CN201483488U - Transmission manipulator - Google Patents

Transmission manipulator Download PDF

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Publication number
CN201483488U
CN201483488U CN2009201960510U CN200920196051U CN201483488U CN 201483488 U CN201483488 U CN 201483488U CN 2009201960510 U CN2009201960510 U CN 2009201960510U CN 200920196051 U CN200920196051 U CN 200920196051U CN 201483488 U CN201483488 U CN 201483488U
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CN
China
Prior art keywords
line slideway
planker
slide block
clamp
jaw
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.)
Expired - Fee Related
Application number
CN2009201960510U
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Chinese (zh)
Inventor
高尔荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Bolei Heavy Duty Machine Tool Manufacturing Co Ltd
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高尔荣
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Filing date
Publication date
Application filed by 高尔荣 filed Critical 高尔荣
Priority to CN2009201960510U priority Critical patent/CN201483488U/en
Application granted granted Critical
Publication of CN201483488U publication Critical patent/CN201483488U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a transmission manipulator, which comprises a base. The base is provided with an upper planker; the upper planker is provided with a forward and backward planker capable of moving forwards and backwards; the forward and backward planker is provided with a clamping mechanism capable of stretching leftwards and rightwards; the clamping mechanism is provided with a left claw and a right claw for clamping workpieces; an up-and-down planker is arranged in the base; the up-and-down planker and the upper planker are fixedly connected into a whole through a plurality of vertical posts; bearings are sleeved on the vertical posts; the bearings are fixed on the base; and the up-and-down planker does up-and-down motion through an up-and-down driving device. In the transmission manipulator, the upper planker and the up-and-down planker are fixedly connected into the whole through the vertical posts, and the plurality of vertical posts are parallel, so that the verticality of the up-and-down planker and the upper planker and the base can be well ensured; and thus the upper planker can reach a preset position accurately in the process of the up-and-down motion.

Description

A kind of transfer robot
Technical field
The utility model relates to a kind of manipulator.
Background technology
Background technology
Manipulator has been used for replacing manual work widely in the modern industry, has improved production efficiency greatly.In the punch press field, realized high speed stamping, the part that send that needs manipulator also can carry out accordingly at a high speed during high speed stamping moves back the part operation, so the performance indications of manipulator have been proposed high requirement, manipulator generally need carry out the motion of above-below direction, the existing mechanical hand is because structural design is unreasonable, so the location is inaccurate, transmit not in placely, error is big, frictional resistance between the moving component is bigger in motion process simultaneously, has influence on every serviceability of manipulator.
Summary of the invention
The purpose of this utility model provides a kind of accurate positioning, transmission puts in place and frictional resistance is less transfer robot.
The technical solution of the utility model is: a kind of transfer robot, comprise base, base is provided with planker, fixed guide on the last planker, before and after being provided with, advances on guide rail planker, planker front and back motion on guide rail is advanced in front and back, before and after advance planker and be provided with about flexible clamp mechanism, a left side that is used for the gripping workpiece is installed on the clamp mechanism, right tong, be provided with planker up and down in the described base, fixedly be connected as a single entity by a plurality of columns between planker and the last planker up and down, be with bearing on the column, bearing fixing is on base, and planker moves up and down by up-down drive device up and down.
The utility model will be gone up planker by column and fixedly be connected as a single entity with planker up and down, the perpendicularity of planker and last planker and pedestal about keeping parallelism can well guarantee between many root posts, in the process of moving up and down, can make planker arrive the precalculated position accurately like this; Parallel can the adjustment very easily between column and the screw mandrel simultaneously, because present many root posts and last planker and up and down planker all be connected as a single entity, only need to adjust that a root post is parallel with screw mandrel just can, originally need many root posts to adjust with screw mandrel respectively, so just avoided because column and screw mandrel not parallel causes column to rub very big in the process of moving up and down even understand stuck phenomenon.
