CN203245299U - Small size moving-out manipulator - Google Patents

Small size moving-out manipulator Download PDF

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Publication number
CN203245299U
CN203245299U CN 201320283226 CN201320283226U CN203245299U CN 203245299 U CN203245299 U CN 203245299U CN 201320283226 CN201320283226 CN 201320283226 CN 201320283226 U CN201320283226 U CN 201320283226U CN 203245299 U CN203245299 U CN 203245299U
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CN
China
Prior art keywords
axis
synchronizing wheel
arm
links
mechanical arm
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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
CN 201320283226
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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
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SUZHOU QINGLIN AUTOMATION EQUIPMENT CO Ltd
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Priority to CN 201320283226 priority Critical patent/CN203245299U/en
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Publication of CN203245299U publication Critical patent/CN203245299U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a small size moving-out manipulator used for punching mechanical discharging materials. A support is provided with a Y-axis moving mechanism which is provided with an X-axis moving mechanism. The Y-axis moving mechanism comprises a sliding block fixing plate which is mounted on the support through a Y-axis guide mechanism, and the sliding block fixing plate is connected with a Y-axis transmission mechanism. The X-axis moving mechanism comprises an arm cross beam which is fixed on the sliding block fixing plate, the arm cross beam is provided with a mechanical arm through an X-axial guide mechanism, the mechanical arm is connected with the X-axial transmission mechanism, and the mechanical arm is provided with a taking and placing element. According to the small size moving-out manipulator, the X-axis moving mechanism and the Y-axis moving mechanism are matched, a discharging process of a punching machine is achieved in a fully automatic mode, and the production efficiency of the punching machine is improved.

Description

The small-sized manipulator that shifts out
Technical field
The utility model relates to press, specifically a kind of small-sized manipulator that shifts out for the press discharging.
Background technology
In the prior art, what the discharging of press was adopted is the pattern of artificial feeding, and this kind mode speed is slow, production efficiency is low, and because repeat for a long time same work, easily cause the tired operation of workman, have certain safety in production hidden danger, be unfavorable for the long term growth of enterprise.
Summary of the invention
The utility model provides a kind of small-sized manipulator that shifts out of realizing the press self-emptying for the problems referred to above.
According to the technical solution of the utility model: a kind of small-sized manipulator that shifts out, at support the y-axis shift actuation mechanism is installed, on the described y-axis shift actuation mechanism X-axis travel mechanism is installed; Described y-axis shift actuation mechanism comprises by the Y-axis guiding mechanism and is installed in slide block fixed head on the described support, and described slide block fixed head links to each other with the Y-axis transmission mechanism; Described X-axis travel mechanism comprises the arm crossbeam that is fixed on the described slide block fixed head, by the X-axis guiding mechanism mechanical arm is installed on the described arm crossbeam, and described mechanical arm links to each other with the X-axis transmission mechanism, is equipped with on the described mechanical arm and picks and places element.
Described Y-axis transmission mechanism comprises Y-axis servomotor, the reductor that links to each other with described Y-axis servomotor, be installed in the connecting rod that bent axle on the described speed reducer output shaft and an end link to each other with described bent axle, and the other end of described connecting rod links to each other with described slide block fixed head.
Described Y-axis guiding mechanism comprises two Y-axis line slide rails that are fixed on the described support and is fixed on two Y-axis linear slider that match with described two Y-axis line slide rails respectively on the described slide block fixed head.
Two balance cylinders are installed between described arm crossbeam and the described support.
Described X-axis transmission mechanism comprises the X-axis servo motor, the first synchronizing wheel, Timing Belt, the second synchronizing wheel, the 3rd synchronizing wheel, opening Timing Belt and tensioner side synchronizing wheel, described the first synchronizing wheel is installed on the output shaft of described X-axis servo motor, described the second synchronizing wheel and the coaxial end that is installed in described arm crossbeam of described the 3rd synchronizing wheel, described tensioner side synchronizing wheel is installed in the other end of described arm crossbeam, described the second synchronizing wheel links to each other with described the first synchronizing wheel by described Timing Belt, described tensioner side synchronizing wheel links to each other with described the 3rd synchronizing wheel by the opening Timing Belt, and described mechanical arm is fixed on the described opening Timing Belt.
Described X-axis guiding mechanism comprises X-axis line slideway and X-axis linear slider, and described X-axis line slideway is fixed on the described arm crossbeam, and described X-axis linear slider is fixed on the described mechanical arm.
The described element that picks and places is sucker or electromagnet.
Technique effect of the present utility model is: the utility model matches with the y-axis shift actuation mechanism by X-axis travel mechanism, finishes the material process that of press full-automaticly, has improved the production efficiency of press; The X-axis transmission mechanism is selected flexibly connecting of Timing Belt, has lengthened the stroke of X-axis.
Description of drawings
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view of another angle of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is further described.
Among Fig. 1, Fig. 2, comprise X-axis servo motor 1, the first synchronizing wheel 2, Timing Belt 3, the second synchronizing wheel 4, the 3rd synchronizing wheel 5, opening Timing Belt 6, arm crossbeam 7, X-axis line slideway 8, X-axis linear slider 9, arm fixing plate 10, tensioner side synchronizing wheel 11, mechanical arm 12, sucker 13, reductor 14, bent axle 15, connecting rod 16, Y-axis servomotor 17, balance cylinder 18, Y-axis line slide rail 19, slide block fixed head 20, crossbeam fixed head 21, Y-axis linear slider 22, support 23 etc.
Such as Fig. 1~shown in Figure 2, the utility model is a kind of small-sized manipulator that shifts out, and comprises the support 23 that is fixed on the press exit side, at support 23 the y-axis shift actuation mechanism is installed, and X-axis travel mechanism is installed on the y-axis shift actuation mechanism.
The y-axis shift actuation mechanism comprises by the Y-axis guiding mechanism and is installed in slide block fixed head 20 on the support 23, and slide block fixed head 20 links to each other with the Y-axis transmission mechanism.
The Y-axis transmission mechanism comprises Y-axis servomotor 17, the reductor 14 that links to each other with Y-axis servomotor 17, be installed in the connecting rod 16 that bent axle 15 on reductor 14 output shafts and an end link to each other with bent axle 15, and the other end of connecting rod 16 links to each other with slide block fixed head 20.
The Y-axis guiding mechanism comprises two Y-axis line slide rails 19 that are fixed on the support 23 and is fixed on two Y-axis linear slider 22 that match with two Y-axis line slide rails 19 respectively on the slide block fixed head 20.
X-axis travel mechanism comprises by crossbeam fixed head 21 and is fixed on arm crossbeam 7 on the slide block fixed head 20, by the X-axis guiding mechanism mechanical arm 12 is installed on the arm crossbeam 7, mechanical arm 12 links to each other with the X-axis transmission mechanism, is equipped with on the mechanical arm 12 and picks and places element.Pick and place element and adopt sucker 13 or electromagnet.
Two balance cylinders 18 are installed between arm crossbeam 7 and support 23, play balance arm crossbeam 7.Two balance cylinders 18 are fixed on the support 23, are positioned at the both sides of connecting rod 16, and its piston rod links to each other with arm crossbeam 7.
The X-axis transmission mechanism comprises X-axis servo motor 1, the first synchronizing wheel 2, Timing Belt 3, the second synchronizing wheel 4, the 3rd synchronizing wheel 5, opening Timing Belt 6 and tensioner side synchronizing wheel 11.The first synchronizing wheel 2 is installed on the output shaft of X-axis servo motor 1, the second synchronizing wheel 4 and the 3rd synchronizing wheel 5 coaxial ends that are installed in arm crossbeam 7, tensioner side synchronizing wheel 11 is installed in the other end of arm crossbeam 7, the second synchronizing wheel 4 links to each other with the first synchronizing wheel 2 by Timing Belt 3, tensioner side synchronizing wheel 11 links to each other with the 3rd synchronizing wheel 5 by opening Timing Belt 6, and mechanical arm 12 is fixed on the opening Timing Belt 6 by arm fixing plate 10.The selection of X-axis transmission mechanism flexibly connects with Timing Belt, can lengthen the stroke of X-axis.
The X-axis guiding mechanism comprises X-axis line slideway 8 and X-axis linear slider 9, and X-axis line slideway 8 is fixed on the arm crossbeam 7, and X-axis linear slider 9 is fixed on the mechanical arm 12.
The course of work of the present utility model is as follows: after press finishes the product punching press, the slide block of press is gone to top dead-centre, the manipulator X-axis is at first moved, mechanical arm 12 reaches between press mold and the bed die, move under the Y-axis, after the contact product, under vacuum cup or the effect of electromagnet, catch product.Afterwards, go to the top dead-centre of manipulator on the Y-axis, make the product break away from moulds, mechanical arm 12 is walked to the outside of press under the drive of X-axis, and product is shifted out press, realizes that product is transplanted on press outside This move process from mould.
Concrete step is as follows: during the manipulator operation, beginning is that X-axis is moved first.The first synchronizing wheel 2 on X-axis servo motor 1 driving shaft moves in a circle, and under the effect of Timing Belt 3, drives the second synchronizing wheel 4 circumference actions, the rotation that connects together of the second synchronizing wheel 4 and the 3rd synchronizing wheel 5 usefulness same axises.The 3rd synchronizing wheel 5 drives opening Timing Belt 6 with tensioner side synchronizing wheel 11 and does rectilinear motion, opening Timing Belt 6 driving mechanical arms 12 are with linear slider 9 moving linearly on line slideway 8, pick and place element at the X-axis moving linearly thereby drive to be fixed on above the mechanical arm 12.
When the mechanical arm 12 of X-axis reaches the press the inside, Y-axis begins action.The bent axle 15 that Y-axis servomotor 17 drives above the reductor 14 is made the circumference telemechanical, and bent axle 15 promotes connecting rod 16 and does rectilinear motion in Y-axis with slide block fixed head 20 and Y-axis linear slider 22 on Y-axis line slide rail 19.The balance cylinder 18 of connecting rod 16 both sides moves up and down with connecting rod 16.X-axis and Y-axis cooperate alternate run, realize the handover of product.
The utility model matches with the y-axis shift actuation mechanism by X-axis travel mechanism, finishes the material process that of press full-automaticly, has improved the production efficiency of press, has reduced the cost of labor of manufacturing enterprise, has removed manually-operated potential safety hazard.

Claims (7)

1. the small-sized manipulator that shifts out is characterized in that: at support (23) the y-axis shift actuation mechanism is installed, on the described y-axis shift actuation mechanism X-axis travel mechanism is installed; Described y-axis shift actuation mechanism comprises by the Y-axis guiding mechanism and is installed in slide block fixed head (20) on the described support (23), and described slide block fixed head (20) links to each other with the Y-axis transmission mechanism; Described X-axis travel mechanism comprises the arm crossbeam (7) that is fixed on the described slide block fixed head (20), described arm crossbeam (7) is upper to be equipped with mechanical arm (12) by the X-axis guiding mechanism, described mechanical arm (12) links to each other with the X-axis transmission mechanism, is equipped with on the described mechanical arm (12) and picks and places element.
2. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: described Y-axis transmission mechanism comprises Y-axis servomotor (17), the reductor (14) that links to each other with described Y-axis servomotor (17), be installed in the connecting rod (16) that bent axle (15) on described reductor (14) output shaft and an end link to each other with described bent axle (15), and the other end of described connecting rod (16) links to each other with described slide block fixed head (20).
3. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: described Y-axis guiding mechanism comprises the two Y-axis line slide rails (19) that are fixed on the described support (23) and is fixed on two Y-axis linear slider (22) that match with described two Y-axis line slide rails (19) respectively on the described slide block fixed head (20).
4. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: between described arm crossbeam (7) and the described support (23) two balance cylinders (18) are installed.
5. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: described X-axis transmission mechanism comprises X-axis servo motor (1), the first synchronizing wheel (2), Timing Belt (3), the second synchronizing wheel (4), the 3rd synchronizing wheel (5), opening Timing Belt (6) and tensioner side synchronizing wheel (11), described the first synchronizing wheel (2) is installed on the output shaft of described X-axis servo motor (1), described the second synchronizing wheel (4) and the coaxial end that is installed in described arm crossbeam (7) of described the 3rd synchronizing wheel (5), described tensioner side synchronizing wheel (11) is installed in the other end of described arm crossbeam (7), described the second synchronizing wheel (4) links to each other with described the first synchronizing wheel (2) by described Timing Belt (3), described tensioner side synchronizing wheel (11) links to each other with described the 3rd synchronizing wheel (5) by opening Timing Belt (6), and described mechanical arm (12) is fixed on the described opening Timing Belt (6).
6. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: described X-axis guiding mechanism comprises X-axis line slideway (8) and X-axis linear slider (9), described X-axis line slideway (8) is fixed on the described arm crossbeam (7), and described X-axis linear slider (9) is fixed on the described mechanical arm (12).
7. according to the small-sized manipulator that shifts out claimed in claim 1, it is characterized in that: the described element that picks and places is sucker (13) or electromagnet.
CN 201320283226 2013-05-23 2013-05-23 Small size moving-out manipulator Expired - Fee Related CN203245299U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320283226 CN203245299U (en) 2013-05-23 2013-05-23 Small size moving-out manipulator

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Application Number Priority Date Filing Date Title
CN 201320283226 CN203245299U (en) 2013-05-23 2013-05-23 Small size moving-out manipulator

Publications (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260087A (en) * 2014-09-02 2015-01-07 艾尔发(苏州)自动化科技有限公司 All pneumatic side taking machine
CN104646560A (en) * 2015-02-16 2015-05-27 奥美森智能装备股份有限公司 Workpiece moving-out mechanism of bending mechanism
CN110238302A (en) * 2019-07-15 2019-09-17 海盐东盛紧固件制造有限公司 A kind of disengaging material unit of U-bolt cold-bending forming device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260087A (en) * 2014-09-02 2015-01-07 艾尔发(苏州)自动化科技有限公司 All pneumatic side taking machine
CN104260087B (en) * 2014-09-02 2016-04-13 艾尔发(苏州)自动化科技有限公司 A kind of full aerodynamic side gets machine
CN104646560A (en) * 2015-02-16 2015-05-27 奥美森智能装备股份有限公司 Workpiece moving-out mechanism of bending mechanism
CN104646560B (en) * 2015-02-16 2016-08-17 奥美森智能装备股份有限公司 The workpiece of bender takes out of mechanism
CN110238302A (en) * 2019-07-15 2019-09-17 海盐东盛紧固件制造有限公司 A kind of disengaging material unit of U-bolt cold-bending forming device

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Granted publication date: 20131023

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