CN204262222U - Four axle transplanting machine hands of punch press loading and unloading - Google Patents
Four axle transplanting machine hands of punch press loading and unloading Download PDFInfo
- Publication number
- CN204262222U CN204262222U CN201420604252.0U CN201420604252U CN204262222U CN 204262222 U CN204262222 U CN 204262222U CN 201420604252 U CN201420604252 U CN 201420604252U CN 204262222 U CN204262222 U CN 204262222U
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- Prior art keywords
- axle
- servomotor
- hollow
- supporting seat
- synchronizing wheel
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Abstract
The utility model provides a kind of four axle transplanting machine hands of punch press loading and unloading, comprise the axle output panel of axle body, the axle supporting seat of left rotation and right rotation, movable axis linear module and the end rotation moved up and down, axle body comprises the first servomotor, ball-screw and straight-line guide rail slide block, and the first driven by servomotor straight-line guide rail slide block moves on ball screw; Axle supporting seat comprises the second servomotor, synchronizing wheel, Timing Belt, taper roll bearing and harmonic drive module; Axis linear module is provided with the telescopic arm by the 3rd driven by servomotor, and telescopic arm front end is provided with synchronizing wheel rotating disc, the output board of synchronizing wheel rotating disc lower end sectional fixture; Axle output panel comprises the 4th servomotor and two angular contact bearing.Adopt harmonic drive module and taper roll bearing substantially increase the accuracy of pendulum angle and reduce the vibration frequency of turning arm, reasonable in design is exquisite, instead of the mode of Traditional Man processing, for enterprise brings higher business efficiency.
Description
Technical field
The utility model relates to technical field of automation equipment, particularly relates to a kind of four axle transplanting machine hands of punch press loading and unloading.
Background technology
Current existing stamping mechanical arm has Multi-station linked manipulator and six joint Manipulators, the level requirements of Multi-station linked manipulator to punch press putting position and mould is too high, can not each station independent operating, breaking down once there be a station just to make whole piece streamline stop work, and operability, reliability are poor.Although six joint Manipulators possess higher operability and reliability, widely applicable, its structure, action complexity, the coordination simultaneously of six joints must be had, and six joint Manipulator core component all monopolize by foreign country, price is high, is used in cost performance in punch press loading and unloading not high.
Utility model content
The purpose of this utility model is the defect overcoming prior art, provide that a kind of structure is simple, safety, efficient, accurately, flexibly, four axle transplanting machine hands of punch press loading and unloading that cost is low.
The utility model is achieved in that a kind of four axle transplanting machine hands of punch press loading and unloading, be arranged on workbench set by lathe, comprise the axle output panel of axle body, the axle supporting seat of left rotation and right rotation, movable axis linear module and the end rotation moved up and down, described axle body comprises the first servomotor, ball-screw and straight-line guide rail slide block, and described in described first driven by servomotor, straight-line guide rail slide block moves on described ball screw; Described axle supporting seat comprises the second servomotor, synchronizing wheel, Timing Belt, taper roll bearing and harmonic drive module; Described axis linear module is provided with the telescopic arm by the 3rd driven by servomotor, and described telescopic arm front end is provided with synchronizing wheel rotating disc, the output board of described synchronizing wheel rotating disc lower end sectional fixture; Described axle output panel comprises the 4th servomotor and two angular contact bearing.
Further, described axle body is provided with the support that moves up and down, described in the support that moves up and down comprise the axle supporting seat of left rotation and right rotation and the hollow spindle of mutually interlock.
Further, described axle supporting seat comprises hollow output shaft, sealed hollow wire-passing tube, harmonic wave flexbile gear, described hollow output shaft one end is fixed on described sealed hollow wire-passing tube, the cavity of described hollow output shaft encases harmonic wave flexbile gear and described sealed hollow wire-passing tube, described sealed hollow wire-passing tube fixes described harmonic wave flexbile gear, the described hollow output shaft other end supports described 2 taper roll bearings to dress, described taper roll bearing is arranged on bearing support block, described bearing support block fixes a harmonic wave steel wheel, harmonic oscillator rotates by 2 deep groove ball bearings are fixing, harmonic oscillator is hollow form, can pass through for described sealed hollow wire-passing tube, the inner chamber of described axle supporting seat is also provided with 3 backbone sealing ring sealings, harmonic oscillator produces harmonic propagation to described harmonic wave flexbile gear by hollow synchronizing wheel driven rotary, thus drive described hollow output shaft to rotate.
