CN201586973U - Punch feeding and blanking robot - Google Patents

Punch feeding and blanking robot Download PDF

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Publication number
CN201586973U
CN201586973U CN201020049335XU CN201020049335U CN201586973U CN 201586973 U CN201586973 U CN 201586973U CN 201020049335X U CN201020049335X U CN 201020049335XU CN 201020049335 U CN201020049335 U CN 201020049335U CN 201586973 U CN201586973 U CN 201586973U
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China
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joint
output
housing
shaft
fixed
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Expired - Fee Related
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CN201020049335XU
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Chinese (zh)
Inventor
朱世强
郑东鑫
吴文祥
王会方
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201020049335XU priority Critical patent/CN201586973U/en
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Abstract

The utility model discloses a punch feeding and blanking robot, which comprises four joints, a base, two arms and a tail end actuator. A first joint, a second joint and a fourth joint have rotation freedom; a third joint has up-down translation freedom; one end of the first joint is connected with the base through an input end casing body; the other end of the first joint is connected with one end of a first arm through an output flange of the first joint; the other end of the first arm is connected with an output flange of the second joint; a connection frame of the third joint is connected with a joint frame of the fourth joint; and the tail end actuator is mounted on an output rotary disk of the fourth joint. A first joint driving device and a second joint driving device of the punch feeding and blanking robot adopt a harmonic driving mode; a pair of conical roller bearings is arranged at the position of an output shaft and used for bearing overturn bending moment according to the characteristic that a harmonic speed reducer can only bear torsion moment but not bending moment; and the driving mode is compact in structure, high in driving efficiency, small in return difference and high in driving accuracy.