As preferably, described up-down drive device comprises the screw mandrel A that is fixed on the base and is fixed on feed screw nut A on the planker up and down, and screw mandrel A is threaded with feed screw nut A, and screw mandrel A is connected with servomotor A on being arranged on base; Servomotor positioning accuracy height, speed is fast.
As preferably, the described planker of going up is provided with line slideway A and line slideway A ', advance planker before and after being provided with on line slideway A and the line slideway A ', line slideway slide block A, the line slideway slide block A ' moving linearly on line slideway A and line slideway A ' that planker is installed by two bottom sides is advanced in front and back, be fixed with screw mandrel B and servo motor B on the last planker, front and back are advanced to be fixed with feed screw nut B on the planker, and screw mandrel B is threaded with feed screw nut B, and screw mandrel B is connected with servo motor B.
As preferably, described clamp mechanism comprises the motor cabinet and the line slideway B that advance before and after being arranged on the planker, line slideway B is provided with line slideway slide block B and line slideway slide block B ', line slideway slide block B and line slideway slide block B ' on be fixed with a left side respectively, right jig arm, line slideway slide block B and line slideway slide block B ' be connected with line slideway B guide rail, be fixed with motor on the motor cabinet, motor connects central gear, the central gear both sides are respectively arranged with and flexible tooth bar in the left side of central gear engagement and right flexible tooth bar, a left side, right flexible tooth bar is flexible by the rotational synchronization of central gear, left side jig arm is fixedlyed connected with the flexible tooth bar in a left side, and right jig arm is fixedlyed connected with right flexible tooth bar; By left and right jig arm is arranged on the line slideway, make left and right jig arm capable of expansion and contraction, accurate positioning, resistance is less, and is fastening, steady to piece-holder like this; Rotate driving left and right flexible tooth bar synchronization telescope by central gear simultaneously, to make left and right jig arm be that the both sides, center are flexible simultaneously with the central gear, can be to workpiece clamping rapidly, unclamp.
As preferably, described central gear is a plastic gear; Adopt nonrigid gear can reduce the noise that produces between the wheel and rack.
As preferably, the line slideway auxiliary that described line slideway A, line slideway A ' and line slideway slide block A, line slideway slide block A ' form is the line slideway auxiliary of preloading, described line slideway B and line slideway slide block B, line slideway slide block B ' line slideway auxiliary of composition is the line slideway auxiliary of preloading; The poised state of whole manipulator is guaranteed that effectively oscillation phenomenon greatly reduces.
As preferably, described left tong comprises left clamp and the some left jaw that is arranged on the left clamp, right tong comprises the right clamping body relative with left clamp, and right clamping body is provided with and the corresponding some right jaws of left jaw, all is provided with water inlet, water return outlet on the left and right clamp; The water inlet that is provided with on the clamp connects water system, and water return outlet connects return water system, and water inlet, water return outlet are in order to enter cold water, and backflow hot water can effectively be lowered the temperature to clamp.
As preferably, described left clamp has T type groove in the side that left jaw is set, left side jaw is provided with the T shape platform that is complementary with described T-slot, T shape decometer is gone in the T-slot, have location hole of the spring on the T shape platform, spring is set in the location hole of the spring, and spring compresses T shape platform in T-slot makes left jaw closely be connected with left clamp; By jaw T shape decometer being set goes in the T-slot on the clamp, and in T-slot, compress T shape platform by spring jaw closely is connected with clamp, can regulate the position of mobile jaw on clamp like this, only need be with jaw holddown spring inwards, the T shape platform of jaw is separated with the T-slot of clamp, jaw is moved freely in T-slot, unclamp jaw again after jaw is moved correct position, spring can compress T shape platform again makes jaw closely be connected with clamp.
