CN201800039U - Intelligent manipulator for punch press - Google Patents
Intelligent manipulator for punch press Download PDFInfo
- Publication number
- CN201800039U CN201800039U CN2010205012411U CN201020501241U CN201800039U CN 201800039 U CN201800039 U CN 201800039U CN 2010205012411 U CN2010205012411 U CN 2010205012411U CN 201020501241 U CN201020501241 U CN 201020501241U CN 201800039 U CN201800039 U CN 201800039U
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- China
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- stepper motor
- moving mechanism
- arm
- manipulator
- motion mechanism
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Abstract
The utility model relates to an intelligent manipulator for a punch press, wherein a manipulator horizontal moving mechanism drives by adopting a stepper motor and a linear ball screw; a manipulator turnover moving mechanism drives by adopting the stepper motor and a gear, is connected through a turnover main shaft and turns over by a driving arm; the manipulator horizontal moving mechanism is arranged on the arm and turns over together with the arm; a manipulator swing arm moving mechanism drives by adopting a servo motor and a planetary speed reducer; an executing end rotating moving mechanism drives by adopting the stepper motor and a synchronous wheel; an executing component is a vacuum chuck; the executing end rotating moving mechanism is arranged on the arm of the horizontal moving mechanism; a vertical moving mechanism drives by adopting the stepper motor, a pair of bevel gears, a ball screw and a screw nut sleeve; and the horizontal moving mechanism, the turnover moving mechanism and the executing end rotating moving mechanism are respectively arranged on the screw nut sleeve of the vertical moving mechanism. By adopting the servo system, in the aspect of electrical control, the operation of the machine is accelerated, the electricity is saved and the functions of saving energy and protecting environment can be achieved.
Description
Technical field
The utility model relates to automated machine equipment, refers in particular to a kind of punch press puma manipulator.
Background technology
Present punching apparatus generally is to operate by hand when punching parts, be that staff is put into workpiece on the mould of punch press, after after the punching press of punch press patrix finishes, leaving counterdie, with hand stamping forming workpiece is taken out again, this way of putting and taking out workpiece by hand is very unsafe, often occur industrial accident, staff is broken the phenomenon that disables.
Summary of the invention
The purpose of this utility model is improved and is innovated at the shortcoming that exists in the background technology and problem, and a kind of efficient, accurate, flexible, safe punch press puma manipulator is provided.
Technical solutions of the utility model provide by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover forms horicontal motion mechanism, flip-flop movement mechanism, swing arm motion, actuating station rotational motion mechanism, vertical movement mechanism, wherein:
Described manipulator horicontal motion mechanism adopts stepper motor and the transmission of line style ball screw, and the line style ball screw mother that is arranged on that the actuating station horizontal direction is moved forward and backward puts;
Described manipulator flip-flop movement mechanism adopts stepper motor and gear drive, connected and driven the arm upset by the upset main shaft, and arm is provided with the manipulator horicontal motion mechanism and together overturns;
Described manipulator swing arm motion structure adopts servomotor and planetary reducer transmission, and all motions all are arranged on the rack by the swing arm main shaft and swing thereupon;
Described actuating station rotational motion mechanism adopts stepper motor and synchronizing wheel transmission, and execution unit is a vacuum cup, and the actuating station rotational motion mechanism is arranged on the arm of horicontal motion mechanism;
Described vertical movement mechanism adopts the transmission of the female cover of stepper motor, bevel-gear sett, ball screw and screw mandrel, and horicontal motion mechanism, and the screw mandrel mother that flip-flop movement mechanism and actuating station rotational motion mechanism all are provided with vertical movement mechanism puts.
Advantage of the present utility model and beneficial effect:
The running that links up of this kind of machine everything set for 5 seconds once, surpassed manually-operated production capacity 20%--30%, stopped the industrial injury accident that disables.Automatically controlled aspect adopts servo-drive system to make that machine operation speeds up, power saving, reaches the energy-conserving and environment-protective effect.The design of flip-flop movement mechanism, actuating station rotational motion mechanism and vertical movement mechanism particularly makes the client save investment in machinery on original manufacture, mould is invested more than 40%.
Description of drawings
Fig. 1 is the utility model front view.
Fig. 2 is Fig. 1 left view.
Fig. 3 is Fig. 1 vertical view.
Fig. 4 is that Fig. 3 A is to view.
Fig. 5 is that Fig. 2 B is to view.
