CN202952265U - Five-axis intelligent manipulator - Google Patents
Five-axis intelligent manipulator Download PDFInfo
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- CN202952265U CN202952265U CN 201220587956 CN201220587956U CN202952265U CN 202952265 U CN202952265 U CN 202952265U CN 201220587956 CN201220587956 CN 201220587956 CN 201220587956 U CN201220587956 U CN 201220587956U CN 202952265 U CN202952265 U CN 202952265U
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- decelerator
- axle bed
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Abstract
The utility model provides an intelligent manipulator which is high in positioning accuracy and compact in structure. The five-axis intelligent manipulator comprises an engine seat, a vertical moving mechanism, an arm-swinging moving mechanism, a horizontal moving mechanism, a rolling-over moving mechanism and an execution end rotation mechanism. Particularly, the vertical moving mechanism is loaded on a rack, the arm-swinging moving mechanism is loaded on the vertical moving mechanism, the horizontal moving mechanism is loaded on the arm-swinging moving mechanism, the rolling-over moving mechanism is loaded on the horizontal moving mechanism, and the execution end rotation mechanism is loaded on the rolling-over moving mechanism. Through reasonable arrangement of the positions of the moving mechanisms, the manipulator is enabled to have the advantages of being high in precision, quick in moving speed, small in movement inertia, long in maintenance cycle, and the like.
Description
Technical field
The utility model relates to automated machine equipment, particularly a kind of Intelligent manipulator for punch press.
Background technology
Present Intelligent manipulator for punch press, as the applying date is on August 23rd, 2010, the Chinese utility model patent that the patent No. is 201020501241.1, it comprises five motions, respectively: horicontal motion mechanism, flip-flop movement mechanism, swing arm motion, actuating station rotational motion mechanism and vertical movement mechanism.But in its technical scheme, be the supporting mechanism as other 4 mechanisms by the swing arm motion, during the motion of swing arm motion, must drive all the other 4 mechanism kinematics.
Because the swing arm motion is bearing very large weight, cause the rotary inertia of swing arm motion very large, the positioning precision on horizontal plane is poor, but the positioning precision of horizontal plane is one of important required precision of machine.For this shortcoming, the product that needs exploitation to make new advances.
The utility model content
The utility model provides that a kind of positioning precision is high, the puma manipulator of compact conformation.
For achieving the above object, the utility model is taked following technical scheme:
Five axle puma manipulators, comprise support, vertical movement mechanism, swing arm motion, horicontal motion mechanism, flip-flop movement mechanism and actuating station rotating mechanism; Especially, vertical movement mechanism is carried and is held on frame, and the swing arm motion carries and holds on vertical movement mechanism, and horicontal motion mechanism carries and holds on the swing arm motion, flip-flop movement mechanism carries and holds on horicontal motion mechanism, and the actuating station rotating mechanism carries and holds in flip-flop movement mechanism.
In the process of producing, usually lower to the requirement of the upright position precision of actuating station, and the rotation positioning accuracy request of the positioning precision on horizontal plane and actuating station is higher to actuating station.The utility model carries and holds mechanism by the bottom using vertical movement mechanism as other mechanisms, can reduce the weight of key mechanism, thereby reduce the movement inertia of key mechanism, improve its responsiveness and precision, thereby the performance of improving product, extend maintenance period.
The utility model, by the position of each motion of reasonable disposition, makes this manipulator have the advantages such as precision is high, quick action, action inertia is little, maintenance period is long.
The accompanying drawing explanation
Fig. 1 is the structural representation of embodiment.
Description of reference numerals: 1-support; The 2-vertical movement mechanism; 3-swing arm motion; The 4-horicontal motion mechanism; 5-flip-flop movement mechanism; 6-actuating station rotating mechanism; The 7-vacuum cup; 21-the first motor; The 22-down-feed screw; The vertical nut of 23-; The 24-guide pillar; 31-the second motor; The 32-decelerator; The 33-connecting plate; 41-the 3rd motor; The 42-horizontal lead screw; The horizontal nut of 43-; The 44-horizontal tray; The horizontal planker of 45-; 51-the 4th motor; The 52-axle bed that overturns; The 53-boatswain chair; 61-the 5th motor; 62-actuating station axle bed; 63-carries out arm.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model content is described further.
