402413U (en) | A kind of air suction type locking machine structure and filature | |
| CN111482914B (en) | Real-time online data monitoring device for clean room | |
| CN209605023U (en) | A kind of vertical sunpender of electronic round tube | |
| CN112049588A (en) | Spinner structure | |
| CN208261715U (en) | A kind of two axis stand alone type manipulators | |
| CN215249185U (en) | High-stability crane | |
| CN110419871A (en) | A kind of Intelligent moisture-proof cooling compact shelving | |
| CN213541775U (en) | Camera position bidirectional adjusting mechanism | |
| CN114000338A (en) | Silk cutting equipment for silk production | |
| CN209902615U (en) | Module is paid to lock | |
| CN208815243U (en) | A kind of quilter transmission mechanism | |
| CN209319371U (en) | A kind of heavy turn positioner device | |
| CN208747564U (en) | A kind of painting workshop three-dimensional lifting device | |
| CN218034063U (en) | Cloth drying device for textile processing | |
| CN207827360U (en) | A kind of adjustable adsorption module in absorption point position of connecting rod driving |
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 |