As preferably, described left clamp is provided with jet import and through hole, and jet import communicates with T-slot by through hole; Jet import is to be used for entering the releasing agent that is beneficial to the demoulding, so jet import connects the container that releasing agent is housed, and then the releasing agent in container ejection is entered jet import by gas ejecting system, and in T-slot, spray releasing agent in the time of the demoulding, help the demoulding.
As preferably, described left and right jaw is ceramic jaw; The pottery good heat resistance, the back hardness of being heated is constant, can not be out of shape, and poor thermal conductivity, can not conduct heat.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of up-down mechanism of the present utility model;
Fig. 3 is the side view of Fig. 2;
Fig. 4 advances the structural representation of mechanism for front and back of the present utility model;
Fig. 5 is the structural representation one of tong of the present utility model;
Fig. 6 is the structural representation two of clamp mechanism of the present utility model;
Fig. 7 is the connection diagram of central gear of the present utility model and left and right flexible tooth bar;
Fig. 8 is the structural representation of tong of the present utility model;
Fig. 9 is the A-A cutaway view of Fig. 8.
The specific embodiment
As shown in the figure, a kind of transfer robot, comprise base 1, be provided with up and down planker 16 in the base 1, planker 16 is provided with planker 3 up and down, last planker 3 and up and down planker 16 fixedly be connected as a single entity by a plurality of columns 15, be with linear bearing 41 on the column 15, linear bearing 41 is fixed on the base 1, the resistance of reducing friction, and planker 16 moves up and down by up-down drive device up and down; Up-down drive device comprises the screw mandrel A28 that is fixed on the base 1 and is fixed on feed screw nut A on the planker 16 up and down, screw mandrel A28 is threaded with feed screw nut A, screw mandrel A28 is connected with servomotor A17 on being arranged on base 1, and servomotor A17 drives screw mandrel A28 and rotates.Last planker 3 is provided with line slideway A4 and line slideway A ' 19, advance planker 6 before and after being provided with on line slideway A4 and the line slideway A ' 19, line slideway slide block A18, line slideway slide block A ' 14 moving linearly on line slideway A4 and line slideway A ' 19 that planker 6 is installed by two bottom sides is advanced in front and back, be fixed with screw mandrel B5 and servo motor B 2 on the last planker 3, front and back are advanced to be fixed with feed screw nut B on the planker 6, screw mandrel B5 is threaded with feed screw nut B, screw mandrel B5 is connected with servo motor B 2, and servo motor B 2 drives screw mandrel B5 and rotates.
Front and back are advanced to be provided with motor cabinet 39 and line slideway B13 above the planker 6, line slideway B13 is provided with line slideway slide block B 21, line slideway slide block B ' 12, line slideway slide block B 21, the line slideway slide block B is fixed with a left side respectively on ' 12, right jig arm 9,20, line slideway slide block B 21, line slideway slide block B ' 12 are connected with line slideway B13 guide rail, be fixed with motor 25 on the motor cabinet 39, motor 25 connects central gear 24, central gear 24 both sides are respectively arranged with and flexible tooth bar 22 in the left side of central gear 24 engagements and right flexible tooth bar 23, a left side, right flexible tooth bar 22,23 is flexible by the rotational synchronization of central gear 24, left side jig arm 9 is fixedlyed connected with the flexible tooth bar 22 in a left side, and right jig arm 20 is fixedlyed connected with right flexible tooth bar 23; Be fixed with counterweight 7 on the jig arm 9 of a left side, be fixed with counterweight 27 on the right jig arm 20.