As shown in Figure 1, the five axle puma manipulators of the present embodiment comprise: support 1, vertical movement mechanism 2, swing arm motion 3, horicontal motion mechanism 4, flip-flop movement mechanism 5 and actuating station rotating mechanism 6.Vertical movement mechanism is held on frame 1 in 2 years, the swing arm motion holds on vertical movement mechanism 2 in 3 years, horicontal motion mechanism holds on swing arm motion 3 in 4 years, and flip-flop movement mechanism holds on horicontal motion mechanism 4 in 5 years, and the actuating station rotating mechanism holds in flip-flop movement mechanism 5 in 6 years.Wherein:
Flip-flop movement mechanism 5 consists of the 4th motor 51, upset axle bed 52 and boatswain chair 53.The 4th motor 51 is fixed on boatswain chair 53, and upset axle bed 52 is arranged on boatswain chair 53; Boatswain chair 53 rotations relatively of upset axle bed 52; The rotation axis of upset axle bed 52 is in horizontal plane; The 4th 51 pairs, motor upset axle bed 52 carries out transmission.Boatswain chair 53 is fixed on horizontal planker 45.When the 4th motor 51 energising, the actuating station rotating mechanism 6 be installed on upset axle bed 52 can be realized the rotation in vertical plane.
Actuating station rotating mechanism 6 consists of the 5th motor 61, actuating station axle bed 62 and execution arm 63.The 5th motor 61 is fixed on to be carried out on arm 63, and actuating station axle bed 62 is arranged on to be carried out on arm 63; Actuating station axle bed 62 can be carried out arm 63 rotations relatively; The 5th 61 pairs, motor actuating station axle bed 62 carries out transmission.Carrying out arm 63 is fixed on upset axle bed 52.When the 5th motor 61 energising, the actuating unit be installed on actuating station axle bed 62 can be realized rotatablely moving.The actuating unit of the present embodiment is vacuum cup 7.As required, actuating unit also can adopt other devices.
Relative vertical movement mechanism 2, the operating accuracy of swing arm motion 3, horicontal motion mechanism 4, flip-flop movement mechanism 5 and actuating station rotating mechanism 6 is even more important to producing.Swing arm motion 3, horicontal motion mechanism 4, flip-flop movement mechanism 5 and actuating station rotating mechanism 6 are arranged on vertical movement mechanism 2, and are born the weight of other mechanisms by vertical movement mechanism 2, can effectively improve the operating accuracy of manipulator.In addition, in the present embodiment, the structure of each mechanism is all very compact, can effectively save volume and cost.
Claims (7)
1. five axle puma manipulators, comprise support, vertical movement mechanism, swing arm motion, horicontal motion mechanism, flip-flop movement mechanism and actuating station rotating mechanism; It is characterized in that: vertical movement mechanism is carried and is held on frame, the swing arm motion carries and holds on vertical movement mechanism, horicontal motion mechanism carries and holds on the swing arm motion, and flip-flop movement mechanism carries and holds on horicontal motion mechanism, and the actuating station rotating mechanism carries and holds in flip-flop movement mechanism.
2. five axle puma manipulators as claimed in claim 1 is characterized in that: vertical movement mechanism (2) is by the first motor (21), down-feed screw (22), vertical nut (23) and guide pillar (24) formation; Down-feed screw (22) coordinates the vertical nut-screw rod pair of formation with vertical nut (23); The free degree that vertical nut (23) moves in the vertical direction is limited, and the first motor (21) carries out transmission to vertical nut (23); Down-feed screw (22) links together with guide pillar (24), and guide pillar (24) is done elevating movement with down-feed screw (22).
3. five axle puma manipulators as claimed in claim 1 is characterized in that: swing arm motion (3) consists of the second motor (31), decelerator (32) and connecting plate (33); The second motor (31) carries out transmission to decelerator (32), and connecting plate (33) links together with the output of decelerator (32), and connecting plate (33) rotates with the output of decelerator (32).
4. five axle puma manipulators as claimed in claim 2 is characterized in that: swing arm motion (3) consists of the second motor (31), decelerator (32) and connecting plate (33); The second motor (31) carries out transmission to decelerator (32), and connecting plate (33) links together with the output of decelerator (32), and connecting plate (33) rotates with the output of decelerator (32); The second motor (31) and decelerator (32) are arranged on the inside of guide pillar (24), and decelerator (32) is fixed together with guide pillar (24).
