CN203390945U - Linear seven-axis module for transfer robot for punching use - Google Patents
Linear seven-axis module for transfer robot for punching use Download PDFInfo
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- CN203390945U CN203390945U CN201320439086.9U CN201320439086U CN203390945U CN 203390945 U CN203390945 U CN 203390945U CN 201320439086 U CN201320439086 U CN 201320439086U CN 203390945 U CN203390945 U CN 203390945U
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Abstract
The utility model discloses a linear seven-axis module for a transfer robot for punching use. The linear seven-axis module is light in weight, high in rigidity, small in inertia and high in moving speed and comprises a main arm, a linear shifter and an end pick-up device mounting plate. The main arm comprises a main arm body having rectangular-framed section and front and rear support plates, wherein the front and rear support plates are connected to the front and rear of the lower end of the main arm body respectively. The linear shifter comprises a pair of side guides, a pair of bottom guides, a servo motor, a main pulley, a pair of guide wheels, a pair of auxiliary pulleys, a main belt, and an auxiliary belt. The side guides are mounted at the front and rear sides of the main arm body respectively. The bottom guides are mounted at the lower end of the main arm body. The servo motor is mounted on a power support. The power support is mounted on the side guides in such manner of locating above the main arm body and connected to the main pulley. The main pulley is mounted on the servo motor. The guide wheels are disposed below the left and right of the main pulley. The end pick-up device mounting plate is mounted on the bottom guides and connected to the auxiliary belt.
Description
Technical field
The utility model relates to a kind of robot, is specifically related to straight line seven axles of transfer robot for a kind of punching press.
Background technology
Industrial Robot Technology is gradually improved, and cost is more and more lower, uses also more and more universally, and Flexible Production ability of its height also demonstrates its superiority further, and more multiple production line starts to be equipped with and take the automated system that six-joint robot is carrying platform.
In robot stamping automatic system, as the major part of automatic conveying system, six-joint robot mainly completes de-stacking, the automatic loading/unloading between various press of plate, the work such as the transmission of plate, upset it is advantageous that cost is lower, flexibility degree is high, and later maintenance is easy.
But adopt this kind of mode of transport, workpiece is at the necessary Rotate 180 ° of front and back inter process, and robot transport track is more complicated.Simultaneously, development along with stamping technology, in order to save land area, tandem punch line is further compact, the spacing of the press of each operation is more and more short, this also reduces robot rotation between the press of each operation carrying space thereupon, and productive temp is greatly affected, and especially when the large part of carrying gusset size, just more seems awkward.
In recent years, in order to overcome the problems of above rotation six axle transfer robots, straight line seven axle handling robot systems on market, have been there are, on the ring flange of its basic principle Shi robot the 6th axle, increase the duplication acceleration mechanism of external shaft translation, realize the translation of workpiece between the press of front and back operation, avoided workpiece in the past because 180 ° of rotations produce the problems such as track complexity, poor stability, to be conducive to the lifting of productive temp simultaneously.But these straight line seven axle transfer robots, because the structure of seven axle bodies is compact not and deadweight is larger, are therefore difficult to realize carrying rapidly and efficiently.
Summary of the invention
The purpose of this utility model is to overcome the defect of prior art, and straight line seven axles of a kind of punching press with transfer robot are provided, and it can simplify the carrying track of robot greatly, not only can enhance productivity, and also can save space.