Description

A kind of charging and blanking robot of punch press
Technical field
The utility model relates to a kind of industrial robot, particularly relates to a kind of robot that is used for the punch press automatic loading/unloading.
Background technology
Industrial robot is widely used in the production scene, finishes tasks such as welding, carrying, assembling, cutting.The utilization of industrial robot improves work situation to improve production efficiency and product quality, ensures life safety, and there is crucial meaning aspect such as reduce production costs.At present, adopt the occasion of small-sized punch press processing in the overwhelming majority, the loading and unloading operation is still mainly by manually finishing, but exists by manually finishing the punch press loading and unloading that efficient is low, labour intensity is high, the shortcoming of poor stability.On the other hand, the space of punch press below loading and unloading is narrow and small, if adopt the industrial robot operation, require robot terminal small and exquisite, flexible, can stretch into the stamped area operation, so the described SCARA humanoid robot of patent EP-A-1525957 is also inapplicable, two motors are installed on second arm of this robot, cause the terminal volume of robot very big, can't extend into the punch press below.
Summary of the invention
The purpose of this utility model is to provide a kind of charging and blanking robot of punch press, can be used for the robot of small-sized punch press automatic loading/unloading, to improve stamping parts production efficiency and security.At the excessive shortcoming of traditional SCARA robot end volume, the robot end of design is small and exquisite, control performance good, positioning accuracy is high.
The purpose of this utility model is achieved through the following technical solutions:
The utility model is made of four joints, two arms, base and end effectors, and first joint, second joint, the 4th joint have rotary freedom, and the 3rd joint has the vertical translation free degree.One end in first joint is connected with base by the input housing, and the other end in first joint is connected with an end of the first arm by the first joint output flange, and the other end of the first arm links to each other with the second joint output flange.The 3rd articular link plate as the output of the 3rd joint links to each other with the joint frame in the 4th joint.On the 4th joint output rotating disk end effector is installed.
Described first joint comprises the first joint servo motor, the first joint harmonic speed reducer, the first joint power shaft, the first joint output shaft, the first joint output flange, the first joint taper roll bearing, the first joint input housing and the first joint output housing.Wherein the first joint harmonic speed reducer comprises the first joint wave producer, the first joint steel wheel and the first joint flexbile gear.The first joint servo motor that is fixed on the first joint input housing links to each other with the first joint wave producer by the first joint power shaft, the first joint steel wheel is fixed on the first joint output housing, the first joint flexbile gear links to each other with the first joint output shaft as the output of harmonic speed reducer, and the first joint output shaft links to each other with the first arm by the first joint output flange.The first joint input housing and the first joint output housing are fixed on the base together, and the first joint taper roll bearing is installed on the first joint output shaft.
Described second joint comprises second joint servomotor, second joint harmonic speed reducer, second joint power shaft, second joint output shaft, second joint output flange, second joint taper roll bearing, second joint input housing and second joint output housing.Wherein the second joint harmonic speed reducer comprises second joint wave producer, second joint steel wheel and second joint flexbile gear.The second joint servomotor is fixed on the second joint input housing, and links to each other with the second joint wave producer by the second joint power shaft.The second joint flexbile gear is fixed on the first arm by second joint output shaft, second joint output flange.The second joint steel wheel links to each other with second joint output housing.Second joint output housing is connected mutually with second arm, and the second joint taper roll bearing is installed on the second joint output shaft.
Screw pair, the 3rd knuckle support and the 3rd articular link plate that described the 3rd joint comprises the 3rd joint stepper motor, the 3rd joint synchronous cog belt pair, line slideway auxiliary, is made up of leading screw and nut.The 3rd joint stepper motor is fixed on the 3rd knuckle support, and its belt wheel with the 3rd joint synchronous cog belt pair links to each other, and another belt wheel is fixed on the input of leading screw.Leading screw is fixed on the 3rd knuckle support by supporting base fixation side and supporting base support-side, and nut is as the output of screw pair.Line slideway auxiliary is installed on the 3rd knuckle support, and its guide rail parallels with the axis of leading screw.The 3rd articular link plate is connected mutually with the nut of screw pair and the slide block of line slideway auxiliary respectively.
Described the 4th joint comprises the joint frame in the 4th joint stepper motor, the 4th joint synchronous cog belt pair, the 4th joint shaft, thrust ball bearing, the 4th joint output rotating disk and the 4th joint; The 4th joint stepper motor is installed on the joint frame in the 4th joint, its belt wheel with the 4th joint synchronous cog belt pair links to each other, another belt wheel is fixed on the input of the 4th joint shaft, on the 4th joint shaft thrust ball bearing is installed, the output of the 4th joint shaft is equipped with the 4th joint output rotating disk, is used to install end effector.
