CN201534328U - Up-and-down motion mechanism of transmission mechanical hand - Google Patents
Up-and-down motion mechanism of transmission mechanical hand Download PDFInfo
- Publication number
- CN201534328U CN201534328U CN2009201960489U CN200920196048U CN201534328U CN 201534328 U CN201534328 U CN 201534328U CN 2009201960489 U CN2009201960489 U CN 2009201960489U CN 200920196048 U CN200920196048 U CN 200920196048U CN 201534328 U CN201534328 U CN 201534328U
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- CN
- China
- Prior art keywords
- planker
- upright posts
- base
- mechanical hand
- down motion
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- Expired - Fee Related
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Abstract
The utility model relates to a mechanical hand, in particular to a motion mechanism of the mechanical hand. The up-and-down motion mechanism of the transmission mechanical hand comprises a base and an upper and lower planker arranged inside the base, wherein the upper and lower planker and an upper planker arranged on the upper and lower planker are fixedly connected into an integrated body through a plurality of upright posts; bearings are sleeved on the upright posts and are fixed on the base; and the upper and lower planker can perform up-and-down motion through an up-and-down driving device. The utility model has the advantage that the fixed connection into an integrated body between the upper planker and the upper and lower planker through upright posts can firstly ensure the parallelism among the plurality of upright posts and then the parallelism between the upright posts and a screw rod can also be adjusted conveniently, because the plurality of upright posts, the upper planker and the upper and lower planker are connected into a whole in the utility model, people only need to adjust one upright post to be parallel with the screw rod, thereby solving the problem in the prior art that all upright posts need to be adjusted to be parallel with the screw rod, and further preventing the large friction or stuck of the upright posts during the up-and-down motion due to the nonparallelism between the upright posts and the screw rod.
Description
Technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of motion of manipulator.
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 to manipulator have 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 in the process of moving up and down, transmit not in place, 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 the up-down mechanism of 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 up-down mechanism of transfer robot, comprise base, be provided with planker up and down in the base, be provided with planker up and down above the planker, fixedly be connected as a single entity by many root posts between described planker up and down and the last planker, 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 that is fixed on the base and is fixed on feed screw nut on the planker up and down, and screw mandrel is threaded with the feed screw nut, and screw mandrel is connected with servomotor on being arranged on base; Servomotor positioning accuracy height, speed is fast.
As preferably, described bearing is a linear bearing.
As preferably, described column is 4; Can make be connected between the planker and last planker up and down fastening make again simple and convenient.
As preferably, described base is provided with motor cabinet, and described servomotor is arranged on the motor cabinet; The firm stable more that motor is placed.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a side view of the present utility model;
Fig. 3 is for installing the structural representation of transfer robot of the present utility model.
The specific embodiment
Shown in Fig. 1-2, a kind of up-down mechanism of transfer robot, comprise base 1, be provided with planker 5 up and down in the base 1, be provided with planker 3 up and down above the planker 5, fixedly be connected as a single entity by four root posts 2 between planker 5 and the last planker 3 up and down, column 2 is provided with bearing 4, bearing 4 is fixed on the base 1, be fixed with screw mandrel 7 on base 1, be fixed with the feed screw nut on the planker 5 up and down, screw mandrel 7 is threaded with the feed screw nut, screw mandrel 7 is connected with servomotor 6 on being arranged on base 1, and column 2 is parallel with screw mandrel 7; Base 1 is provided with motor cabinet 9, and motor 6 is arranged on the motor cabinet 9.
As shown in Figure 3, the mechanism 16 that seesaws is installed above the up-down mechanism of transfer robot, the clamping device 18 that installation can be carried out gripping to workpiece above the mechanism 16 seesaws.
