CN204308081U - A kind of multi-functional loading and unloading manipulator - Google Patents

A kind of multi-functional loading and unloading manipulator Download PDF

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Publication number
CN204308081U
CN204308081U CN201420722443.7U CN201420722443U CN204308081U CN 204308081 U CN204308081 U CN 204308081U CN 201420722443 U CN201420722443 U CN 201420722443U CN 204308081 U CN204308081 U CN 204308081U
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China
Prior art keywords
axis
servomotor
transfer assembly
mount pad
timing belt
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CN201420722443.7U
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Inventor
赵金奎
王新华
尹义波
向强铭
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Nanjing Estun Robotics Co Ltd
Original Assignee
AIERFA ELECTROHYDRAULIC TECHNOLOGY Co Ltd NANJING CITY
Nanjing Estun Robotics Co Ltd
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Application filed by AIERFA ELECTROHYDRAULIC TECHNOLOGY Co Ltd NANJING CITY, Nanjing Estun Robotics Co Ltd filed Critical AIERFA ELECTROHYDRAULIC TECHNOLOGY Co Ltd NANJING CITY
Priority to CN201420722443.7U priority Critical patent/CN204308081U/en
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Abstract

The utility model discloses a kind of multi-functional loading and unloading manipulator, comprise two cross bar mount pads, to be arranged between two cross bar mount pads can relative to cross bar mount pad in the X-axis direction reciprocating X-axis transfer assembly, to be arranged on X-axis transfer assembly can relatively X-axis transfer assembly at Z-direction reciprocating Z axis transfer assembly, to be arranged on Z axis transfer assembly and can relatively to transfer assembly in the reciprocating Y-axis of Y direction and be arranged on Y-axis and transfer terminal-collecting machine mount pad on assembly by Z axis transfer assembly.The beneficial effects of the utility model are: multi-functional loading and unloading manipulator is the transfer that the mode combined by Timing Belt and gear, tooth bar realizes material, not only reduced the space that manipulator takies but also the object reaching remote transfer material, the material that terminal-collecting machine captures is transported to the position of specifying with speed faster.

