CN202367750U - Full-automatic manipulator capable of delivering independently - Google Patents

Full-automatic manipulator capable of delivering independently Download PDF

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Publication number
CN202367750U
CN202367750U CN201120530440XU CN201120530440U CN202367750U CN 202367750 U CN202367750 U CN 202367750U CN 201120530440X U CN201120530440X U CN 201120530440XU CN 201120530440 U CN201120530440 U CN 201120530440U CN 202367750 U CN202367750 U CN 202367750U
Authority
CN
China
Prior art keywords
manipulator
synchronous pulley
mechanical arm
servo motor
arm
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
CN201120530440XU
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Chinese (zh)
Inventor
贾龙伟
余永
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.)
SUZHOU QINGLIN AUTOMATION EQUIPMENT CO Ltd
Original Assignee
SUZHOU QINGLIN AUTOMATION EQUIPMENT CO Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SUZHOU QINGLIN AUTOMATION EQUIPMENT CO Ltd filed Critical SUZHOU QINGLIN AUTOMATION EQUIPMENT CO Ltd
Priority to CN201120530440XU priority Critical patent/CN202367750U/en
Application granted granted Critical
Publication of CN202367750U publication Critical patent/CN202367750U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

Disclosed is a full-automatic manipulator capable of delivering independently which can accomplish delivery of products independently and stably. The manipulator comprises a rack, wherein the rack is provided with a left-right moving mechanism, an up-down moving mechanism and an intermediate station mechanism, the left-right moving mechanism comprises a first servomotor, the first servomotor is arranged at the top end of the rack and is connected with a universal coupler, the universal coupler is connected with a third synchronous pulley, the third synchronous pulley is connected with a second synchronous belt, the second synchronous belt is arranged on an arm of the manipulator, a first manipulator and a second manipulator are fixed respectively on the left end and right end of the arm of the manipulator through a synchronous belt fixing device, and the up-down moving mechanism comprises a second servomotor, the second servomotor is arranged one side of the top end of the rack and connected with a worm-gear speed reducer, the worm-gear speed reducer is connected with a crankshaft, the crankshaft is connected with a connecting rod, the connecting rod is connected with an arm support through a linear sliding rail mechanism, the arm of the manipulator is arranged inside the arm support and can move left and right, and the intermediate station mechanism is mounted on the rack below the arm of the manipulator.