Described end effector is the Pneumatic paw that is used for the gripping workpiece.
The utility model is compared with background technology, and the useful effect that has is:
1, the robot end is small and exquisite, flexible, is applicable to the punch press operation of feeding and discharging.The robot of the utility model design, end probes into stamped area for convenience and carries out the loading and unloading operation, has adopted design flexible.Be different from the huge tip designs that traditional SCARA manipulator drag articulation lower end connects actuator, this robot is placed on actuator on the four flat joint arms that lean out, and can stretch into the punch ram working region.To hold member different with general purpose tool, and this robot end has designed the output rotating disk end effector is installed, and can adjust the angle of end effector easily like this, and a plurality of actuators can be installed realize different motion flows, increases work efficiency.
2, the robot of the utility model design removes parts such as base, power shaft, output shaft, key, has all adopted hard aluminium alloy, makes it when alleviating quality, has kept good rigidity.Quality alleviates reduces the inertia load of robot when work, thereby has improved the dynamic control performance of robot.This robot acceleration time is short, the operating efficiency height; Can under the situation of high-speed cruising, keep very high positioning accuracy.
3, first joint of the present utility model and second joint transmission device have adopted the mode of harmonic drive.Can only bear moment of torsion at harmonic speed reducer, can not bear the characteristics of moment of flexure, design a pair of taper roll bearing, be used to bear overturning moment at the output shaft place.This kind of drive compact conformation, transmission efficiency height; Return difference is little, transmission accuracy is high, compares with ordinary gear, and transmission accuracy has improved about four times.
Description of drawings
Fig. 1 is a longitudinal section view of the present utility model.
Fig. 2 is the longitudinal section view in first joint among the robot architecture shown in Figure 1.
Fig. 3 is the longitudinal section view of second joint among the robot architecture shown in Figure 1.
Fig. 4 is the longitudinal section view in the 3rd joint among the robot architecture shown in Figure 1.
Fig. 5 is the longitudinal section view in the 4th joint among the robot architecture shown in Figure 1.
Among the figure: 1, first joint, 2, second joint, 3, the 3rd joint, 4, the 4th joint, 5, base, 6, the first arm, 7, second arm, 8, end effector, 11, the first joint servo motor, 12, the first joint harmonic speed reducer, 121, the first joint wave producer, 122, the first joint steel wheel, 123, the first joint flexbile gear, 13, the first joint power shaft, 14, the first joint output shaft, 15, the first joint taper roll bearing, 16, the first joint output flange, 17, the first joint output housing, 18, the first joint input housing, 21, the second joint servomotor, 22, the second joint power shaft, 23, the second joint harmonic speed reducer, 231, the second joint steel wheel, 232, the second joint wave producer, 233, the second joint flexbile gear, 24, the second joint output shaft, 25, the second joint taper roll bearing, 26, the second joint output flange, 27, second joint input housing, 28, second joint output housing, 31, the 3rd joint stepper motor, 32, the 3rd joint synchronous cog belt pair, 33, leading screw, 34, the supporting base fixation side, 35, the supporting base support-side, 36, the 3rd articular link plate, 37, nut, 38, line slideway auxiliary, 381, slide block, 39, the 3rd knuckle support, 41, the 4th joint stepper motor, 42, the 4th joint synchronous cog belt pair, 43, the 4th joint shaft, 44, thrust ball bearing, 45, the 4th joint output rotating disk, 46, the joint frame in the 4th joint.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, the frame for movement of charging and blanking robot of punch press comprises: first joint 1, second joint 2, the 3rd joint 3, the 4th joint 4, base 5, the first arm 6, second arm 7 and end effector 8.Wherein first joint 1, second joint 2, the 4th joint 4 have rotary freedom, and the 3rd joint 3 has the vertical translation free degree.The first joint input housing 18 and the first joint output housing 17 in first joint 1 are fixed on the base 5 together.The output in first joint 1 is fixed in an end of the first arm 6, and the other end of the first arm 6 links to each other with the input of second joint 2.The output of second joint 2 is fixed in an end of second arm 7, and the other end of second arm 7 links to each other with the 3rd knuckle support 39.The 4th joint 4 links to each other with the output in the 3rd joint 3.End effector 8 is installed on the 4th joint output rotating disk 45 for being used for the Pneumatic paw of gripping workpiece.