The front end of left and right jig arm 9,20 is separately installed with the left and right tong 10,26 that is used for the gripping workpiece by T shape draw-in groove mechanism; Left side tong 10 comprises left clamp 33 and the some left jaw 34 that is arranged on the left clamp 33, right tong 26 comprises the right clamping body 40 relative with left clamp 33, right clamping body 40 is provided with and left jaw 34 corresponding some right jaws 41, a left side, right clamping body 33, all be provided with water inlet 30 on 40, water return outlet 32, left side clamp 33 has T type groove 29 in the side that left jaw 34 is set, left side jaw 34 is provided with the T shape platform 35 that is complementary with described T-slot 29, T shape platform 35 snaps in the T-slot 29, have location hole of the spring 36 on the T shape platform 35, spring 37 is set in the location hole of the spring 36, spring 37 compresses T shape platform 35 in T-slot 29 makes left jaw 34 closely be connected with left clamp 33, a left side, right clamping body 33,40 are provided with jet import 31 and through hole 38, and jet import 31 communicates with T type groove 29 by through hole 38; Water inlet 30 connects water system, and water return outlet 32 connects return water system, and jet import 31 connects the graphite jar, and the graphite jar connects gas ejecting system.
Transfer robot send part when operation, and servomotor A17 drives screw mandrel A28 and rotates, and screw mandrel A28 drives up and down by being fixed on feed screw nut A on the planker 16 up and down that planker 16 moves up and down, and planker 16 drives by column 15 and goes up planker 3 and move up and down up and down; Servo motor B 2 drives screw mandrel B5 and rotates, screw mandrel B5 advances planker 6 before and after advancing the feed screw nut B drive on the planker 6 before and after being fixed on, advance the line slideway slide block A18 that planker 6 is provided with by the bottom before and after making, rectilinear motion before and after line slideway slide block A ' 14 does on line slideway A4 and line slideway A ' 19, like this clamp mechanism is adjusted to suitable position, make a left side, right jig arm 9, the tong 10 that 20 front end is installed, 26 are positioned at the both sides for the treatment of the gripping workpiece, driving central gear 24 by motor 25 then rotates, drive a left side, right flexible tooth bar 22,23 both relative motions, thereby drive and a left side, right flexible tooth bar 22,23 fixing left sides, right jig arm 9,20 make linear relative movement on line slideway B13, be installed in a left side, right jig arm 9, the left side of 20 front ends, right tong 10,26 will and then tighten up, until a left side, right tong 10, left side on 26, right jaw 34, waiting to press from both sides workpiece for 41 clamps, rotation by servomotor A17 and servo motor B 2 makes manipulator as before by suitable moving up and down and seesaw a left side then, right jaw 34,41 workpiece of clamping are placed into the workpiece position on the punch press, motor 25 counter-rotatings then, drive central gear 24 counter-rotatings, drive a left side, right flexible tooth bar 22,23 both opposing motions, thereby make a left side, right jig arm 9,20 make opposing rectilinear motion on line slideway 13, be installed in a left side, right jig arm 9, the left side of 20 front ends, right tong 10,26 will and then separate, a left side, right tong 10, left side on 26, right jaw 34,41 will finish the demoulding, in the time of the demoulding, gas ejecting system with the releasing agent in the releasing agent container for example graphite by jet import 31, through hole 38 is sprayed onto a left side, right jaw 34, on 41, help the demoulding like this, a left side, right jaw 34,41 finish the demoulding, workpiece is placed on the workpiece position of punch press, punch press is finished the workpiece punching press, has so just finished the part process of sending.Move back the part process similarly, rotation by motor 25 is tightened up left and right jig arm 9,20 again, the workpiece that left and right jaw 34,41 is finished punching press clamps, manipulator by with sent just now part action do before and after, up and down rightabout motion, thereby the workpiece that punching press is finished withdraws from from punch press, finishes the part process of moving back thus.In the motion process of whole high speed, water system is cooled off tong by do not stop cold water is entered into of the water inlet 30 that is provided with on the tong 9,20 in the tong, get back to return water system by water return outlet 32 again after becoming hot water, keep the temperature of tong not too high like this, enable normal operation, can defective work piece.