Description

A kind of full-automatic independent manipulator of transferring
Technical field
The utility model belongs to the punching automation technical field, and manipulator is independently transferred in concrete a kind of full-automation that relates to.
Background technology
In the prior art, what the large tonnage pressing machine line adopted is the long-armed type manipulator, because this kind mode manipulator material grasping part one end fixes, so can shake when grasping the large scale product, speed is unsuitable too fast.And this kind mode power is too much unsuitable, and speed is difficult to promote, and is unfavorable for the raising of production efficiency
The utility model content
For overcoming deficiency of the prior art, the utility model aims to provide a kind of full-automatic independent manipulator of transferring that can independently accomplish the handover of product stably.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is realized through following technical scheme:
A kind of full-automatic independent manipulator of transferring; Comprise frame; Said frame is provided with left/right movement device, reciprocating mechanism and intermediate station mechanism, and said left/right movement device includes first servo motor that is arranged on said frame top, and said first servo motor is connected with Hooks coupling universal coupling; Said Hooks coupling universal coupling connects the 3rd synchronous pulley; Said the 3rd synchronous pulley connects second to be with synchronously, and the said second synchronous band is arranged on the mechanical arm, and said mechanical arm right ends is held respectively through synchronous band fixture and is fixed with first manipulator and second manipulator; Said reciprocating mechanism includes second servo motor that is arranged on said frame top one side; Said second servo motor connects worm reduction gear; Said worm reduction gear connects bent axle, and said bent axle connects connecting rod, and said connecting rod is through line slide rail mechanism connection hand arm support; Said arm support connects said mechanical arm, but said mechanical arm move left and right in said arm support; Said intermediate station mechanism is installed on the said frame, is positioned at said mechanical arm below.
Further, on said first servo motor first synchronous pulley is installed, is equipped with second synchronous pulley on the said Hooks coupling universal coupling, said first synchronous pulley is with synchronously through first with said second synchronous pulley and is connected; Said first servo motor is with the deceleration device of forming to be connected with said Hooks coupling universal coupling through said first synchronous pulley, second synchronous pulley and first synchronously.
Further, the said second synchronous band is compressed on the said mechanical arm through a pinch roller, and said pinch roller is connected on the said arm support, is positioned at the both sides of said the 3rd synchronous pulley.
Further, said arm support is provided with some encapsulate bearings, and said encapsulate bearing plays guiding and supporting role to said mechanical arm, reduces noise simultaneously
Further, said line slide rail mechanism also is connected with balance cylinder, and said balance cylinder is used for steadily promoting or landing said mechanical arm.
The operation principle of the utility model is following:
At first said mechanical arm is to left movement, and said first manipulator arrives on the product in feeder or the press, and said second manipulator arrives on the transitional product in the said intermediate station mechanism simultaneously; Said then mechanical arm moves downward said first, second manipulator and grasps product simultaneously by sucker or electromagnet; Upwards mention then and move right, make said first manipulator arrive said intermediate station mechanism top, said second manipulator arrives press inner mold top; Move downward then and put down product; Move upward again and get back to initial point, accomplish once and transfer, then circulation to left movement.This is to send from left to right, like reverse movement then from right to left.Many the independent handover of full-automation manipulators cooperation press are synchronized with the movement and accomplish the handover of sliver product.
Compared with prior art, the utlity model has following beneficial effect:
The full-automatic independent manipulator of transferring of the utility model can not produce the phenomenon of shake when grasping the large scale product, speed is fast, and efficient is high.
Above-mentioned explanation only is the general introduction of the utility model technical scheme, in order more to know the technological means of understanding the utility model, and can implement according to the content of specification, below with the preferred embodiment of the utility model and conjunction with figs. specify as after.The specific embodiment of the utility model is provided by following examples and accompanying drawing thereof in detail.
Description of drawings
Accompanying drawing described herein is used to provide the further understanding to the utility model, constitutes the application's a part, and illustrative examples of the utility model and explanation thereof are used to explain the utility model, do not constitute the improper qualification to the utility model.In the accompanying drawings:
Fig. 1 shows the structural representation according to the utility model.
Fig. 2 shows the structural representation of the mechanical arm part of the utility model.
Label declaration among the figure: 1, first servo motor, 2, second servo motor, 3, frame, 4, first manipulator, 5, intermediate station mechanism; 6, balance cylinder, 7, the line slide rail device, 8, Hooks coupling universal coupling, 9, worm reduction gear, 10, connecting rod; 11, first synchronous pulley, 12, first is with 13, second synchronous pulley, 14, second manipulator synchronously; 15, arm support, 16, bent axle, the 21, the 3rd synchronous pulley, 22, second band synchronously; 23, pinch roller, 24, the encapsulate bearing, 26, be with fixture synchronously, 27, mechanical arm.
The specific embodiment
Below with reference to accompanying drawing and combine embodiment, specify the utility model.
Referring to Fig. 1, shown in Figure 2; A kind of full-automatic independent manipulator of transferring comprises frame 3, and said frame 3 is provided with left/right movement device, reciprocating mechanism and intermediate station mechanism 5; Said left/right movement device includes first servo motor 1 that is arranged on said frame 3 tops; Said first servo motor 1 is connected with Hooks coupling universal coupling 8, and said Hooks coupling universal coupling 8 connects the 3rd synchronous pulley 21, and said the 3rd synchronous pulley 21 connects second and is with 22 synchronously; Said second is with 22 to be arranged on the mechanical arm 27 synchronously, and said mechanical arm 27 right ends are held respectively through synchronous band fixture 26 and are fixed with first manipulator 4 and second manipulator 14; Said reciprocating mechanism includes second servo motor 2 that is arranged on said frame 3 tops one side; Said second servo motor 2 connects worm reduction gear 9; Said worm reduction gear 6 connects bent axle 16, and said bent axle 16 connects connecting rod 10, and said connecting rod 10 is through line slide rail mechanism 7 connection hand arm supports 15; Said arm support 15 connects said mechanical arm 27, but said mechanical arm 27 move left and right in said arm support 15; Said intermediate station mechanism 5 is installed on the said frame 3, is positioned at said mechanical arm 27 belows.
Further, on said first servo motor 1 first synchronous pulley 11 is installed, is equipped with second synchronous pulley 13 on the said Hooks coupling universal coupling 8, said first synchronous pulley 11 is with 12 to be connected with said second synchronous pulley 13 through first synchronously; Said first servo motor 1 and said Hooks coupling universal coupling 8 are connected with 12 deceleration devices formed with first through said first synchronous pulley 11, second synchronous pulley 13 synchronously.
Further, said second is with 22 to be compressed on the said mechanical arm 27 through a pinch roller 23 synchronously, and said pinch roller 23 is connected on the said arm support 15, is positioned at the both sides of said the 3rd synchronous pulley 21.
Further, said arm support 15 is provided with some encapsulate bearings 24,27 guiding of 24 pairs of said mechanical arms of said encapsulate bearing and supporting role.
The preferred embodiment that the above is merely the utility model is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within the spirit and principle of the utility model, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the utility model.