As shown in Figure 2, first joint 1 comprises the first joint servo motor 11, the first joint harmonic speed reducer 12, the first joint power shaft 13, the first joint output shaft 14, the first joint output flange 16 and the first joint taper roll bearing 15.Wherein the first joint harmonic speed reducer 12 comprises the first joint wave producer 121, the first joint steel wheel 122 and the first joint flexbile gear 123.The first joint servo motor 11 that is fixed on the first joint input housing 18 links to each other with the first joint wave producer 121 by the first joint power shaft 13.The first joint steel wheel 122 is fixed on the first joint output housing 17, and the first joint flexbile gear 123 links to each other with the first joint output shaft 14 as output.The first joint output shaft 14 links to each other with the first arm 6 by the first joint output flange 16.The first joint taper roll bearing 15 is installed on the first joint output shaft 14, is used to bear axial pressure and overturning moment radially, thereby can avoid the first joint harmonic speed reducer 12 because of bearing pressure or overturning moment damages.
As shown in Figure 3, second joint 2 comprises second joint servomotor 21, second joint harmonic speed reducer 23, second joint power shaft 22, second joint output shaft 24, second joint output flange 26 and second joint taper roll bearing 25.Wherein second joint harmonic speed reducer 23 comprises second joint wave producer 232, second joint steel wheel 231 and second joint flexbile gear 233.Second joint servomotor 21 is fixed on the second joint input housing 27, and links to each other with second joint wave producer 232 by second joint power shaft 22.Second joint flexbile gear 233 is fixed on the first arm 6 by second joint output shaft 24, second joint output flange 26, and second joint steel wheel 231 links to each other with second joint output housing 28.Second joint output housing 28 is fixed on second arm 7.Second joint taper roll bearing 25 is installed on the second joint output shaft 24, is used to bear axial pressure and overturning moment radially, thereby can avoid second joint harmonic speed reducer 23 because of bearing pressure or overturning moment damages.
As shown in Figure 4, the 3rd joint 3 screw pair and the 3rd articular link plate 36 that comprise the 3rd joint stepper motor 31, the 3rd joint synchronous cog belt pair 32, line slideway auxiliary 38, form by leading screw 33 and nut 37.The 3rd joint stepper motor 31 is fixed on three knuckle supports 39, and it links to each other with a belt wheel of the 3rd joint synchronous cog belt 32, and another belt wheel is fixed on the input of leading screw 33.Nut 37 is as the output translation in vertical direction of screw pair.Line slideway auxiliary 38 is installed on the 3rd knuckle support 39, and its guide rail parallels with the axis of leading screw 33.Line slideway auxiliary 38 has the effect of supporting and guiding.The 3rd articular link plate 36 is connected mutually with the nut 37 of screw pair and the slide block 381 of line slideway auxiliary respectively, and this three translation in vertical direction together is used for the output as the 3rd joint.The 3rd knuckle support 39 is installed on second arm 7.
As shown in Figure 5, the 4th joint 4 comprises the joint frame 46 in the 4th joint stepper motor 41, the 4th joint synchronous cog belt pair 42, the 4th joint shaft 43, the 4th joint output rotating disk 45 and the 4th joint.The 4th joint stepper motor 41 is installed on the 4th joint arm 46, and its belt wheel with the 4th joint synchronous cog belt pair 42 links to each other, and another belt wheel is fixed on the input of the 4th joint shaft 43.On the 4th joint shaft 43 thrust ball bearing 44 is installed, this bearing plays supporting and rotary steering effect.The output of the 4th joint shaft 43 is equipped with the 4th joint output rotating disk 45, is used to install end effector 8.The joint frame 46 in the 4th joint is fixed on the 3rd articular link plate 36.
The course of work of the present utility model is as follows:
In conjunction with Fig. 1~Fig. 5, when the axle of the first joint servo motor 11 rotates, drive the first joint wave producer 121 by the first joint power shaft 13 and rotate.Because the first joint steel wheel 122 is fixing, the first joint flexbile gear 123 rotates as the harmonic speed reducer output, rotates thereby drive the first joint output shaft 14.Final by the first joint output flange 16, drive the first arm 6 generations and rotatablely move.
The drive mechanism in the second joint 2 and first joint 1 is similar, but the kind of drive is different.In first joint, the first joint steel wheel 122 is fixing, and the first joint flexbile gear 123 is as output.In second joint, second joint flexbile gear 233 is fixing, and second joint steel wheel 231 is as output.When the axle of second joint servomotor 21 rotates, drive second joint wave producer 232 by second joint power shaft 22 and rotate.Because second joint flexbile gear 233 is fixed on the first arm 6 by second joint output shaft 24, second joint output flange 26, second joint steel wheel 231 is as harmonic speed reducer output rotation, thereby the housing that drives second joint input housing 27, second joint output housing 28 and second joint servomotor 21 rotates together.Because second arm 7 links to each other with second joint input housing 28, thereby second arm 7 is rotated with respect to the first arm 6.
When the axle of the 3rd joint stepper motor 31 rotates, drive leading screw 33 by the 3rd joint synchronous cog belt secondary 32 and rotate.The rotation of leading screw 33 finally is converted into the translational motion along leading screw 33 axis directions of nut 37, slide block 381 and the 3rd articular link plate 36, thereby has realized the free degree of translational motion.
When 41 rotations of the 4th joint stepper motor, drive the 4th joint shaft 43 by the 4th joint synchronous cog belt secondary 42 and rotate, and then drive 45 rotations of the 4th joint output rotating disk.The rotation of the 4th joint output rotating disk 45 can be adjusted the direction of end effector mounted thereto 8, so that robot is under the situation of different poses, end effector 8 can both stretch into the space of punch press below smoothly.