The specific embodiment
By Fig. 1 to 5 as can be known, the utility model is formed horicontal motion mechanism A, the B of flip-flop movement mechanism, swing arm motion C, actuating station rotational motion mechanism D, vertical movement mechanism E by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover, it is characterized in that:
Described manipulator horicontal motion mechanism A adopts stepper motor 12 and 15 transmissions of line style ball screw, with being arranged on the female cover 25 of line style ball screw that the actuating station horizontal direction moves forward and backward;
The described manipulator flip-flop movement B of mechanism adopts stepper motor 8 and gear 9 transmissions, connected and driven arm 22 upsets by upset main shaft 7, and arm 22 is provided with manipulator horicontal motion mechanism A and together overturns;
Described manipulator swing arm motion structure C adopts servomotor 30 and planetary reducer 29 transmissions, and all motions all are arranged on the rack 1 by swing arm main shaft 3 and swing thereupon;
Described actuating station rotational motion mechanism D adopts stepper motor 16 and synchronizing wheel 18 transmissions, and execution unit is a vacuum cup 19, and actuating station rotational motion mechanism D is arranged on the arm 22 of horicontal motion mechanism A;
Described vertical movement mechanism E adopts 25 transmissions of the female cover of stepper motor 4, bevel-gear sett 27,28, ball screw 26 and screw mandrel, and horicontal motion mechanism A, B of flip-flop movement mechanism and actuating station rotational motion mechanism D all are provided with on the female cover 25 of screw mandrel of vertical movement mechanism E.
Horicontal motion mechanism A stepper motor 12 described in the utility model connects ball screw 15 by a shaft joint 13, stepper motor 12 and ball screw 15 are arranged on the arm base plate 21 by bearing (setting) plate 14,20, also are provided with the slide rail 24 for the female cover motion of screw mandrel on the base plate 21.The described flip-flop movement B of mechanism stepper motor 8, upset main shaft 7 and turning gear 9 are arranged on the arm base plate 22 by connecting plate 10 and fixed head 11.Described swing arm motion C servomotor 30 is fixed on the rack 1 by bearing (setting) plate, and servomotor 30 is by gears engaged pivot movable pendulum arm main shaft 3, and the ball screw 26 of vertical movement mechanism B is articulated in the top of swing arm main shaft 3.Described actuating station rotational motion mechanism D stepper motor 16 is arranged on the arm mainboard, and stepper motor 16 is by being with 17 to connect synchronizing wheel 18 synchronously, and vacuum cup 19 connects synchronizing wheel 18.In the described rack 1 distribution box 2 is set, man-machine interface control cabinet 6 is fixed on the rack 1 by spool column 5.
High-speed slide back and forth before and after the horicontal motion mechanism of the present utility model, per second speed are the 260mm object work of taking fast; This position of flip-flop movement of the present utility model mechanism is designed to any set angle upset of 360 degree.Turn over product and to turn 90 degrees the side punching press, product turns over turnback and is stamped into key design, sets required angle flexibly arbitrarily; The utility model swing arm motion is the handover function of stamping products from shift of origin to another point, and 1 second of handover time is finished accurate positioning efficient height in the 120 degree angular ranges.When the utility model actuating station rotational motion mechanism was drawn stamping products, when the swing arm of C point was transferred product to the another location from initial point, the product angle can change.Be designed to 360 degree herein, rotation product angle is ajusted desired location.This design reduces the high request of shut die standard and Mold Making greatly, and the client reduces cost, efficient increases thereby make.The lifting action that the utility model vertical movement mechanism is designed to the D place when drawing stamping products, rising or falling speed are that 50mm-60mm moves back and forth was 1 second, and total kilometres are 300mm.Man-computer interface control system of the present utility model is regulated data and is oversimplified, and operator's training time is short, understandable; Electric-control system device cabinet.Adopt the design of against shock console mode, vibratility is little, and is steady when making the body running.
Embodiment described in the utility model only is the description that preferred implementation of the present utility model is carried out; be not that the utility model design and scope are limited; under the prerequisite that does not break away from the utility model design philosophy; engineers and technicians make the technical solution of the utility model in this area various modification and improvement; all should fall into protection domain of the present utility model; the technology contents that the utility model is asked for protection all is documented in claims.
Claims (6)
1. punch press puma manipulator, form horicontal motion mechanism (A), flip-flop movement mechanism (B), swing arm motion (C), actuating station rotational motion mechanism (D), vertical movement mechanism (E) by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover, it is characterized in that:
Described manipulator horicontal motion mechanism (A) adopts stepper motor (12) and line style ball screw (15) transmission, with being arranged on the female cover of line style ball screw (25) that the actuating station horizontal direction moves forward and backward;
Described manipulator flip-flop movement mechanism (B) adopts stepper motor (8) and gear (9) transmission, connected and driven arm (22) by upset main shaft (7) and overturn, and arm (22) is provided with manipulator horicontal motion mechanism (A) and together overturns;
Described manipulator swing arm motion structure (C) adopts servomotor (30) and planetary reducer (29) transmission, and all motions all are arranged on by swing arm main shaft (3), and rack (1) is gone up and swing thereupon;
Described actuating station rotational motion mechanism (D) adopts stepper motor (16) and synchronizing wheel (18) transmission, and execution unit is vacuum cup (19), and actuating station rotational motion mechanism (D) is arranged on the arm (22) of horicontal motion mechanism (A);
Described vertical movement mechanism (E) adopts (25) transmission of the female cover of stepper motor (4), bevel-gear sett (27,28), ball screw (26) and screw mandrel, and horicontal motion mechanism (A), flip-flop movement mechanism (B) and actuating station rotational motion mechanism (D) all are provided with on the female cover of screw mandrel (25) of vertical movement mechanism (E).