The utility model provides a kind of four axle transplanting machine hands of punch press loading and unloading, be arranged on workbench set by lathe, comprise the axle output panel of axle body, the axle supporting seat of left rotation and right rotation, movable axis linear module and the end rotation moved up and down, described axle body comprises the first servomotor, ball-screw and straight-line guide rail slide block, and described in described first driven by servomotor, straight-line guide rail slide block moves on described ball screw; Described axle supporting seat comprises the second servomotor, synchronizing wheel, Timing Belt, taper roll bearing and harmonic drive module; Described axis linear module is provided with the telescopic arm by the 3rd driven by servomotor, and described telescopic arm front end is provided with synchronizing wheel rotating disc, the output board of described synchronizing wheel rotating disc lower end sectional fixture; Described axle output panel comprises the 4th servomotor and two angular contact bearing.The four axle transplanting machine hands that the utility model provides, adopt the control element Based Intelligent Control such as PLC, action is coherent quick, effectively increase work efficiency, robot work action debug after without the need to Artificial Control, reduce cost of labor and reduce injury rate, improve the stability of product simultaneously, reduce product rejection rate, described four axle transplanting machine hand rotation portion adopt harmonic drive module and taper roll bearing substantially increase the accuracy of pendulum angle and reduce the vibration frequency of turning arm, reasonable in design is exquisite, make full use of space, place, instead of the mode of Traditional Man processing, for enterprise brings higher business efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The four axle transplanting machine hand structural representations that Fig. 1 provides for the utility model embodiment;
The axle clamping support schematic diagram that Fig. 2 provides for the utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As Fig. 1-Fig. 2, the utility model embodiment provides a kind of four axle transplanting machine hands 1 of punch press loading and unloading, be arranged in workbench (not shown) set by lathe, comprise the axle output panel 13 that the axle body, the axle supporting seat 11 of left rotation and right rotation, movable axis linear module 12 and the end that move up and down rotate, described axle body comprises the first servomotor, ball-screw and straight-line guide rail slide block, and described in described first driven by servomotor, straight-line guide rail slide block moves on described ball screw; Described axle supporting seat 11 comprises the second servomotor, synchronizing wheel, Timing Belt, taper roll bearing and harmonic drive module; Described axis linear module 12 is provided with the telescopic arm by the 3rd driven by servomotor, and described telescopic arm front end is provided with synchronizing wheel rotating disc, the output board of described synchronizing wheel rotating disc lower end sectional fixture; Described axle output panel 13 comprises the 4th servomotor and two angular contact bearing.The four axle transplanting machine hands 1 that the utility model provides, adopt the control element Based Intelligent Control such as PLC, action is coherent quick, effectively increase work efficiency, robot work action debug after without the need to Artificial Control, reduce cost of labor and reduce injury rate, improve the stability of product simultaneously, reduce product rejection rate, described four axle transplanting machine hand rotation portion adopt harmonic drive module and taper roll bearing substantially increase the accuracy of pendulum angle and reduce the vibration frequency of turning arm, reasonable in design is exquisite, make full use of space, place, instead of the mode of Traditional Man processing, for enterprise brings higher business efficiency.