Claims (6)

1. charging and blanking robot of punch press, it is characterized in that: by four joints (1,2,3,4), base (5), two arms (6,7) and end effector (8) constitute, first joint (1), second joint (2), the 4th joint (4) have rotary freedom, and the 3rd joint (3) have the upper and lower translation free degree; One end in first joint (1) is connected with base (5) by input housing (18), the other end in first joint (1) is connected with an end of the first arm (6) by the first joint output flange (16), the other end of the first arm (6) is connected with the second joint output flange (26) of second joint (2), the 3rd articular link plate (36) is connected with the joint frame (46) in the 4th joint, on the 4th joint output rotating disk (45) end effector (8) is installed.
2. a kind of charging and blanking robot of punch press according to claim 1 is characterized in that: described first joint (1) comprises the first joint servo motor (11), the first joint harmonic speed reducer (12), the first joint power shaft (13), the first joint output shaft (14), the first joint output flange (16), the first joint taper roll bearing (15), the first joint input housing (18) and the first joint output housing (17); Wherein the first joint harmonic speed reducer (12) comprises the first joint wave producer (121), the first joint steel wheel (122) and the first joint flexbile gear (123); The first joint servo motor (11) that is fixed on the first joint housing input (18) links to each other with the first joint wave producer (121) by the first joint power shaft (13), the first joint steel wheel (122) is fixed on the first joint output housing (17), output links to each other with the first joint output shaft (14) the first joint flexbile gear (123) as the first joint harmonic speed reducer (12), the first joint output shaft (14) links to each other with the first arm (6) by the first joint output flange (16), the first joint input housing (18) and the first joint output housing (17) are fixed on the base (5) together, and the first joint taper roll bearing (15) is installed on the first joint output shaft (14).
3. a kind of charging and blanking robot of punch press according to claim 1 is characterized in that: second joint (2) comprises second joint servomotor (21), second joint harmonic speed reducer (23), second joint power shaft (22), second joint output shaft (24), second joint output flange (26), second joint taper roll bearing (25), second joint input housing (27) and second joint output housing (28); Wherein second joint harmonic speed reducer (23) comprises second joint wave producer (232), second joint steel wheel (231) and second joint flexbile gear (233); Second joint servomotor (21) is fixed on the second joint input housing (27), and link to each other with second joint wave producer (232) by second joint power shaft (22), second joint flexbile gear (233) is fixed on the first arm (6) by second joint output shaft (24), second joint output flange (26), second joint steel wheel (231) links to each other with second joint output housing (28), second joint output housing (28) is connected with second arm (7), and second joint taper roll bearing (25) is installed on the second joint output shaft (24).
4. a kind of charging and blanking robot of punch press according to claim 1 is characterized in that: screw pair, the 3rd knuckle support (39) and the 3rd articular link plate (36) that described the 3rd joint (3) comprises the 3rd joint stepper motor (31), the 3rd joint synchronous cog belt pair (32), line slideway auxiliary (38), is made up of leading screw (33) and nut (37); The 3rd joint stepper motor (31) is fixed on the 3rd knuckle support (39), its axle links to each other with a belt wheel of the 3rd joint synchronous cog belt pair (32), another belt wheel is fixed on the input of leading screw (33), leading screw (33) is fixed on the 3rd knuckle support (39) by supporting base fixation side (34) and supporting base support-side (35), nut (37) is as the output of screw pair, line slideway auxiliary (38) is installed on the 3rd knuckle support (39), its guide rail parallels with the axis of leading screw (33), and the 3rd articular link plate (36) is connected mutually with the nut (37) of screw pair and the slide block (381) of line slideway auxiliary respectively.
5. a kind of charging and blanking robot of punch press according to claim 1 is characterized in that: described the 4th joint (4) comprises the joint frame (46) in the 4th joint stepper motor (41), the 4th joint synchronous cog belt pair (42), the 4th joint shaft (43), thrust ball bearing (44), the 4th joint output rotating disk (45) and the 4th joint; The 4th joint stepper motor (41) is installed on the joint frame (46) in the 4th joint, its axle links to each other with a belt wheel of the 4th joint synchronous cog belt pair (42), another belt wheel is fixed on the input of the 4th joint shaft (43), thrust ball bearing (44) is installed on the 4th joint shaft (43), the output of the 4th joint shaft (43) is equipped with the 4th joint output rotating disk (45), is used to install end effector (8).
6. a kind of charging and blanking robot of punch press according to claim 1 is characterized in that: described end effector (8) is for being used for the Pneumatic paw of gripping workpiece.
CN201020049335XU 2010-01-05 2010-01-05 Punch feeding and blanking robot Expired - Fee Related CN201586973U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101758497B (en) * 2010-01-05 2011-05-11 浙江大学 Charging and blanking robot of punch press
CN103692450A (en) * 2013-11-28 2014-04-02 华南理工大学 Robotic arm joint part for planar joint type robots
CN107891442A (en) * 2017-11-28 2018-04-10 天津扬天科技有限公司 The hollow cooperation mechanical arm of multiple degrees of freedom
CN107891432A (en) * 2017-12-28 2018-04-10 长春工业大学 A kind of small-sized drilling milling machine device people structure and control system
CN117506958A (en) * 2023-12-13 2024-02-06 东莞市亚安自动化科技有限公司 Magnetic core six-axis grabbing and placing blank manipulator

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101758497B (en) * 2010-01-05 2011-05-11 浙江大学 Charging and blanking robot of punch press
CN103692450A (en) * 2013-11-28 2014-04-02 华南理工大学 Robotic arm joint part for planar joint type robots
CN107891442A (en) * 2017-11-28 2018-04-10 天津扬天科技有限公司 The hollow cooperation mechanical arm of multiple degrees of freedom
CN107891442B (en) * 2017-11-28 2024-01-26 天津扬天科技有限公司 Multi-degree-of-freedom hollow cooperative mechanical arm
CN107891432A (en) * 2017-12-28 2018-04-10 长春工业大学 A kind of small-sized drilling milling machine device people structure and control system
CN107891432B (en) * 2017-12-28 2021-08-10 长春工业大学 Small-size brill mills robot structure and control system
CN117506958A (en) * 2023-12-13 2024-02-06 东莞市亚安自动化科技有限公司 Magnetic core six-axis grabbing and placing blank manipulator

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100922

Termination date: 20110105