5. five axle puma manipulators as claimed in claim 1 is characterized in that: horicontal motion mechanism (4) consists of the 3rd motor (41), horizontal lead screw (42), horizontal nut (43), horizontal tray (44) and horizontal planker (45); Between horizontal planker (45) and horizontal tray (44), by guide pillar guide pin bushing pair, led; Horizontal lead screw (42) coordinates the horizontal nut screw pair of formation with horizontal nut (43); It is upper that the 3rd motor (41) is fixed on horizontal tray (44), and horizontal lead screw (42) is carried out to transmission; Horizontal nut (43) links together with horizontal planker (45).
6. five axle puma manipulators as claimed in claim 1 is characterized in that: flip-flop movement mechanism (5) is by the 4th motor (51), upset axle bed (52) and boatswain chair (53) formation; It is upper that the 4th motor (51) is fixed on boatswain chair (53), and upset axle bed (52) is arranged on boatswain chair (53); Boatswain chair (53) rotation relatively of upset axle bed (52); The rotation axis of upset axle bed (52) is in horizontal plane; The 4th motor (51) carries out transmission to upset axle bed (52).
7. five axle puma manipulators as claimed in claim 1 is characterized in that: actuating station rotating mechanism (6) is by the 5th motor (61), actuating station axle bed (62) and carry out arm (63) and form; The 5th motor (61) is fixed on carries out arm (63) above, and actuating station axle bed (62) is arranged on to be carried out on arm (63); Actuating station axle bed (62) can be carried out arm (63) rotation relatively; The 5th motor (61) carries out transmission to actuating station axle bed (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220587956 CN202952265U (en) | 2012-11-08 | 2012-11-08 | Five-axis intelligent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220587956 CN202952265U (en) | 2012-11-08 | 2012-11-08 | Five-axis intelligent manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202952265U true CN202952265U (en) | 2013-05-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220587956 Expired - Fee Related CN202952265U (en) | 2012-11-08 | 2012-11-08 | Five-axis intelligent manipulator |
Country Status (1)
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| CN (1) | CN202952265U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707321A (en) * | 2013-12-30 | 2014-04-09 | 泉州梅洋塑胶五金制品有限公司 | Novel torsion arm |
| CN103737585A (en) * | 2013-12-30 | 2014-04-23 | 泉州梅洋塑胶五金制品有限公司 | Novel five-shaft combined manipulator |
| CN104260089A (en) * | 2014-09-29 | 2015-01-07 | 黄国俊 | Five-shaft mechanical arm |
| CN104476542A (en) * | 2014-12-16 | 2015-04-01 | 林创辉 | Transfer robot |
| CN104589334A (en) * | 2014-12-22 | 2015-05-06 | 湖北文理学院 | Five-axis multifunctional manipulator |
| CN104858862A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Punching transfer mechanical arm |
| CN104909164A (en) * | 2015-05-21 | 2015-09-16 | 合肥京东方光电科技有限公司 | Substrate transfer device |
| CN105149474A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Material taking mechanical arm |
| CN105170825A (en) * | 2015-10-01 | 2015-12-23 | 合肥金海康五金机械制造有限公司 | Telescopic mechanism of material taking mechanical arm |
| CN103737587B (en) * | 2014-01-23 | 2016-07-06 | 昆山威创精密机械有限公司 | Intelligence five axis robot |
| CN106002961A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Horizontal moving type five-shaft manipulator |
| CN106697919A (en) * | 2016-12-30 | 2017-05-24 | 天津朗誉科技发展有限公司 | Silicon rod loading and unloading transferring equipment |
| CN106697918A (en) * | 2016-12-30 | 2017-05-24 | 天津朗誉科技发展有限公司 | Positioning mechanism for silicon rod loading and unloading |
| CN108145704A (en) * | 2017-12-29 | 2018-06-12 | 东莞市天合机电开发有限公司 | A kind of panel display screen machinery captures mobile mechanism |