Description

A kind of multi-functional loading and unloading manipulator
Technical field
The utility model relates to a kind of multi-functional loading and unloading manipulator, belongs to robot building technical field.
Background technology
In traditional punching press industry, the punch forming of product mainly relies on a dead lift to coordinate the punching press action of press to realize, and there is the shortcomings such as inefficiency, dangerous high and product quality are uneven.After having introduced automatic production line, utilize manipulator or robot to instead of the action of a dead lift workpiece, in the degree of consistency etc. of security, production efficiency, product, be obtained for very large raising.Manipulator is using servomotor, pneumatic apparatus, hydraulic-driven executive component etc. as power source, driven by various transmission mechanism the terminal-collecting machine of the forms such as Pneumatic suction cup, magnetic chuck, jaw crawl material to realize the motion of different directions, thus reach the plant equipment of Workpiece transfer object.Along with the development of machine tool industry, the pattern of manipulator also followed by development, creates very large change.
Now the version of stamping mechanical arm is commercially complicated, the transfer realizing material with toothed belt transmission had, but the transmission of synchronous belt length distance makes the tensioning of Timing Belt and close to occupy a lot of design space, need to solve the space problem that equipment press dodged by manipulator; Have plenty of the transfer realizing material with gear, tooth bar, but gear, tooth bar transfer distance is unsuitable oversize, making and installation required precision is higher; Also have plenty of the transfer realizing material with Chain conveyer, Chain conveyer comparatively above two kinds of modes shortcoming such as have impact, noise, space that is inaccurate, that need, location very large, is not too applicable to the long distance material transfer of manipulator.
Summary of the invention
The purpose of this utility model is to provide a kind of multi-functional loading and unloading manipulator, solves loading and unloading manipulator in prior art and takes up room greatly, the technological deficiency that impact noise is large.
For solving the problem, technical solution adopted in the utility model is:
A kind of multi-functional loading and unloading manipulator, comprise two cross bar mount pads, to be arranged between two cross bar mount pads can relative to cross bar mount pad in the X-axis direction reciprocating X-axis transfer assembly, to be arranged on X-axis transfer assembly can relatively X-axis transfer assembly at Z-direction reciprocating Z axis transfer assembly, to be arranged on Z axis transfer assembly and can relatively to transfer assembly in the reciprocating Y-axis of Y direction and be arranged on Y-axis and transfer terminal-collecting machine on assembly by Z axis transfer assembly.
As further improvement of the utility model, described X-axis transfer assembly comprises the first servomotor that two ends are arranged on crossbeam on cross bar mount pad, servomotor mount pad and are arranged on servomotor mount pad, described crossbeam arranges the first guide rail and the first tooth bar along the direction of X-axis, servomotor mount pad is provided with the first slide block matched with the first guide rail, the output shaft of servomotor is arranged the first gear, the first described gear is meshed with the first tooth bar.
As further improvement of the utility model, described Z axis transfer assembly comprises Z axis framework, the second servomotor be arranged on servomotor mount pad, described Z axis framework arranges the second guide rail and the second tooth bar along the direction of Z axis, described servomotor mount pad is provided with second slide block corresponding with the second guide rail, the output shaft of the second servomotor is arranged the second gear, the second described gear is meshed with the second tooth bar.
As further improvement of the utility model, described Y-axis transfer assembly comprises Y-axis framework, be arranged on the 3rd servomotor and the terminal-collecting machine mount pad of Z axis base of frame, the bottom of described Z axis framework arranges the second slide block, the second guide rail that the bottom of Y-axis framework and top arrange the 3rd guide rail respectively and match with the second slide block, in described Y-axis framework, Y direction is provided with the first Timing Belt and the second Timing Belt, the bottom of described Z axis framework arranges two the first belt wheels and the second belt wheel by the 3rd driven by servomotor, the first described Timing Belt walks around the first belt wheel and the second belt wheel respectively and the two ends of the first Timing Belt are separately fixed at the two ends of Y-axis framework, the bottom of described Z axis framework and the top of the second Timing Belt are fixed, described terminal-collecting machine mount pad is provided with the 3rd slide block matched with the 3rd guide rail, and the bottom of the top of terminal-collecting machine mount pad and the second Timing Belt is fixed.
As further improvement of the utility model, the second described belt wheel is provided with tooth, the first described Timing Belt is provided with the tooth be meshed with the second belt wheel.
Further improve as of the present utility model, the first described belt wheel smooth outer surface, the side that the first Timing Belt coordinates with the first belt wheel is shiny surface.
The beneficial effects of the utility model are: multi-functional loading and unloading manipulator is the transfer that the mode combined by Timing Belt and gear, tooth bar realizes material, have not only reduced the space that manipulator takies but also the object reaching remote transfer material.This manipulator main application is: realize Large multi-station press in the course of the work automatic charging, make workpiece by technological requirement order conversion station, blanking in press, thus reach the automation feeder equipment of full-automatic processing parts.Manipulator hangs and is arranged on front side of press or on rear side column, the action that can realize vertical crawl, longitudinal direction and laterally transfer, vertically and walk crosswise direction and rely on gear, tooth bar to coordinate line slideway to move, synchronous pulley, Timing Belt is longitudinally relied on to coordinate line slideway to move.In whole punching course; manipulator does not need press to shut down wait to the transfer of materials and parts; the efficiency of therefore producing is greatly enhanced; the action of the lifting of manipulator, the action of transfer and press in time can be overlapped; thus ensure that the actuation time of all directions is more abundant; the corresponding reduction of movement velocity of each parts, the action realizing manipulator is more steady.3rd driven by servomotor second belt wheel in Y-axis transfer assembly in the utility model, Y-axis framework is moved in Y direction relative to the 3rd servomotor, and the second belt wheel and the first Timing Belt arrange intermeshing tooth, second belt wheel and the first Timing Belt can not skid, the face that two the first belt wheels make the second belt wheel contact with the first Timing Belt is larger, the dental transition be meshed is many, also play the effect of regulating wheel simultaneously, because the top of the second Timing Belt and Z axis framework are fixed, the bottom of the second Timing Belt and the top of terminal-collecting machine mount pad are fixed, so terminal-collecting machine moves back and forth in Y direction relative to Y-axis framework, the direction of its motion is identical with the direction of Y-axis frame movement, speed is equal relative to the speed of Z axis frame movement with Y-axis framework, so, terminal-collecting machine is Y-axis framework relative to two times of speed of Z axis frame movement relative to the speed of Z axis frame movement, the material that terminal-collecting machine captures is transported to the position of specifying with speed faster.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram of Z axis transfer component internal structure in reaction the utility model.
Fig. 3 is the schematic diagram of Y-axis transfer component internal structure in reaction the utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, concrete real-time mode of the present utility model is described further.
Multi-functional loading and unloading manipulator as shown in Figure 1, Figure 2 and Figure 3, comprise two cross bar mount pads 4, to be arranged between two cross bar mount pads 4 can relative to cross bar mount pad in the X-axis direction reciprocating X-axis transfer assembly, to be arranged on X-axis transfer assembly can relatively X-axis transfer assembly at Z-direction reciprocating Z axis transfer assembly, to be arranged on Z axis transfer assembly and can relatively to transfer assembly in the reciprocating Y-axis of Y direction and be arranged on Y-axis and transfer terminal-collecting machine mount pad 5 on assembly by Z axis transfer assembly.
Described X-axis transfer assembly comprises crossbeam 11, servomotor mount pad 12 and the first servomotor 13 that is arranged on servomotor mount pad 12 that two ends are arranged on cross bar mount pad 4, described crossbeam 11 arranges the first guide rail 14 and the first tooth bar 15 along the direction of X-axis, servomotor mount pad 12 is provided with the first slide block 16 matched with the first guide rail 14, the output shaft of the first servomotor 13 is arranged the first gear 17, the first described gear 17 is meshed with the first tooth bar 15.
Described Z axis transfer assembly comprises Z axis framework 31, the second servomotor 32 be arranged on servomotor mount pad 12, described Z axis framework 31 arranges the second guide rail 33 and the second tooth bar 34 along the direction of Z axis, described servomotor mount pad 32 is provided with second slide block 35 corresponding with the second guide rail 33, the output shaft of the second servomotor 32 drives the second gear (not shown) by bevel gear, and the second described gear is meshed with the second tooth bar 34.
Described Y-axis transfer assembly comprises Y-axis framework 21, be arranged on the 3rd servomotor 22 bottom Z axis framework 31 and terminal-collecting machine mount pad 5, the bottom of described Z axis framework 31 arranges the second slide block 23, the second guide rail 25 that the bottom of Y-axis framework 21 and top arrange the 3rd guide rail 24 respectively and match with the second slide block 23, in described Y-axis framework 21, Y direction is provided with the first Timing Belt 26 and the second Timing Belt 27, the second belt wheel 29 that the bottom of described Z axis framework 31 arranges two the first belt wheels 28 and driven by the 3rd servomotor 22, the first described Timing Belt 26 walks around the first belt wheel 28 and the second belt wheel 29 respectively and the two ends of the first Timing Belt 26 are separately fixed at the two ends of Y-axis framework 21, the second described belt wheel 29 is provided with tooth, the first described Timing Belt 26 is provided with the tooth be meshed with the second belt wheel 29, the first described belt wheel 28 smooth outer surface, the side that first Timing Belt 26 coordinates with the first belt wheel 28 is shiny surface, second Timing Belt 27 two ends are around on the belt wheel being arranged on Y-axis framework two ends, the bottom of described Z axis framework 31 and the top of the second Timing Belt 27 are fixed, described terminal-collecting machine mount pad 5 is provided with the 3rd slide block 291 matched with the 3rd guide rail 24, and the bottom of the top of terminal-collecting machine mount pad 5 and the second Timing Belt 27 is fixed.
The conveying of X-direction: the first servomotor 13 is opened, the first gear 17 on its output shaft rotates, because the first gear 17 is meshed with the first tooth bar 15, so when crossbeam 11 is fixed, servomotor mount pad 12 moves along X-direction, drive Z axis transfer assembly and Y-axis transfer assembly to move in X-direction, the direction of motion has the rotation direction of the first servomotor 13 to determine.
The conveying of Z-direction: the second servomotor 32 is opened, second servomotor 32 drives the second gear by bevel gear, because the second gear and the second tooth bar 34 are meshed, so when servomotor mount pad does not move in Z-direction, Z axis framework 31 moves up and down in the Z-axis direction, the direction of motion has the rotation direction of the second servomotor 32 to determine, Z axis framework 31 moves up and down at Z axis, drives Y-axis transfer assembly to pump in the Z-axis direction.
The conveying of Y direction: the 3rd servomotor 22 turn drives second tape wheel 29, Y-axis framework 21 is moved in Y direction relative to the 3rd servomotor 22, and the second belt wheel 29 and the first Timing Belt 26 arrange intermeshing tooth, second belt wheel 29 and the first Timing Belt 26 can not skid, the face that two the first belt wheels 28 make the second belt wheel 29 contact with the first Timing Belt 26 is larger, the dental transition be meshed is many, also play the effect of regulating wheel simultaneously, because the top of the second Timing Belt 27 and Z axis framework 31 are fixed, the bottom of the second Timing Belt 27 and the top of terminal-collecting machine mount pad 5 are fixed, so terminal-collecting machine mount pad 5 moves back and forth in Y direction relative to Y-axis framework 21, the direction of its motion is identical with the direction that Y-axis framework 21 moves, speed is equal with the speed that Y-axis framework 21 moves relative to Z axis framework 31, so, terminal-collecting machine mount pad 5 is two times of the speed that Y-axis framework 21 moves relative to Z axis framework 31 relative to the speed that Z axis framework 31 moves, terminal-collecting machine mount pad 5 arranges terminal-collecting machine, the material that terminal-collecting machine captures can transport faster.
The transport of the transport of X-direction in the utility model, the transport of Y direction and Z-direction can operate respectively, also can every two operate together, or the transport of the transport of X-direction, the transport of Y direction and Z-direction works simultaneously, concrete according to the position of material transportation being determined.
What be not specifically noted in the utility model is prior art, or just can be realized by prior art, and should be understood that described in the utility model, concrete case study on implementation is only better case study on implementation of the present utility model, is not used for limiting practical range of the present utility model.Namely all equivalences done according to the content of the utility model claim change and modify, all should as technology category of the present utility model.

Claims (6)

1. a multi-functional loading and unloading manipulator, is characterized in that: comprise two cross bar mount pads, to be arranged between two cross bar mount pads can relative to cross bar mount pad in the X-axis direction reciprocating X-axis transfer assembly, to be arranged on X-axis transfer assembly can relatively X-axis transfer assembly at Z-direction reciprocating Z axis transfer assembly, to be arranged on Z axis transfer assembly and can relatively to transfer assembly in the reciprocating Y-axis of Y direction and be arranged on Y-axis and transfer terminal-collecting machine mount pad on assembly by Z axis transfer assembly.
2. multi-functional loading and unloading manipulator according to claim 1, it is characterized in that: described X-axis transfer assembly comprises the first servomotor that two ends are arranged on crossbeam on cross bar mount pad, servomotor mount pad and are arranged on servomotor mount pad, described crossbeam arranges the first guide rail and the first tooth bar along the direction of X-axis, servomotor mount pad is provided with the first slide block matched with the first guide rail, the output shaft of the first servomotor is arranged the first gear, the first described gear is meshed with the first tooth bar.
3. multi-functional loading and unloading manipulator according to claim 2, it is characterized in that: described Z axis transfer assembly comprises Z axis framework, the second servomotor be arranged on servomotor mount pad, described Z axis framework arranges the second guide rail and the second tooth bar along the direction of Z axis, described servomotor mount pad is provided with second slide block corresponding with the second guide rail, the output shaft of the second servomotor is arranged the second gear, the second described gear is meshed with the second tooth bar.
4. multi-functional loading and unloading manipulator according to claim 3, it is characterized in that: described Y-axis transfer assembly comprises Y-axis framework, be arranged on the 3rd servomotor and the terminal-collecting machine mount pad of Z axis base of frame, the bottom of described Z axis framework arranges the second slide block, the second guide rail that the bottom of Y-axis framework and top arrange the 3rd guide rail respectively and match with the second slide block, in described Y-axis framework, Y direction is provided with the first Timing Belt and the second Timing Belt, the bottom of described Z axis framework arranges two the first belt wheels and the second belt wheel by the 3rd driven by servomotor, the first described Timing Belt walks around the first belt wheel and the second belt wheel respectively and the two ends of the first Timing Belt are separately fixed at the two ends of Y-axis framework, the bottom of described Z axis framework and the top of the second Timing Belt are fixed, described terminal-collecting machine mount pad is provided with the 3rd slide block matched with the 3rd guide rail, and the bottom of the top of terminal-collecting machine mount pad and the second Timing Belt is fixed.
5. multi-functional loading and unloading manipulator according to claim 4, is characterized in that: the second described belt wheel is provided with tooth, the first described Timing Belt is provided with the tooth be meshed with the second belt wheel.
6. multi-functional loading and unloading manipulator according to claim 5, is characterized in that: the first described belt wheel smooth outer surface, the side that the first Timing Belt coordinates with the first belt wheel is shiny surface.
CN201420722443.7U 2014-11-27 2014-11-27 A kind of multi-functional loading and unloading manipulator Active CN204308081U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420722443.7U CN204308081U (en) 2014-11-27 2014-11-27 A kind of multi-functional loading and unloading manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420722443.7U CN204308081U (en) 2014-11-27 2014-11-27 A kind of multi-functional loading and unloading manipulator

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105562543A (en) * 2016-02-19 2016-05-11 柳州高华机械有限公司 Punching, unstacking and feeding robot
CN106807848A (en) * 2016-12-14 2017-06-09 安徽海拓志永智能装备股份有限公司 A kind of novel punching feeding manipulator
CN110817403A (en) * 2019-10-31 2020-02-21 山东科技大学 Open press machine connecting-line type automatic feeding and discharging system and application thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105562543A (en) * 2016-02-19 2016-05-11 柳州高华机械有限公司 Punching, unstacking and feeding robot
CN105562543B (en) * 2016-02-19 2018-08-10 柳州高华机械有限公司 Punching press de-stacking feeding robot
CN106807848A (en) * 2016-12-14 2017-06-09 安徽海拓志永智能装备股份有限公司 A kind of novel punching feeding manipulator
CN110817403A (en) * 2019-10-31 2020-02-21 山东科技大学 Open press machine connecting-line type automatic feeding and discharging system and application thereof

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GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20151019

Address after: 211103 No. 178 Yan Hu Road, Jiangning Development Zone, Jiangsu, Nanjing, China

Patentee after: Nanjing Estun Robotics Co., Ltd.

Address before: 211102 No. 178 Yan Hu Road, Jiangning Development Zone, Jiangsu, Nanjing, China

Patentee before: Aierfa Electrohydraulic Technology Co., Ltd., Nanjing City

Patentee before: Nanjing Estun Robotics Co., Ltd.

C41 Transfer of patent application or patent right or utility model