2. punch press puma manipulator according to claim 1, it is characterized in that described horicontal motion mechanism (A) stepper motor (12) connects ball screw (15) by a shaft joint (13), stepper motor (12) and ball screw (15) are arranged on the arm base plate (21) by bearing (setting) plate (14,20), also are provided with the slide rail (24) for the female cover motion of screw mandrel on the base plate (21).
3. punch press puma manipulator according to claim 1 is characterized in that described flip-flop movement mechanism (B) stepper motor (8), upset main shaft (7) and turning gear (9) are arranged on the arm base plate (22) by connecting plate (10) and fixed head (11).
4. punch press puma manipulator according to claim 1, it is characterized in that described swing arm motion (C) servomotor (30) is fixed on the rack (1) by bearing (setting) plate, servomotor (30) is by gears engaged pivot movable pendulum arm main shaft (3), and the ball screw (26) of vertical movement mechanism (B) is articulated in the top of swing arm main shaft (3).
5. punch press puma manipulator according to claim 1, it is characterized in that described actuating station rotational motion mechanism (D) stepper motor (16) is arranged on the arm mainboard, stepper motor (16) is by the synchronizing wheel (18) of band (17) connection synchronously, and vacuum cup (19) connects synchronizing wheel (18).
6. punch press puma manipulator according to claim 1 is characterized in that distribution box (2) is set in the described rack (1), and man-machine interface control cabinet (6) is fixed on the rack (1) by spool column (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205012411U CN201800039U (en) | 2010-08-23 | 2010-08-23 | Intelligent manipulator for punch press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205012411U CN201800039U (en) | 2010-08-23 | 2010-08-23 | Intelligent manipulator for punch press |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201800039U true CN201800039U (en) | 2011-04-20 |
Family
ID=43869555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205012411U Expired - Fee Related CN201800039U (en) | 2010-08-23 | 2010-08-23 | Intelligent manipulator for punch press |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201800039U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN102764823A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Movement mechanism of stamping and transferring manipulator |
| CN103481281A (en) * | 2013-09-06 | 2014-01-01 | 浙江工业大学之江学院工业研究院 | Mechanical arm flexible in action and stable in operation |
| CN103983114A (en) * | 2014-05-19 | 2014-08-13 | 北京科技大学 | Fast feeding and blanking equipment for multi-layer box type heating furnace |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN107584729A (en) * | 2017-09-21 | 2018-01-16 | 广东科捷龙机器人有限公司 | Novel intelligent optimizes manipulator |
-
2010
- 2010-08-23 CN CN2010205012411U patent/CN201800039U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN101947607B (en) * | 2010-08-23 | 2012-12-26 | 张新国 | Intelligent mechanical arm of punch press |
| CN102764823A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Movement mechanism of stamping and transferring manipulator |
| CN102764823B (en) * | 2012-07-26 | 2015-09-09 | 江苏尚诚精密模具科技有限公司 | The motion of punching press transfer manipulator |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
| CN103481281A (en) * | 2013-09-06 | 2014-01-01 | 浙江工业大学之江学院工业研究院 | Mechanical arm flexible in action and stable in operation |
| CN103983114A (en) * | 2014-05-19 | 2014-08-13 | 北京科技大学 | Fast feeding and blanking equipment for multi-layer box type heating furnace |
| CN103983114B (en) * | 2014-05-19 | 2015-12-16 | 北京科技大学 | A kind of quick loading and unloading equipment of multiple-layer box type heating furnace |
| CN107584729A (en) * | 2017-09-21 | 2018-01-16 | 广东科捷龙机器人有限公司 | Novel intelligent optimizes manipulator |
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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: FOSHAN DINGFENG ROBOT CO., LTD. Free format text: FORMER OWNER: ZHANG XINGUO Effective date: 20130624 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 414000 YUEYANG, HUNAN PROVINCE TO: 528300 FOSHAN, GUANGDONG PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20130624 Address after: 528300 Guangdong Province, Foshan city Shunde District Leliu Street Fuan Industrial Zone No. 7-2 three block Patentee after: Ding Feng Robot Co., Ltd. Address before: The land tax in Hunan province 414000 Evergreen Road Town, Yueyang District of Junshan City Patentee before: Zhang Xinguo |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20180823 |