In embody rule, as shown in Figure 1, Figure 2, described axle body is provided with the support 14 that moves up and down, described in the support 14 that moves up and down comprise the axle supporting seat 11 of left rotation and right rotation and the hollow spindle of mutually interlock, further, described axle supporting seat 11 comprises hollow output shaft 111, sealed hollow wire-passing tube 112, harmonic wave flexbile gear 113, described hollow output shaft 111 one end is fixed on described sealed hollow wire-passing tube 112, the cavity of described hollow output shaft 111 encases harmonic wave flexbile gear 113 and described sealed hollow wire-passing tube 112, described sealed hollow wire-passing tube 112 fixes described harmonic wave flexbile gear 113, described hollow output shaft 111 other end supports described 2 taper roll bearings 115 to dress, described taper roll bearing 115 is arranged on bearing support block 116, the stability of described hollow output shaft 111 can be improved to the taper roll bearing 115 of dress, described bearing support block 116 fixes a harmonic wave steel wheel 117, harmonic oscillator 118 rotates by 2 deep groove ball bearings 110 are fixing, harmonic oscillator 118 is in hollow form, can pass through for described sealed hollow wire-passing tube 112, thus make cable and tracheae can by axle supporting seat 11, the inner chamber of described axle supporting seat 11 is also provided with 3 backbone sealing rings 119 and seals, prevent leakage of oil, harmonic oscillator 118 produces harmonic propagation to described harmonic wave flexbile gear 113 by hollow synchronizing wheel driven rotary, thus drives described hollow output shaft to rotate.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (3)
1. four axle transplanting machine hands of punch press loading and unloading, be arranged on workbench set by lathe, it is characterized in that, comprise the axle output panel of axle body, the axle supporting seat of left rotation and right rotation, movable axis linear module and the end rotation moved up and down, described axle body comprises the first servomotor, ball-screw and straight-line guide rail slide block, and described in described first driven by servomotor, straight-line guide rail slide block moves on described ball screw; Described axle supporting seat comprises the second servomotor, synchronizing wheel, Timing Belt, taper roll bearing and harmonic drive module; Described axis linear module is provided with the telescopic arm by the 3rd driven by servomotor, and described telescopic arm front end is provided with synchronizing wheel rotating disc, the output board of described synchronizing wheel rotating disc lower end sectional fixture; Described axle output panel comprises the 4th servomotor and two angular contact bearing.
2. four axle transplanting machine hands of punch press loading and unloading as claimed in claim 1, is characterized in that: described axle body is provided with the support that moves up and down, described in the support that moves up and down comprise the axle supporting seat of left rotation and right rotation and the hollow spindle of interlock mutually.
3. four axle transplanting machine hands of punch press loading and unloading as claimed in claim 2, it is characterized in that: described axle supporting seat comprises hollow output shaft, sealed hollow wire-passing tube, harmonic wave flexbile gear, described hollow output shaft one end is fixed on described sealed hollow wire-passing tube, the cavity of described hollow output shaft encases harmonic wave flexbile gear and described sealed hollow wire-passing tube, described sealed hollow wire-passing tube fixes described harmonic wave flexbile gear, the described hollow output shaft other end supports described 2 taper roll bearings to dress, described taper roll bearing is arranged on bearing support block, described bearing support block fixes a harmonic wave steel wheel, harmonic oscillator rotates by 2 deep groove ball bearings are fixing, harmonic oscillator is hollow form, can pass through for described sealed hollow wire-passing tube, the inner chamber of described axle supporting seat is also provided with 3 backbone sealing ring sealings, harmonic oscillator produces harmonic propagation to described harmonic wave flexbile gear by hollow synchronizing wheel driven rotary, thus drive described hollow output shaft to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420604252.0U CN204262222U (en) | 2014-10-20 | 2014-10-20 | Four axle transplanting machine hands of punch press loading and unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420604252.0U CN204262222U (en) | 2014-10-20 | 2014-10-20 | Four axle transplanting machine hands of punch press loading and unloading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204262222U true CN204262222U (en) | 2015-04-15 |
Family
ID=52797121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420604252.0U Expired - Fee Related CN204262222U (en) | 2014-10-20 | 2014-10-20 | Four axle transplanting machine hands of punch press loading and unloading |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204262222U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552239A (en) * | 2014-12-31 | 2015-04-29 | 东莞市乐佰特机器人有限公司 | Four-axis transplanting manipulator |
-
2014
- 2014-10-20 CN CN201420604252.0U patent/CN204262222U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552239A (en) * | 2014-12-31 | 2015-04-29 | 东莞市乐佰特机器人有限公司 | Four-axis transplanting manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20151020 |
|
| EXPY | Termination of patent right or utility model |