Claims (10)

1. transfer robot, comprise base (1), base (1) is provided with planker (3), last planker (3) is gone up fixed guide, before and after being provided with, advances on guide rail planker (6), planker (6) front and back motion on guide rail is advanced in front and back, before and after advance planker (6) and be provided with about flexible clamp mechanism, a left side that is used for the gripping workpiece is installed on the clamp mechanism, right tong (10,26), it is characterized in that, be provided with planker (16) up and down in the described base (1), fixedly be connected as a single entity by a plurality of columns (15) between planker (16) and the last planker (3) up and down, be with bearing (41) on the column (15), bearing (41) is fixed on the base (1), and planker (16) moves up and down by up-down drive device up and down.
2. a kind of transfer robot according to claim 1, it is characterized in that, described up-down drive device comprises the screw mandrel A (28) that is fixed on the base (1) and is fixed on feed screw nut A on the planker (16) up and down, screw mandrel A (28) is threaded with feed screw nut A, and screw mandrel A (28) is connected with servomotor A (17) on being arranged on base (1).
3. a kind of transfer robot according to claim 1, it is characterized in that, the described planker (3) of going up is provided with line slideway A (4) and line slideway A ' (19), advance planker (6) before and after being provided with on line slideway A (4) and the line slideway A ' (19), the line slideway slide block A (18) that planker (6) is installed by two bottom sides is advanced in front and back, line slideway slide block A ' (14) goes up moving linearly at line slideway A (4) and line slideway A ' (19), be fixed with screw mandrel B (5) and servo motor B (2) on the last planker (3), front and back are advanced on the planker (6) to be fixed with feed screw nut B, screw mandrel B (5) is threaded with feed screw nut B, and screw mandrel B (5) is connected with servo motor B (2).
4. a kind of transfer robot according to claim 3, it is characterized in that, described clamp mechanism comprises the motor cabinet (39) and the line slideway B (13) that advance before and after being arranged on the planker (6), line slideway B (13) is provided with line slideway slide block B (21) and line slideway slide block B ' (12), line slideway slide block B (21) and line slideway slide block B ' be fixed with a left side respectively on (12), right jig arm (9,20), line slideway slide block B (21) and line slideway slide block B ' (12) be connected with line slideway B (13) guide rail, be fixed with motor (25) on the motor cabinet (39), motor (25) connects central gear (24), central gear (24) both sides are respectively arranged with and flexible tooth bar (22) in the left side of central gear (24) engagement and right flexible tooth bar (23), a left side, right flexible tooth bar (22,23) flexible by the rotational synchronization of central gear (24), left side jig arm (9) is fixedlyed connected with the flexible tooth bar (22) in a left side, and right jig arm (20) is fixedlyed connected with right flexible tooth bar (23).
5. a kind of transfer robot according to claim 4 is characterized in that, described central gear (24) is a plastic gear.
6. a kind of transfer robot according to claim 4, it is characterized in that described line slideway A (4), line slideway A ' (19) are the line slideway auxiliary of preloading with the line slideway auxiliary that line slideway slide block A (18), line slideway slide block A ' (14) form; Described line slideway B (13) and line slideway slide block B (21), line slideway slide block B ' (12) line slideway auxiliary of forming is the line slideway auxiliary of preloading.
7. a kind of transfer robot according to claim 1 and 2, it is characterized in that, described left tong (10) comprises left clamp (33) and is arranged on some left jaw (34) on the left clamp (33), right tong (26) comprises the right clamping body (40) relative with left clamp (33), right clamping body (40) is provided with and the corresponding some right jaws of left jaw (34) (41), all is provided with water inlet (30), water return outlet (32) on the left and right clamp (33,40).
8. a kind of transfer robot according to claim 7, it is characterized in that, described left clamp (33) has T type groove (29) in the side that left jaw (34) is set, left side jaw (34) is provided with the T shape platform (35) that is complementary with described T-slot (29), T shape platform (35) snaps in the T-slot (29), have location hole of the spring (36) on the T shape platform (35), spring (37) is set in the location hole of the spring (36), and spring (37) compresses T shape platform (35) in T-slot (29) makes left jaw (34) closely be connected with left clamp (33).