When transfer robot send the part operation, by the 11 gripping workpiece of the jaw on the tong 10 of clamping device 18, motor 6 drives screw mandrel 7 and rotates, screw mandrel 7 drives up and down by the feed screw nut, and planker 5 moves upward, planker 5 moves upward by the last planker 3 of column 2 drives up and down, last planker 3 is with the mechanism mounted thereto drive that all makes progress, make the workpiece of gripping on the jaw 11 arrive the height of setting, seesaw then mechanism 16 travel forward make workpiece arrive the position of place work piece in the punch press after, clamping device 18 unclamps workpiece, punch press is finished the workpiece punching press, has so just finished the part process of sending.Move back the part process similarly, after the workpiece that clamping device 18 is finished punching press by jaw 11 clamped, manipulator was by the mechanism 16 that seesaws, and up-down mechanism is moved round about, thereby the workpiece that punching press is finished withdraws from from punch press, finishes the part process of moving back thus.
The transfer robot of using up-down mechanism of the present utility model moves back in the part process at the whole part that send, by will go up planker 3 and up and down planker 5 fixedly be connected as a single entity by column 2, adjusted parallel between column 2 and the screw mandrel 7 comparatively easily, make parallel effect between the two better, thereby make column 2 when sliding up and down and between the base 1, stuck phenomenon can not occur, frictional resistance between the two also greatly reduces, and the result of use of manipulator in the high-speed motion process is greatly improved.
Claims (5)
1. the up-down mechanism of a transfer robot, comprise base (1), be provided with planker (5) up and down in the base (1), be provided with planker (3) up and down above the planker (5), it is characterized in that, fixedly be connected as a single entity by many root posts (2) between described planker (5) up and down and the last planker (3), be with bearing (4) on the column (2), bearing (4) is fixed on the base (1), and planker (5) moves up and down by up-down drive device up and down.
2. the up-down mechanism of a kind of transfer robot according to claim 1, it is characterized in that, described up-down drive device comprises the screw mandrel (7) that is fixed on the base (1) and is fixed on feed screw nut on the planker (5) up and down, screw mandrel (7) is threaded with the feed screw nut, and screw mandrel (7) is connected with servomotor (6) on being arranged on base (1).
3. the up-down mechanism of a kind of transfer robot according to claim 1 and 2 is characterized in that, described bearing (4) is a linear bearing.
4. the up-down mechanism of a kind of transfer robot according to claim 1 and 2 is characterized in that, described column (2) is 4.
5. the up-down mechanism of a kind of transfer robot according to claim 2 is characterized in that, described base (1) is provided with motor cabinet (9), and described servomotor (6) is arranged on the motor cabinet (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201960489U CN201534328U (en) | 2009-09-10 | 2009-09-10 | Up-and-down motion mechanism of transmission mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201960489U CN201534328U (en) | 2009-09-10 | 2009-09-10 | Up-and-down motion mechanism of transmission mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201534328U true CN201534328U (en) | 2010-07-28 |
Family
ID=42534113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201960489U Expired - Fee Related CN201534328U (en) | 2009-09-10 | 2009-09-10 | Up-and-down motion mechanism of transmission mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201534328U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718088A (en) * | 2012-05-18 | 2012-10-10 | 华中科技大学 | Clamping device for intermittently feeding films |
-
2009
- 2009-09-10 CN CN2009201960489U patent/CN201534328U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718088A (en) * | 2012-05-18 | 2012-10-10 | 华中科技大学 | Clamping device for intermittently feeding films |
| CN102718088B (en) * | 2012-05-18 | 2014-11-12 | 华中科技大学 | Clamping device for intermittently feeding films |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHEJIANG BOLEI HEAVY MACHINE TOOL MANUFACTURING CO Free format text: FORMER OWNER: GAO ERRONG Effective date: 20100928 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 313219 ZHEJIANG BRAY HEAVY MACHINE TOOL MANUFACTURING CO., LTD., NO.1, QIAOMO SOUTH ROAD, LEIDIAN TOWN, DEQING COUNTY, ZHEJIANG PROVINCE TO: 313219 |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20100928 Address after: 313219 Zhejiang province Deqing County Town Road No. 1 Chomo leidian Patentee after: Zhejiang Bolei Heavy Machine Tool Manufacturing Co., Ltd. Address before: 313219 Zhejiang province Deqing County Town Road No. 1 Zhejiang leidian Chomo Bolei heavy machine tool manufacturing Co Ltd Patentee before: Gao Errong |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100728 Termination date: 20120910 |