Claims (5)

1. manipulator is independently transferred in a full-automation; Comprise frame (3); Said frame (3) is provided with left/right movement device, reciprocating mechanism and intermediate station mechanism (5); It is characterized in that: said left/right movement device includes first servo motor (1) that is arranged on said frame (3) top; Said first servo motor (1) is connected with Hooks coupling universal coupling (8), and said Hooks coupling universal coupling (8) connects the 3rd synchronous pulley (21), and said the 3rd synchronous pulley (21) connects second and is with (22) synchronously; Said second is with (22) to be arranged on the mechanical arm (27) synchronously, and said mechanical arm (27) right ends is held respectively through synchronous band fixture (26) and is fixed with first manipulator (4) and second manipulator (14); Said reciprocating mechanism includes second servo motor (2) that is arranged on said frame (3) top one side; Said second servo motor (2) connects worm reduction gear (9); Said worm reduction gear (6) connects bent axle (16), and said bent axle (16) connects connecting rod (10), and said connecting rod (10) is through line slide rail mechanism (7) connection hand arm support (15); Said arm support (15) connects said mechanical arm (27), said mechanical arm (27) at said arm support (15) but in move left and right; Said intermediate station mechanism (5) is installed on the said frame (3), is positioned at said mechanical arm (27) below.
2. the full-automatic independent manipulator of transferring according to claim 1; It is characterized in that: first synchronous pulley (11) is installed on said first servo motor (1); Be equipped with second synchronous pulley (13) on the said Hooks coupling universal coupling (8), said first synchronous pulley (11) is with (12) to be connected with said second synchronous pulley (13) through first synchronously; Said first servo motor (1) is connected with the deceleration device that said Hooks coupling universal coupling (8) is with (12) to form through said first synchronous pulley (11), second synchronous pulley (13) and first synchronously.
3. the full-automatic independent manipulator of transferring according to claim 1; It is characterized in that: said second is with (22) to be compressed on the said mechanical arm (27) through a pinch roller (23) synchronously; Said pinch roller (23) is connected on the said arm support (15), is positioned at the both sides of said the 3rd synchronous pulley (21).
4. the full-automatic independent manipulator of transferring according to claim 1, it is characterized in that: said arm support (15) is provided with some encapsulate bearings (24), and said encapsulate bearing (24) plays guiding and supporting role to said mechanical arm (27).
5. the full-automatic independent manipulator of transferring according to claim 1, it is characterized in that: said line slide rail mechanism (7) also is connected with balance cylinder (6).
CN201120530440XU 2011-12-16 2011-12-16 Full-automatic manipulator capable of delivering independently Expired - Fee Related CN202367750U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201120530440XU CN202367750U (en) 2011-12-16 2011-12-16 Full-automatic manipulator capable of delivering independently

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201120530440XU CN202367750U (en) 2011-12-16 2011-12-16 Full-automatic manipulator capable of delivering independently

Publications (1)

Publication Number Publication Date
CN202367750U true CN202367750U (en) 2012-08-08

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102950590A (en) * 2012-10-18 2013-03-06 江苏省(扬州)数控机床研究院 Two-axis manipulator for press line and working process of two-axis manipulator
CN105364920A (en) * 2014-07-29 2016-03-02 沈阳众拓机器人设备有限公司 A high temperature pickup manipulator
CN106141017A (en) * 2016-08-29 2016-11-23 山东力久特种电机股份有限公司 High velocity ram machine motor stamping manages sheet feeding unloading manipulator and method automatically
CN107377799A (en) * 2017-09-05 2017-11-24 青岛恒泰机械配件有限公司 A kind of automatic stamping transfer system with free-standing manipulator
CN107497958A (en) * 2017-09-05 2017-12-22 青岛恒泰机械配件有限公司 A kind of free-standing manipulator for punching automation transfer system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102950590A (en) * 2012-10-18 2013-03-06 江苏省(扬州)数控机床研究院 Two-axis manipulator for press line and working process of two-axis manipulator
CN105364920A (en) * 2014-07-29 2016-03-02 沈阳众拓机器人设备有限公司 A high temperature pickup manipulator
CN106141017A (en) * 2016-08-29 2016-11-23 山东力久特种电机股份有限公司 High velocity ram machine motor stamping manages sheet feeding unloading manipulator and method automatically
CN106141017B (en) * 2016-08-29 2018-06-12 山东力久特种电机股份有限公司 High velocity ram machine motor stamping manages piece feeding unloading manipulator and method automatically
CN107377799A (en) * 2017-09-05 2017-11-24 青岛恒泰机械配件有限公司 A kind of automatic stamping transfer system with free-standing manipulator
CN107497958A (en) * 2017-09-05 2017-12-22 青岛恒泰机械配件有限公司 A kind of free-standing manipulator for punching automation transfer system

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C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP02 Change in the address of a patent holder

Address after: 215000, Xiangcheng District Suzhou yuan hi tech park, such as 1555 Yuan Road, Jiangsu

Patentee after: Suzhou Qinglin Automation Equipment Co.,Ltd.

Address before: 215000 Jiangsu city in Suzhou Province town of Xiangcheng District Wong Tai Pan Yang Industrial Park Chun Feng Road No. 16

Patentee before: Suzhou Qinglin Automation Equipment Co.,Ltd.

DD01 Delivery of document by public notice

Addressee: Suzhou Qinglin Automation Equipment Co.,Ltd.

Document name: Notification to Pay the Fees

DD01 Delivery of document by public notice

Addressee: Suzhou Qinglin Automation Equipment Co.,Ltd.

Document name: Notification of Termination of Patent Right

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120808

Termination date: 20151216

EXPY Termination of patent right or utility model