9. a kind of transfer robot according to claim 8 is characterized in that, described left and right clamp (33,40) is provided with jet import (31) and through hole (38), and jet import (31) communicates with T type groove (29) by through hole (38).
10. a kind of transfer robot according to claim 8 is characterized in that, described left and right jaw (34,41) is ceramic jaw.
CN2009201960510U 2009-09-10 2009-09-10 Transmission manipulator Expired - Fee Related CN201483488U (en)

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Cited By (27)

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CN102180200A (en) * 2011-05-30 2011-09-14 柳崇禧 Automatic vehicle-mounted mobile power charging and exchanging station for electric vehicle and method for quickly exchanging battery
CN102310410A (en) * 2010-07-02 2012-01-11 芝浦机械电子株式会社 Gripping device, transfer device, processing device, and manufacturing method for electronic device
CN102513465A (en) * 2011-11-24 2012-06-27 中达电通股份有限公司 Material conveying control system
CN102581197A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator used for hot forging production line
CN102581212A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator
CN102601285A (en) * 2012-03-06 2012-07-25 浙江博雷重型机床制造有限公司 Forging production line
CN103240733A (en) * 2012-02-01 2013-08-14 昆山市工业技术研究院有限责任公司 Five-degree-of-freedom manipulator
CN103357777A (en) * 2013-08-06 2013-10-23 东莞市井田自动化设备有限公司 Three-dimensional mechanical arm conveyer for stamping equipment
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US8899649B2 (en) 2012-08-10 2014-12-02 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Clamping device
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CN102310410A (en) * 2010-07-02 2012-01-11 芝浦机械电子株式会社 Gripping device, transfer device, processing device, and manufacturing method for electronic device
CN102310410B (en) * 2010-07-02 2014-05-07 芝浦机械电子株式会社 Gripping device, transfer device, processing device, and manufacturing method for electronic device
CN102180200B (en) * 2011-05-30 2012-11-28 柳崇禧 Automatic vehicle-mounted mobile power charging and exchanging station for electric vehicle and method for quickly exchanging battery
CN102180200A (en) * 2011-05-30 2011-09-14 柳崇禧 Automatic vehicle-mounted mobile power charging and exchanging station for electric vehicle and method for quickly exchanging battery
CN102513465A (en) * 2011-11-24 2012-06-27 中达电通股份有限公司 Material conveying control system
CN102513465B (en) * 2011-11-24 2014-07-30 中达电通股份有限公司 Material conveying control system
CN103240733B (en) * 2012-02-01 2016-08-24 昆山市工业技术研究院有限责任公司 Five-degree-of-freedmanipulator manipulator
CN103240733A (en) * 2012-02-01 2013-08-14 昆山市工业技术研究院有限责任公司 Five-degree-of-freedom manipulator
CN102601285A (en) * 2012-03-06 2012-07-25 浙江博雷重型机床制造有限公司 Forging production line
CN102581212A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator
CN102581197A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator used for hot forging production line
TWI485049B (en) * 2012-08-10 2015-05-21 Hon Hai Prec Ind Co Ltd Clamping device
US8899649B2 (en) 2012-08-10 2014-12-02 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Clamping device
CN103357777A (en) * 2013-08-06 2013-10-23 东莞市井田自动化设备有限公司 Three-dimensional mechanical arm conveyer for stamping equipment
CN103357777B (en) * 2013-08-06 2015-11-25 东莞市井田自动化设备有限公司 For the Three-dimensional mechanical arm conveyer of pressing equipment
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CN103464671A (en) * 2013-09-02 2013-12-25 凌云工业股份有限公司 Die forging tablet gripping device
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CN103878777A (en) * 2014-03-17 2014-06-25 王素刚 Industrial robot gripper with compact space, large clamping force and long stroke
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