The purpose of this utility model is achieved in that straight line seven axles of transfer robot for a kind of punching press, be connected between the 6th shaft end flange and terminal-collecting machine of described robot, described straight line seven axles comprise a principal arm, a linear moving apparatus and a terminal-collecting machine installing plate, wherein, described principal arm comprises the principal arm main body of the rectangular framework of a cross section and is connected to the forward and backward side in lower end of principal arm main body and is the forward and backward fagging of horizontal U-shaped; Described linear moving apparatus comprises a pair of side guide, a pair of floor rails, a servomotor, a main pulley, a pair of guide wheel, a pair of secondary pulley, a main belt and a secondary belt; Described a pair of side guide is arranged on respectively on the forward and backward side of described principal arm main body; Described a pair of floor rails and described a pair of side guide are arranged on the lower surface of described principal arm main body abreast; Described servomotor is arranged on the trailing flank of a power bearing, and this power bearing is arranged on described a pair of side guide and with described the 6th shaft end flange and is connected to be positioned at the mode of the top of described principal arm main body; Described main pulley is arranged on the output shaft that inserts the described servomotor in described power bearing; Described a pair of guide wheel is arranged in described power bearing and is symmetrically located at the left and right side below of described main pulley; Described a pair of secondary pulley is arranged on the left and right end face of described principal arm main body with wheel seat by one respectively; The middle part of described main belt is on described main pulley, the left and right extreme direction that the both sides of this main belt are also walked around the backward described principal arm main body in bottom of a pair of guide wheel downwards correspondingly extends, so that two of this main belt is fixed on respectively the near left and right end of described principal arm main body by a main pressing plate; The middle part of described secondary belt is positioned at the below of described principal arm main body, extend to the direction of described power bearing to be positioned at abreast the mode of the top of described main belt after upwards walking around correspondingly a pair of secondary pulley the both sides of this pair belt, so that two of this pair belt is separately fixed on the left and right bottom face of described power bearing; Described terminal-collecting machine installing plate is arranged in described a pair of floor rails and is connected on described secondary belt.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, are by two the link of boards that splayed arranges between the inner chamber upper and lower end face of described principal arm main body and inner chamber lower surface, make the inner chamber of principal arm main body have three cavitys.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, offer a rectangular opening on the upper surface of described principal arm main body, offer a plurality of rectangular openings on the lower surface of principal arm main body.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, offer respectively a plurality of circular holes on the leading flank of described front fagging and on the trailing flank of described rear stay plate, offer a plurality of mounting holes on the upper surface of described rear stay plate.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, connect respectively side plate on the lower front side Mian He bottom trailing flank of described power bearing, are respectively equipped with the chute with described side guide adaptation on the medial surface of these two blocks of side plates.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, on the near left and right Duan lower surface of described principal arm main body and the forward and backward side that is positioned at described secondary belt one buffer gear is installed correspondingly.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, described main pressing plate by a bindiny mechanism be arranged on principal arm main body Shang，Gai bindiny mechanism comprise on two left/right end faces that are arranged on respectively described principal arm main body and be positioned at the baffle plate of the described forward and backward side with wheel seat and two be arranged on correspondingly on every baffle plate and be threaded in the adjustment bolt on described main pressing plate.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, on the lower surface of described terminal-collecting machine installing plate, install one with described terminal-collecting machine on the quick change male joint that matches of quick change female joint.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, described principal arm adopts the moulding of aviation Aluminum extrusion; Described power bearing adopts aluminum casting.
Straight line seven axles of transfer robot for above-mentioned punching press, wherein, described straight line seven axles also comprise a towing chain device, this towing chain device comprises dee and two drag chain supports that are connected with the two ends of drag chain respectively of a drag chain, an arrangement drag chain, described dee is arranged on the bottom rear side of described principal arm, described two drag chain supports be arranged on correspondingly on described terminal-collecting machine installing plate and the trailing flank of described power bearing on.
The technical scheme of straight line seven axles of transfer robot for punching press of the present utility model, greatly simplified the carrying track of robot, to workpiece, adopt the mode of the carrying of rectilinear translation formula rather than Rotate 180 ° to carry, can shorten and enhance productivity, also can save space; Therefore punching press of the present utility model also has with straight line seven axles of transfer robot the feature that lightweight rigidity is high, can reduce inertia, increases transporting velocity, and compact conformation, load-carrying ability are large, is applicable to the high efficiency of transmission of the workpiece that gusset size is large.
Accompanying drawing explanation
Fig. 1 is the working state figure of straight line seven axles of transfer robot for punching press of the present utility model;
Fig. 2 is the rear side isometric view of straight line seven axles of transfer robot for punching press of the present utility model;
Fig. 3 looking up to stereogram with straight line seven axles of transfer robot that be punching press of the present utility model;
Fig. 4 is the front view of straight line seven axles of transfer robot for punching press of the present utility model;
Fig. 5 is the top view of straight line seven axles of transfer robot for punching press of the present utility model;
Fig. 6 is that B-B in Fig. 5 is to view;
Fig. 7 is that A-A in Fig. 4 is to view;
Fig. 8 is the stereogram of principal arm in straight line seven axles of transfer robot for punching press of the present utility model;
Fig. 9 is the cross-sectional view of principal arm in straight line seven axles of transfer robot for punching press of the present utility model.
The specific embodiment
In order to understand the technical solution of the utility model better, below by specific embodiment, be also described in detail by reference to the accompanying drawings.
Refer to Fig. 1 to Fig. 9, straight line seven axles 200 of transfer robot for punching press of the present utility model, be connected between the 6th shaft end flange 100 and terminal-collecting machine 300 of robot, these straight line seven axles 200 comprise a principal arm 1, a linear moving apparatus, a terminal-collecting machine installing plate 3, quadruplet buffer gear and a towing chain device.
Principal arm 1(is shown in Fig. 8 and Fig. 9) adopt the moulding of aviation Aluminum extrusion, this principal arm 1 to comprise the principal arm main body 10 of the rectangular framework of a cross section and be connected to the forward and backward side in principal arm main body 10 lower end and be the forward and backward fagging 11,12 of horizontal U-shaped; In order to strengthen the rigidity of principal arm 1, reduce deformation while moving to end, improve kinematic accuracy, between the inner chamber upper and lower end face of principal arm main body 10 and inner chamber lower surface, by two gussets 13 that are splayed setting, be connected, make the inner chamber of principal arm main body 10 there are three cavitys; In addition, on principal arm main body 10 upper surface, offer a rectangular opening 14; On principal arm main body 10 lower surface, offer the rectangular opening 15 that a plurality of shapes are identical; On the leading flank of front fagging 11 and on the trailing flank of rear stay plate 12, offer respectively a plurality of circular holes 16, on rear stay plate 12 upper surface, offer a plurality of mounting holes 17, the weight of principal arm 1 is alleviated greatly, thus the inertia while having reduced principal arm 1 motion; A scale plate 6 is also installed by the leading flank central authorities of front fagging 11.
Linear moving apparatus comprises a pair of side guide 21, a pair of floor rails 22, a servomotor 23, a main pulley 24, a pair of guide wheel 25, the main belt 27 of a pair of secondary pulley 26, one and a secondary belt 28, wherein:
A pair of side guide 21 is arranged on respectively on the forward and backward side of principal arm main body 10;
A pair of floor rails 22 is arranged on principal arm main body 10 lower surface abreast with a pair of side guide 21;
After connecting reductor, servomotor 23 is arranged on the trailing flank of a power bearing 29, on the lower front side Mian He bottom trailing flank of this power bearing 29, connect respectively side plate 291, on the medial surface of these two blocks of side plates 291, be respectively equipped with the chute with side guide 21 adaptations, so that power bearing 29 is positioned at the mode of the top of principal arm main body 10, be arranged on a pair of side guide 21; Between two blocks of side plates 291 and the left and right end face of power bearing 29, stiffener 292 is also installed; This power bearing 29 adopts aluminum casting and upper surface to be connected with the 6th shaft end flange 100 by key 290;
A pair of guide wheel 25 is arranged in power bearing 29 by a jackshaft respectively and is symmetrically located at the left and right side below of main pulley 24;
A pair of secondary pulley 26 is arranged on the left and right end face of principal arm main body 10 with wheel seat 260 by one respectively;
The middle part of main belt 27 is on main pulley 24, the left and right extreme direction that these main belt 27 both sides are also walked around the backward principal arm main body 10 in a pair of guide wheel 25 bottom downwards correspondingly extends, so that this main belt 27 two is fixed on respectively the near left and right end of principal arm main body 10 by a main pressing plate 270; These two main pressing plates 270 are arranged in principal arm main body 10 by a bindiny mechanism respectively, this bindiny mechanism comprises on two left/right end faces that are arranged on respectively principal arm main body 10 and the baffle plate 271 and that is positioned at the forward and backward side of wheel seat 260 is arranged on baffle plate 271 and is threaded in the adjustment bolt 272 on main pressing plate 270, to regulate main pressing plate 270 left and right position.
The middle part of secondary belt 28 is positioned at the below of principal arm main body 11, extend to the direction of power bearing 29 to be positioned at abreast the mode of the top of main belt 27 after upwards walking around correspondingly a pair of secondary pulley 26 these pair belt 28 both sides, so that this pair belt 28 two is fixed on the left and right bottom face of power bearing 29 by one pair of pressing plate 280 respectively.
Terminal-collecting machine installing plate 3 is arranged in a pair of floor rails 22 and by lower platen 30 and is connected on secondary belt 28; On the lower surface of this terminal-collecting machine installing plate 3, be provided with terminal-collecting machine 300 on the quick change male joint that matches of quick change female joint, make the whole height of straight line seven axles 200 can be as far as possible little, and compact conformation.
Quadruplet buffer gear is arranged on correspondingly on the near left and right Duan lower surface of principal arm main body 10 and is positioned at the forward and backward side of secondary belt 28; Every cover buffer unit comprises that a buffing pad 41 and is arranged on the damping rubber block 42 on buffing pad 41.Quadruplet buffer unit can make terminal-collecting machine installing plate 3 be cushioned when moving to principal arm 10 end, reduces to impact.