| CN108858534A (en) * | 2018-07-28 | 2018-11-23 | 广州品鑫机电科技有限公司 | A kind of tenon processing unit (plant) |
| CN110817426A (en) * | 2019-11-27 | 2020-02-21 | 曹玉英 | Raw material plate grabbing and moving mechanism for stamping die |
-
2012
- 2012-11-08 CN CN 201220587956 patent/CN202952265U/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737585B (en) * | 2013-12-30 | 2016-04-27 | 泉州梅洋塑胶五金制品有限公司 | A kind of novel five axle plug-in manipulators |
| CN103737585A (en) * | 2013-12-30 | 2014-04-23 | 泉州梅洋塑胶五金制品有限公司 | Novel five-shaft combined manipulator |
| CN103707321A (en) * | 2013-12-30 | 2014-04-09 | 泉州梅洋塑胶五金制品有限公司 | Novel torsion arm |
| CN103707321B (en) * | 2013-12-30 | 2016-04-27 | 泉州梅洋塑胶五金制品有限公司 | A kind of Novel torsion arm |
| CN103737587B (en) * | 2014-01-23 | 2016-07-06 | 昆山威创精密机械有限公司 | Intelligence five axis robot |
| CN104260089A (en) * | 2014-09-29 | 2015-01-07 | 黄国俊 | Five-shaft mechanical arm |
| CN104476542A (en) * | 2014-12-16 | 2015-04-01 | 林创辉 | Transfer robot |
| CN104589334A (en) * | 2014-12-22 | 2015-05-06 | 湖北文理学院 | Five-axis multifunctional manipulator |
| CN104858862A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Punching transfer mechanical arm |
| CN104909164A (en) * | 2015-05-21 | 2015-09-16 | 合肥京东方光电科技有限公司 | Substrate transfer device |
| CN105170825A (en) * | 2015-10-01 | 2015-12-23 | 合肥金海康五金机械制造有限公司 | Telescopic mechanism of material taking mechanical arm |
| CN105149474A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Material taking mechanical arm |
| CN106002961A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Horizontal moving type five-shaft manipulator |
| CN106002961B (en) * | 2016-07-25 | 2018-08-31 | 昆山威创自动化科技有限公司 | Five axis robot of parallel-moving type |
| CN106697919A (en) * | 2016-12-30 | 2017-05-24 | 天津朗誉科技发展有限公司 | Silicon rod loading and unloading transferring equipment |
| CN106697918A (en) * | 2016-12-30 | 2017-05-24 | 天津朗誉科技发展有限公司 | Positioning mechanism for silicon rod loading and unloading |
| CN108145704A (en) * | 2017-12-29 | 2018-06-12 | 东莞市天合机电开发有限公司 | A kind of panel display screen machinery captures mobile mechanism |
| CN108858534A (en) * | 2018-07-28 | 2018-11-23 | 广州品鑫机电科技有限公司 | A kind of tenon processing unit (plant) |
| CN108858534B (en) * | 2018-07-28 | 2021-01-15 | 广州品鑫机电科技有限公司 | Tenon processingequipment |
| CN110817426A (en) * | 2019-11-27 | 2020-02-21 | 曹玉英 | Raw material plate grabbing and moving mechanism for stamping die |
| CN110817426B (en) * | 2019-11-27 | 2021-02-05 | 昆山榕美电子科技有限公司 | Raw material plate grabbing and moving mechanism for stamping die |
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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: DONGGUAN PACESETTER M + E TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: ZHOU WU Effective date: 20140116 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 510000 GUANGZHOU, GUANGDONG PROVINCE TO: 523000 DONGGUAN, GUANGDONG PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140116 Address after: 523000 Guangdong province Dongguan Nancheng District week Xilong Xi Road No. 5, Goldman Science Park Block B room 505-507 Patentee after: GUANGZHOU PACESETTER M & E TECHNOLOGY Co.,Ltd. Address before: 510000, building 101, building D, 393 business park, Zhongshan Road, Tianhe District, Guangzhou, Guangdong Patentee before: Zhou Wu |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151022 Address after: 510000, building 101, building D, 393 business park, Zhongshan Road, Tianhe District, Guangzhou, Guangdong Patentee after: GUANGZHOU PACESETTE M&E TECHNOLOGY CO.,LTD. Address before: 523000 Guangdong province Dongguan Nancheng District week Xilong Xi Road No. 5, Goldman Science Park Block B room 505-507 Patentee before: GUANGZHOU PACESETTER M & E TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130529 Termination date: 20211108 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |