CN203566704U - Both-way conveying manipulator - Google Patents

Both-way conveying manipulator Download PDF

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Publication number
CN203566704U
CN203566704U CN201320724397.XU CN201320724397U CN203566704U CN 203566704 U CN203566704 U CN 203566704U CN 201320724397 U CN201320724397 U CN 201320724397U CN 203566704 U CN203566704 U CN 203566704U
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China
Prior art keywords
shaft
telescopic
reduction box
way conveying
terminal
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Active
Application number
CN201320724397.XU
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Chinese (zh)
Inventor
方绍苗
沈鹏
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SINOAN HEAVY INDUSTRY AUTOMATION EQUIPMENT Co Ltd
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SINOAN HEAVY INDUSTRY AUTOMATION EQUIPMENT Co Ltd
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Abstract

The utility model discloses a both-way conveying manipulator which comprises a suspension beam. A supporting beam is arranged on the suspension beam, and a sliding plate capable of moving along the supporting beam is arranged on the supporting beam. A rotary shaft capable of rotating around the sliding plate is arranged at the bottom end of the sliding plate, and a telescopic shaft capable of moving in a telescopic mode is arranged on the rotary shaft. An end picking device used for taking and placing workpieces is connected to the telescopic shaft. According to the both-way conveying manipulator, automatic rapid conveying can be achieved on a stamping production line, the mechanical structure is simplified, high-speed operation is facilitated, and electrical control is simplified. The both-way conveying manipulator can adapt to the high-speed and high-efficiency production mode in the modern industry.

Description

A kind of two-way conveying robot
Technical field
The utility model relates to the two-way conveying robot that between stamping line forcing press, workpiece handling is used.
Background technology
At present, between forcing press, workpiece handling adopts two cover manipulators to realize, a set of for last press blanking, after conversion, gives next press material loading again with lower a set of manipulator, and production efficiency is lower.Or directly use robot charge, be thisly not suitable for large-scale punch line and produce.
The stamping line of part producer has been used speed manipulator or six axis robot, although solved a side material loading and the opposite side blanking of forcing press, but because manipulator self operation thickness is too large, when formal production, a lot of moulds cannot carry out automatic loading/unloading production, are restricted in the use.Be subject to the impact of these factors, existing carrying form is difficult to adapt to modern industry high speed, efficient production model.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of highly versatile is provided, and can adapt to the two-way conveying robot of modern industry high speed, High-efficient Production.
To achieve these goals, the technical solution adopted in the utility model is:
This two-way conveying robot, comprises hanging beam, on described front-mounted beam, is provided with brace summer, establishes the sliding panel that can move along described brace summer on described brace summer; In described sliding panel bottom, be provided with the rotating shaft that can rotate around sliding panel; On described rotating shaft, be provided with the telescopic shaft of Telescopic movable; On described telescopic shaft, be connected with for picking and placeing the terminal-collecting machine of workpiece.
In described sliding panel upper end, be provided with servomotor, the output shaft of described servomotor is connected with set tooth bar on gear and described brace summer and is meshed; The slide rail that is provided with slide block and is located on the above tooth bar both sides of described brace summer in a side at gear place described in described sliding panel upper end matches.
The output shaft of described servomotor connects right angle reduction box, and the output shaft of described right angle reduction box is connected with described gear.
A side bottom that is provided with slide block at described sliding panel is provided with drive motors, and the output shaft of described drive motors connects reduction box, and the output shaft of described reduction box connects described driven wheel; On described driven wheel and described rotating shaft, set driven gear is meshed.
On described rotating shaft, the driven gear place relative opposite side of one side is provided with set flexible tooth bar on telescopic shaft driven wheel and described telescopic shaft and is meshed, and is provided with the telescopic drive motor being connected with described telescopic shaft driven wheel on described rotating shaft; The output shaft of described telescopic drive motor connects accurate reduction box, and the output shaft of described accurate reduction box is connected with described telescopic shaft driven wheel.On described rotating shaft, being provided with line slideway matches with the guide rail slide block of being located at telescopic shaft tooth bar both sides on described telescopic shaft.
On described telescopic shaft, be provided with terminal-collecting machine drive motors, the output shaft of described terminal-collecting machine drive motors connects the accurate reduction box of motor, the output shaft of the accurate reduction box of described motor is connected with right angle dual output reduction box by shaft coupling, and the output shaft of described right angle dual output reduction box is connected with described terminal-collecting machine connector.
Described hanging beam is connected on the forcing press on stamping line, and described servomotor, drive motors, telescopic drive motor and terminal-collecting machine drive motors are connected with described Press Control System.
The utility model has the advantage of: this two-way conveying robot, sliding panel moves on brace summer, carries out the workpiece handling between press; Telescopic shaft make manipulator can put in respectively before and after forcing press carry out the carrying of workpiece, rotating shaft rotation, can carry out the flexible direction of telescopic shaft front and back switching; Terminal-collecting machine joint counter-rotates simultaneously, allows workpiece remain horizontal positioned before and after being handled upside down, and can carry out appropriate angle adjustment.This cover manipulator is without the Z axis of independent vertical direction, the Z-direction motion of workpiece in pickup with while putting part, and the terminal-collecting machine joint by telescopic shaft, rotating shaft and connection terminal-collecting machine links to realize.This two-way conveying robot, the automation on can realizing under punching production is carried fast, and body frame for movement is simplified, and is not only conducive to high-speed cruising, and electrical control is also simplified, and has versatility; Can adapt to modern industry high speed and efficient production model.
Accompanying drawing explanation
The content of below each width accompanying drawing of the utility model description being expressed and the mark in figure are briefly described:
Fig. 1 is the structural representation of two-way conveying robot the first duty of the utility model.
Fig. 2 is the structural representation of two-way conveying robot the second duty of Fig. 1.
Fig. 3 is the sliding panel of the two-way conveying robot of Fig. 1 and the side view of brace summer link position.
Fig. 4 is the rotating shaft of the two-way conveying robot of Fig. 1 and the side view of sliding panel link position.
Fig. 5 is the telescopic shaft of the two-way conveying robot of Fig. 1 and the top view of rotating shaft link position.
Fig. 6 is the terminal-collecting machine of the two-way conveying robot of Fig. 1 and the top view of telescopic shaft link position.
Mark in above-mentioned figure is:
1, hanging beam, 2, brace summer, 3, rotating shaft, 4, sliding panel, 5, telescopic shaft, 6, terminal-collecting machine syndeton, 7, terminal-collecting machine, 8, front forcing press, 9, workpiece, 10, preorder mould, 11, rear forcing press, 12, postorder mould, 13, cross girder, 14, slide rail, 15, servomotor, 16, right angle reduction box, 17, gear, 18, tooth bar, 19, drive motors, 20, reduction box, 21, driven wheel, 22, turntable bearing, 23, driven gear, 24, telescopic drive motor, 25, accurate reduction box, 26, telescopic shaft driven wheel, 27, guide rail slide block, 28, line slideway, 29, flexible tooth bar, 30, cross bar, 31, terminal-collecting machine drive motors, 32, the accurate reduction box of motor, 33, shaft coupling, 34, right angle dual output reduction box, 35, terminal-collecting machine connector.
The specific embodiment
Contrast accompanying drawing below, by the description to optimum embodiment, the specific embodiment of the present utility model is described in further detail.
As shown in Figures 1 to 6, this two-way conveying robot, is provided on the punch line of 11, front forcing press 8 and rear forcing press, and front forcing press 8 lower ends are preorder mould 10, and rear forcing press 11 lower ends are follow-up mould 12, and workpiece 9 initial positions are on preorder mould 10; Hanging beam 1 is arranged on respectively on front forcing press 8 and rear forcing press 11.
1 of hanging beam is provided with brace summer 2, establishes the sliding panel 4 that can move along brace summer 2 on brace summer 2; In sliding panel 4 bottoms, being provided with can be around the rotating shaft 3 of sliding panel 4 rotations; On rotating shaft 3, be provided with the telescopic shaft 5 of Telescopic movable; On telescopic shaft 5, be connected with for picking and placeing the terminal-collecting machine 7 of workpiece 9.
Fig. 3 is the side view of sliding panel 4 and brace summer 2 link positions, and sliding panel 4 upper ends are provided with servomotor 15, and the output shaft of servomotor 15 is connected with tooth bar 18 set on gear 17 and brace summer 2 and is meshed; The slide rail 14 that is provided with slide block and is located on brace summer 2 upper rack 18 both sides in a side at sliding panel 4 upper end gear 17 places matches.Servomotor 15 is connected with the right angle reduction box 16 being arranged on sliding panel 4, servomotor 15 is by being arranged on right angle reduction box 16 driven gear 17 rotations on sliding panel 4, gear 17 and tooth bar 18 engagements that are located on brace summer 2, driven whole sliding panel 4 to slide on cross girder 13.
Fig. 4 is the side view of rotating shaft 3 and telescopic shaft 5 link positions, and a side bottom that is provided with slide block at sliding panel 4 is provided with drive motors 19, and the output shaft of drive motors 19 is connected with set driven gear 23 on driven wheel 21 and rotating shaft 3 and is meshed.As preferred version, 4 of rotating shaft 3 and sliding panels are equipped with turntable bearing 22, and turntable bearing 22 can rotate around sliding panel 4 rotating shaft 3.
The output shaft of drive motors 19 connects reduction box 20, and reduction box 20 is located on the side bottom that sliding panel 4 is provided with slide block equally, and the output shaft of reduction box 20 connects driven wheel 21.While carrying out work, by drive motors 19, by reduction box 20, drive driven wheel 21 to rotate, driven wheel 21 drives the driven gear 23 being arranged on rotating shaft 3 to rotate, and realizes the rotation of rotating shaft 3.
Fig. 5 is the top view of telescopic shaft 5 and rotating shaft 3 link positions, on rotating shaft 3, the driven gear 23 place relative opposite sides of one side are provided with set flexible tooth bar 29 on telescopic shaft driven wheel 26 and telescopic shaft 5 and are meshed, and are provided with the telescopic drive motor 24 being connected with telescopic shaft driven wheel 26 on rotating shaft 3; On rotating shaft 3, being provided with line slideway 28 matches with the guide rail slide block 27 of being located at flexible tooth bar 29 both sides on telescopic shaft 5.
The output shaft of telescopic drive motor 24 connects accurate reduction box 25, and accurate reduction box 25 is located on rotating shaft 3 equally, and the output shaft of accurate reduction box 25 is connected with telescopic shaft driven wheel 26.By telescopic drive motor 24, by accurate reduction box 25, drive telescopic shaft driven wheel 26 to rotate, telescopic shaft driven wheel 26 drives flexible tooth bar 29 motions on the cross bar 30 that is arranged on telescopic shaft 5, realizes the stretching motion of telescopic shaft 5.
Fig. 6 is the terminal-collecting machine 7 of the two-way conveying robot of Fig. 1 and the top view of telescopic shaft 5 link positions, terminal-collecting machine syndeton 6 comprises terminal-collecting machine connector 35, on telescopic shaft 5, be provided with terminal-collecting machine drive motors 31, the output shaft of terminal-collecting machine drive motors 31 connects the accurate reduction box 32 of the motor being located on telescopic shaft 5, the output shaft of the accurate reduction box 32 of motor is connected with right angle dual output reduction box 34 by shaft coupling 33, and the output shaft of right angle dual output reduction box 34 is connected with terminal-collecting machine connector 35.
The power output of terminal-collecting machine drive motors 31 passes to terminal-collecting machine connector 35 through the accurate reduction box 32 of motor and right angle dual output reduction box 34, and power output is more steady, and terminal-collecting machine 7 job stabilitys are better.
When terminal-collecting machine drive motors 31 drives the power shaft of right angle dual output reduction box 34 to rotate by the accurate reduction box 32 of motor and shaft coupling 33, the terminal-collecting machine connector 35 that can realize right angle dual output reduction box 34 other ends rotates, and realizes the spinning movement of the terminal-collecting machine 7 of installing on terminal-collecting machine connector 35.
Servomotor 15, drive motors 19, telescopic drive motor 24 and terminal-collecting machine drive motors 31 are connected with Press Control System.
The course of work of this two-way conveying robot is: front forcing press 8 completes after the punching press of workpiece 9, and Press Control System provides signal, and sliding panel 4 moves near front forcing press 8 positions under servomotor 15 drives; On sliding panel 4, rotating shaft 3 is adjusted behind good berth position under drive motors 19 drives, and telescopic drive motor 24 drives the telescopic shaft 5 being arranged on rotating shaft 3 to put in front forcing press 8; Before terminal-collecting machine on telescopic shaft 57 arrives behind forcing press 8 centers, 31 work of terminal-collecting machine drive motors, by the compound motion of rotating shaft 3, telescopic shaft 5 and terminal-collecting machine connector 35, allow terminal-collecting machine 7 grabbing workpieces 9; Workpiece 9 departs from after preorder mould, telescopic shaft 5 carries out rollback motion, sliding panel 4 forcing press 11 direction motions backwards simultaneously, before sliding panel 4 moves to workpiece 9 and departs from completely during forcing press 8, rotating shaft 3 and terminal-collecting machine connector 35 are done counter motion simultaneously, make telescopic shaft 5 realize 180 ° and turn to and guarantee that workpiece 9 is in level simultaneously; In the other direction, repeat above-mentioned motion so again, workpiece 9 is put in the follow-up mould 12 in rear forcing press 11, carry out the next procedure processing of workpiece 9.
This two-way conveying robot, be equivalent to adopt four kinematic axis, cross girder 13 on brace summer 2 is equivalent to horizontal X axle, four motions of sliding shoe 4, rotating shaft 3, telescopic shaft 5 and terminal-collecting machine connector 35 are all to be driven by motor, the action of each parts by Press Control System connect control chain, can be according to carrying need editing run track.This two-way conveying robot, can complete the carrying between two forcing presses, has simple in structure, the features such as terminal-collecting machine 7 simplification, by swinging two-way carrying, make at the working portion thickness of forcing press inside very low, go for more stamping parts carrying, there is versatility.
The utility model specific implementation is not subject to the restrictions described above, as long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out, all within protection domain of the present utility model.

Claims (7)

1. a two-way conveying robot, is characterized in that: comprise hanging beam, on described hanging beam, be provided with brace summer, establish the sliding panel that can move along described brace summer on described brace summer; In described sliding panel bottom, be provided with the rotating shaft that can rotate around sliding panel; On described rotating shaft, be provided with the telescopic shaft of Telescopic movable; On described telescopic shaft, be connected with for picking and placeing the terminal-collecting machine of workpiece.
2. two-way conveying robot as claimed in claim 1, is characterized in that: in described sliding panel upper end, be provided with servomotor, the output shaft of described servomotor is connected with set tooth bar on gear and described brace summer and is meshed; The slide rail that is provided with slide block and is located on the above tooth bar both sides of described brace summer in a side at gear place described in described sliding panel upper end matches.
3. two-way conveying robot as claimed in claim 2, is characterized in that: the output shaft of described servomotor connects right angle reduction box, and the output shaft of described right angle reduction box is connected with described gear.
4. two-way conveying robot as claimed in claim 3, is characterized in that: a side bottom that is provided with slide block at described sliding panel is provided with drive motors, and the output shaft of described drive motors is connected with reduction box, and the output shaft of described reduction box is connected with driven wheel; On described driven wheel and described rotating shaft, set driven gear is meshed.
5. two-way conveying robot as claimed in claim 4, it is characterized in that: on described rotating shaft, the driven gear place relative opposite side of one side is provided with set flexible tooth bar on telescopic shaft driven wheel and described telescopic shaft and is meshed, and is provided with the telescopic drive motor being connected with described telescopic shaft driven wheel on described rotating shaft; The output shaft of described telescopic drive motor connects accurate reduction box, and the output shaft of described accurate reduction box is connected with described telescopic shaft driven wheel; On described rotating shaft, being provided with line slideway matches with the guide rail slide block of being located at telescopic shaft tooth bar both sides on described telescopic shaft.
6. two-way conveying robot as claimed in claim 5, it is characterized in that: on described telescopic shaft, be provided with terminal-collecting machine drive motors, the output shaft of described terminal-collecting machine drive motors connects the accurate reduction box of motor, the output shaft of the accurate reduction box of described motor is connected with right angle dual output reduction box by shaft coupling, and the output shaft of described right angle dual output reduction box is connected with described terminal-collecting machine connector.
7. two-way conveying robot as claimed in claim 6, it is characterized in that: described hanging beam is connected on the forcing press on stamping line, described servomotor, drive motors, telescopic drive motor and terminal-collecting machine drive motors are connected with described Press Control System.
CN201320724397.XU 2013-11-15 2013-11-15 Both-way conveying manipulator Active CN203566704U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320724397.XU CN203566704U (en) 2013-11-15 2013-11-15 Both-way conveying manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320724397.XU CN203566704U (en) 2013-11-15 2013-11-15 Both-way conveying manipulator

Publications (1)

Publication Number Publication Date
CN203566704U true CN203566704U (en) 2014-04-30

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Family Applications (1)

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Country Status (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104325461A (en) * 2014-10-17 2015-02-04 济南奥图自动化工程有限公司 Single-arm manipulator
CN106734704A (en) * 2016-12-28 2017-05-31 滁州品之达电器科技有限公司 A kind of press machine conveying robot unit
CN108115649A (en) * 2016-11-29 2018-06-05 孟晋科技股份有限公司 Handling device
CN108215016A (en) * 2017-12-26 2018-06-29 机械科学研究总院江苏分院 A kind of vulcanization automated production line and its production method
CN111842688A (en) * 2020-06-08 2020-10-30 济南奥图自动化股份有限公司 High-speed carrying device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104325461A (en) * 2014-10-17 2015-02-04 济南奥图自动化工程有限公司 Single-arm manipulator
CN108115649A (en) * 2016-11-29 2018-06-05 孟晋科技股份有限公司 Handling device
CN106734704A (en) * 2016-12-28 2017-05-31 滁州品之达电器科技有限公司 A kind of press machine conveying robot unit
CN108215016A (en) * 2017-12-26 2018-06-29 机械科学研究总院江苏分院 A kind of vulcanization automated production line and its production method
CN111842688A (en) * 2020-06-08 2020-10-30 济南奥图自动化股份有限公司 High-speed carrying device

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