Towing chain device comprises dee 50 and two drag chain supports that are connected with the two ends of drag chain respectively 51,52 of a drag chain, an arrangement drag chain, wherein, drag chain adopts high-speed silent drag chain, and deep seated blowhole adopts high soft tracheae, and these tracheaes are connected with the tracheae installing plate 53 on power bearing 29 trailing flanks; Dee 50 is arranged on the bottom rear side of principal arm 1; Two drag chain supports 51,52 are arranged on terminal-collecting machine installing plate 3 and on the trailing flank of power bearing 29 correspondingly; Wherein, on drag chain support 52, tension disc 54 is also installed.
A kind of punching press of the present utility model uses straight line seven axles 200 of transfer robot when work, by the driving of servomotor 23, make around main belt 27 motions on main pulley 24, because main belt 27 two is fixed in principal arm main body 10, therefore can only drive power bearing 29 to move on a pair of side guide 21, the movement of power bearing 29 drags again secondary belt 28 and moves, thereby drive the terminal-collecting machine installing plate 3 being fixed on secondary belt 28 to move along a pair of floor rails 22, realize power bearing 29 and on principal arm 1, move in reverse mode with terminal-collecting machine installing plate 3.Terminal-collecting machine installing plate 3 is connected with the quick change female joint realization on terminal-collecting machine 300 fast by quick change male joint again.Sucker 400 on terminal-collecting machine 300 is held plate workpiece 500 to realize rectilinear translation formula and carry by air-breathing.When terminal-collecting machine installing plate 3 moves to the left and right end of principal arm 1, buffer gear can play spacing effect.
Drag chain in towing chain device is for carrying the tracheae of the pneumatic element on cable, power line, holding wire and the terminal-collecting machine 300 on straight line seven axles 200 and moving with power bearing 29 and terminal-collecting machine installing plate 3.
Straight line seven axles of transfer robot for punching press of the present utility model, have simplified the carrying track of robot greatly, to workpiece, adopt the mode of the carrying of rectilinear translation formula rather than Rotate 180 ° to carry, and can shorten and enhance productivity, and also can save space.Punching press of the present utility model is aluminum with all parts of straight line seven axles of transfer robot, therefore also there is the feature that lightweight rigidity is high, therefore can reduce inertia, increase transporting velocity, and compact conformation, load-carrying ability are large, be applicable to the high efficiency of transmission of the workpiece that gusset size is large.
Above embodiment is only for illustration of the utility model, but not to restriction of the present utility model, person skilled in the relevant technique, in the situation that not departing from spirit and scope of the present utility model, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present utility model, should be limited by each claim.
Claims (10)
1. straight line seven axles for transfer robot for punching press, are connected between the 6th shaft end flange and terminal-collecting machine of described robot, and described straight line seven axles comprise a principal arm, a linear moving apparatus and a terminal-collecting machine installing plate, it is characterized in that,
Described principal arm comprises the principal arm main body of the rectangular framework of a cross section and is connected to the forward and backward side in lower end of principal arm main body and is the forward and backward fagging of horizontal U-shaped;
Described linear moving apparatus comprises a pair of side guide, a pair of floor rails, a servomotor, a main pulley, a pair of guide wheel, a pair of secondary pulley, a main belt and a secondary belt;
Described a pair of side guide is arranged on respectively on the forward and backward side of described principal arm main body;
Described a pair of floor rails and described a pair of side guide are arranged on the lower surface of described principal arm main body abreast;
Described servomotor is arranged on the trailing flank of a power bearing, and this power bearing is arranged on described a pair of side guide and with described the 6th shaft end flange and is connected to be positioned at the mode of the top of described principal arm main body;
Described main pulley is arranged on the output shaft that inserts the described servomotor in described power bearing;
Described a pair of guide wheel is arranged in described power bearing and is symmetrically located at the left and right side below of described main pulley;
Described a pair of secondary pulley is arranged on the left and right end face of described principal arm main body with wheel seat by one respectively;
The middle part of described main belt is on described main pulley, the left and right extreme direction that the both sides of this main belt are also walked around the backward described principal arm main body in bottom of a pair of guide wheel downwards correspondingly extends, so that two of this main belt is fixed on respectively the near left and right end of described principal arm main body by a main pressing plate;
The middle part of described secondary belt is positioned at the below of described principal arm main body, extend to the direction of described power bearing to be positioned at abreast the mode of the top of described main belt after upwards walking around correspondingly a pair of secondary pulley the both sides of this pair belt, so that two of this pair belt is separately fixed on the left and right bottom face of described power bearing;
Described terminal-collecting machine installing plate is arranged in described a pair of floor rails and is connected on described secondary belt.
2. straight line seven axles of transfer robot for punching press according to claim 1, it is characterized in that, between the inner chamber upper and lower end face of described principal arm main body and inner chamber lower surface, by two, be the link of boards that splayed arranges, make the inner chamber of principal arm main body there are three cavitys.
3. straight line seven axles of transfer robot for punching press according to claim 1 and 2, is characterized in that, offer a rectangular opening on the upper surface of described principal arm main body, offer a plurality of rectangular openings on the lower surface of principal arm main body.
4. straight line seven axles of transfer robot for punching press according to claim 1, is characterized in that, on the leading flank of described front fagging and on the trailing flank of described rear stay plate, offer respectively a plurality of circular holes, offer a plurality of mounting holes on the upper surface of described rear stay plate.
5. straight line seven axles of transfer robot for punching press according to claim 1, it is characterized in that, on the lower front side Mian He bottom trailing flank of described power bearing, connect respectively side plate, on the medial surface of these two blocks of side plates, be respectively equipped with the chute with described side guide adaptation.
6. straight line seven axles of transfer robot for punching press according to claim 1, is characterized in that, on the near left and right Duan lower surface of described principal arm main body and the forward and backward side that is positioned at described secondary belt one buffer gear is installed correspondingly.
7. straight line seven axles of transfer robot for punching press according to claim 1, it is characterized in that, described main pressing plate by a bindiny mechanism be arranged on principal arm main body Shang，Gai bindiny mechanism comprise on two left/right end faces that are arranged on respectively described principal arm main body and be positioned at the baffle plate of the described forward and backward side with wheel seat and two be arranged on correspondingly on every baffle plate and be threaded in the adjustment bolt on described main pressing plate.
8. straight line seven axles of transfer robot for punching press according to claim 1, is characterized in that, on the lower surface of described terminal-collecting machine installing plate, install one with described terminal-collecting machine on the quick change male joint that matches of quick change female joint.
9. straight line seven axles with transfer robot according to any one punching press described in claim 1 to 8, is characterized in that, described principal arm adopts the moulding of aviation Aluminum extrusion; Described power bearing adopts aluminum casting.
10. according to any one punching press described in claim 1 to 8, use straight line seven axles of transfer robot, it is characterized in that, described straight line seven axles also comprise a towing chain device, this towing chain device comprises dee and two drag chain supports that are connected with the two ends of drag chain respectively of a drag chain, an arrangement drag chain, described dee is arranged on the bottom rear side of described principal arm, described two drag chain supports be arranged on correspondingly on described terminal-collecting machine installing plate and the trailing flank of described power bearing on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320439086.9U CN203390945U (en) | 2013-07-23 | 2013-07-23 | Linear seven-axis module for transfer robot for punching use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320439086.9U CN203390945U (en) | 2013-07-23 | 2013-07-23 | Linear seven-axis module for transfer robot for punching use |
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| Publication Number | Publication Date |
|---|---|
| CN203390945U true CN203390945U (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320439086.9U Withdrawn - After Issue CN203390945U (en) | 2013-07-23 | 2013-07-23 | Linear seven-axis module for transfer robot for punching use |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358319A (en) * | 2013-07-23 | 2013-10-23 | 上海发那科机器人有限公司 | Linear seven-shaft device of handling robot for stamping |
| CN107210053A (en) * | 2015-01-30 | 2017-09-26 | 松下知识产权经营株式会社 | Robot handling system |
| CN107972047A (en) * | 2017-12-27 | 2018-05-01 | 天津福臻工业装备有限公司 | Axle construction outside robot roller type |
| CN107972047B (en) * | 2017-12-27 | 2024-04-30 | 天津福臻工业装备有限公司 | Roller type external shaft structure of robot |
-
2013
- 2013-07-23 CN CN201320439086.9U patent/CN203390945U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358319A (en) * | 2013-07-23 | 2013-10-23 | 上海发那科机器人有限公司 | Linear seven-shaft device of handling robot for stamping |
| CN103358319B (en) * | 2013-07-23 | 2015-11-18 | 上海发那科机器人有限公司 | Straight line seven axle of punching press transfer robot |
| CN107210053A (en) * | 2015-01-30 | 2017-09-26 | 松下知识产权经营株式会社 | Robot handling system |
| CN107210053B (en) * | 2015-01-30 | 2020-08-21 | 松下知识产权经营株式会社 | Recording medium conveying device |
| CN107972047A (en) * | 2017-12-27 | 2018-05-01 | 天津福臻工业装备有限公司 | Axle construction outside robot roller type |
| CN107972047B (en) * | 2017-12-27 | 2024-04-30 | 天津福臻工业装备有限公司 | Roller type external shaft structure of robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140115 Effective date of abandoning: 20151118 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |