CN204546516U - Four axle transplanting machine hands - Google Patents
Four axle transplanting machine hands Download PDFInfo
- Publication number
- CN204546516U CN204546516U CN201420863656.1U CN201420863656U CN204546516U CN 204546516 U CN204546516 U CN 204546516U CN 201420863656 U CN201420863656 U CN 201420863656U CN 204546516 U CN204546516 U CN 204546516U
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- hollow
- supporting seat
- support block
- bearing support
- fixed
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Abstract
The utility model discloses a kind of four axle transplanting machine hands, it comprise fixed supporting seat, PLC and be connected with PLC respectively and be subject to its elevating mechanism controlled, end rotates section bar mechanism, linear extendible mechanism and hollow rotating supporting seat; The utility model smart structural design, reasonable employing four Structural Design of Shaft, meet punch press produce time required action request basis on, effectively simplify the overall structure of conventional robot, reduce parts, reduce costs, adopt PLC to carry out Automated condtrol simultaneously, action is coherent quick, effectively increase work efficiency, and automaticity is high; Hollow rotating supporting seat adopts hollow structure and carries out transmission by harmonic drive assembly in addition, not only substantially increase the accuracy of pendulum angle and reduce the vibration frequency of rotating arm, and realize the object of fast wiring connection, make installation more simple, quick, terminal with compact integral structure, compact, be easy to realize, cost is low.
Description
Technical field
The utility model relates to manipulator technology, is specifically related to a kind of four axle transplanting machine hands.
Background technology
Along with the raising of production automation level, application machine hand automatically performs production task and also gets more and more.Manipulator can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the fields such as machine-building, metallurgy, electronics, light industry and atomic energy.
Modern punch press is usually configured with Multi-station linked manipulator or six joint Manipulator manipulators, but 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, but 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, is difficult to be applied.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is, provides a kind of smart structural design, rationally, cost is low, and operating efficiency is high, four axle transplanting machine hands of good stability.
For achieving the above object, technical scheme provided by the utility model is: a kind of four axle transplanting machine hands, it comprise fixed supporting seat, PLC and be connected with this PLC respectively and be subject to its elevating mechanism controlled, end rotates section bar mechanism, linear extendible mechanism and hollow rotating supporting seat, described hollow rotating supporting seat is arranged on fixed supporting seat by elevating mechanism, and does vertical lift action by the driving of this elevating mechanism; Described linear extendible organization establishes on hollow rotating supporting seat, and does spinning movement by the driving of this hollow rotating supporting seat, and described end rotates section bar organization establishes on linear telescoping mechanism, and makes expanding-contracting action by the driving of this linear extendible mechanism.
Improve as one of the present utility model, described hollow rotating supporting seat comprises hollow output shaft, bearing support block, hollow synchronizing wheel, sealed hollow wire-passing tube and hollow rotating servomotor, described hollow output shaft is movably arranged on the upper position of described bearing support block by bearing assembly, and lower end is stretched in bearing support block, the upper end of described sealed hollow wire-passing tube is stretched in described bearing support block, and be connected with the lower end of described hollow output shaft, described hollow synchronizing wheel is connected with described hollow output shaft by harmonic drive assembly, described hollow rotating servomotor is arranged on described bearing support block side by mount pad, and be connected with described hollow synchronizing wheel by belt.
Improve as one of the present utility model, described harmonic drive assembly comprises harmonic oscillator, harmonic wave flexbile gear and harmonic wave steel wheel, the lower end of described hollow output shaft is stretched in bearing support block and is formed a cavity that described harmonic wave flexbile gear and sealed hollow wire-passing tube can be encased, described harmonic wave flexbile gear is fixed on the upper end of described sealed hollow wire-passing tube, described harmonic wave steel wheel is fixed on described bearing support block, described harmonic oscillator is movably arranged on bearing support block by deep groove ball bearing, and be set on described sealed hollow wire-passing tube, described hollow synchronizing wheel is fixed on described harmonic oscillator.
Improve as one of the present utility model, described elevating mechanism comprises lift servo motor, elevating bracket, ball-screw assembly and vertical slide rail, described elevating bracket is movably arranged on described fixed supporting seat by vertical slide rail, described lift servo motor is arranged on fixed supporting seat, and be connected with described elevating bracket by ball-screw assembly, described bearing support block is fixed on this elevating bracket by the support that moves up and down.
Improve as one of the present utility model, described linear extendible mechanism comprises telescopic boom, flexible servomotor, guide rail slide and telescopic rail, described telescopic boom is fixed on the upper end of described hollow output shaft, described guide rail slide is movably arranged in described telescopic boom by telescopic rail, described flexible servomotor is arranged in described telescopic boom, and drives guide rail slide reciprocating on telescopic rail by synchronous wheel belt.
Improve as one of the present utility model, described end rotates section bar mechanism and comprises rotating arm, rotating servo motor and be arranged on the rotation load module of described rotating arm end, the head end of described rotating arm is fixed on described guide rail slide, described rotating servo motor is arranged on described rotating arm, and drives rotation load module to do spinning movement by synchronous wheel belt.
The beneficial effects of the utility model are: the utility model smart structural design, reasonable employing four Structural Design of Shaft coordinates punch press to use, meet punch press produce time required action request basis on, effectively simplify the overall structure of conventional robot, reduce parts, reduce costs, adopt PLC to carry out Automated condtrol simultaneously, action is coherent quick, effectively increase work efficiency, robot work action debug after without the need to Artificial Control, effectively reduce cost of labor and reduce injury rate, improve the stability of product simultaneously, reduce product rejection rate; Hollow rotating supporting seat adopts hollow structure and carries out transmission by harmonic drive assembly in addition, not only substantially increase the accuracy of pendulum angle and reduce the vibration frequency of rotating arm, and the object of fast wiring connection can be realized by its hollow structure, make installation more simple, quick, terminal with compact integral structure, compact, be easy to realize, cost is low, is beneficial to wide popularization and application.
Below in conjunction with accompanying drawing and embodiment, the utility model is further illustrated.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is decomposition texture schematic diagram of the present utility model.
Fig. 3 is the structural representation of the hollow rotating supporting seat in the utility model.
Detailed description of the invention
Embodiment, see Fig. 1, Fig. 2 and Fig. 3, the one four axle transplanting machine hand that the present embodiment provides, it comprises fixed supporting seat 1, PLC and to be connected with this PLC respectively and the elevating mechanism 2 controlled by it, end rotate section bar mechanism 3, linear extendible mechanism 4 and hollow rotating supporting seat 5, described hollow rotating supporting seat 5 is arranged on fixed supporting seat 1 by elevating mechanism 2, and does vertical lift action by the driving of this elevating mechanism 2; Described linear extendible mechanism 4 is arranged on hollow rotating supporting seat 5, and does spinning movement by the driving of this hollow rotating supporting seat 5, and described end rotates section bar mechanism 3 and is arranged in linear extendible mechanism 4, and makes expanding-contracting action by the driving of this linear extendible mechanism 4.
See Fig. 2 and Fig. 3, described hollow rotating supporting seat 5 comprises hollow output shaft 51, bearing support block 52, hollow synchronizing wheel 53, sealed hollow wire-passing tube 54 and hollow rotating servomotor 55, described hollow output shaft 51 is movably arranged on the upper position of described bearing support block 52 by bearing assembly 56, and lower end is stretched in bearing support block 52, in the present embodiment, this bearing assembly 56 is preferably taper roll bearing, and efficiency promotes the stability improving hollow output shaft.The upper end of described sealed hollow wire-passing tube 54 is stretched in described bearing support block 52, and be connected with the lower end of described hollow output shaft 51, described hollow synchronizing wheel 53 is connected with described hollow output shaft 51 by harmonic drive assembly, described hollow rotating servomotor 55 is arranged on described bearing support block 52 side by mount pad, and is connected with described hollow synchronizing wheel 53 by belt.
Described harmonic drive assembly comprises harmonic oscillator 57, harmonic wave flexbile gear 58 and harmonic wave steel wheel 59, the lower end of described hollow output shaft 51 is stretched in bearing support block 52 and is formed a cavity that described harmonic wave flexbile gear 58 and sealed hollow wire-passing tube 54 can be encased, described harmonic wave flexbile gear 58 is fixed on the upper end of described sealed hollow wire-passing tube 54, described harmonic wave steel wheel 59 is fixed on described bearing support block 52, described harmonic oscillator 57 is movably arranged on bearing support block 52 by deep groove ball bearing 50, and be set on described sealed hollow wire-passing tube 54, described hollow synchronizing wheel 53 is fixed on described harmonic oscillator 57.Harmonic oscillator 57 is made into hollow makes hollow output shaft 51 pass through, thus make cable and tracheae can by bearing support block 52, be provided with backbone sealing ring 60,61 between bearing support block 52 and hollow output shaft 51, sealed hollow wire-passing tube 5, between sealed hollow wire-passing tube 5 and harmonic oscillator 57, be provided with backbone sealing ring 62.Be provided with backbone sealing ring 60,61,62, good sealing effect, prevents leakage of oil.Hollow rotating supporting seat 5 adopts hollow structure and carries out transmission by harmonic drive assembly, not only substantially increase the accuracy of pendulum angle and reduce the vibration frequency of rotating arm, and the object of fast wiring connection can be realized by its hollow structure, make installation more simple, quick, terminal with compact integral structure, compact, be easy to realize.
See Fig. 2, described elevating mechanism 2 comprises lift servo motor 21, elevating bracket 22, ball-screw assembly 23 and vertical slide rail 24, described elevating bracket 22 is movably arranged on described fixed supporting seat 1 by vertical slide rail 24, described lift servo motor 21 is arranged on fixed supporting seat 1, and be connected with described elevating bracket 22 by ball-screw assembly 23, described bearing support block 52 is fixed on this elevating bracket 22 by the support 25 that moves up and down.
See Fig. 2, described linear extendible mechanism 4 comprises telescopic boom 41, flexible servomotor 42, guide rail slide 43 and telescopic rail, described telescopic boom 41 is fixed on the upper end of described hollow output shaft 51, described guide rail slide 43 is movably arranged in described telescopic boom 41 by telescopic rail, described flexible servomotor 42 is arranged in described telescopic boom 41, and drives guide rail slide 43 reciprocating on telescopic rail by synchronous wheel belt.
See Fig. 2, described end rotates section bar mechanism 3 and comprises rotating arm 31, rotating servo motor 32 and be arranged on the rotation load module of described rotating arm 31 end, the head end of described rotating arm 31 is fixed on described guide rail slide 43, described rotating servo motor 32 is arranged on described rotating arm 31, and drives rotation load module to do spinning movement by synchronous wheel belt.
During work, by elevating mechanism 2, end rotates section bar mechanism 3, linear extendible mechanism 4 and hollow rotating supporting seat 5 complement each other to form four axle construction, meet punch press produce time required action request basis on, effectively simplify the overall structure of conventional robot, reduce parts, reduce costs, adopt PLC to carry out Automated condtrol simultaneously, action is coherent quick, effectively increase work efficiency, robot work action debug after without the need to Artificial Control, effective reduction cost of labor and reduction injury rate, improve the stability of product simultaneously, reduce product rejection rate, and good operating stability, extend service life, decrease the number of times safeguarded or change.
The announcement of book and instruction according to the above description, the utility model those skilled in the art can also change above-mentioned embodiment and revise.Therefore, the utility model is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present utility model modifications and changes more of the present utility model.In addition, although employ some specific terms in this description, these terms just for convenience of description, do not form any restriction to the utility model, adopt other manipulator same or analogous with it, all in the utility model protection domain.
Claims (6)
1. an axle transplanting machine hand, it is characterized in that, it comprise fixed supporting seat, PLC and be connected with this PLC respectively and be subject to its elevating mechanism controlled, end rotates section bar mechanism, linear extendible mechanism and hollow rotating supporting seat, described hollow rotating supporting seat is arranged on fixed supporting seat by elevating mechanism, and does vertical lift action by the driving of this elevating mechanism; Described linear extendible organization establishes on hollow rotating supporting seat, and does spinning movement by the driving of this hollow rotating supporting seat, and described end rotates section bar organization establishes on linear telescoping mechanism, and makes expanding-contracting action by the driving of this linear extendible mechanism.
2. four axle transplanting machine hands according to claim 1, it is characterized in that: described hollow rotating supporting seat comprises hollow output shaft, bearing support block, hollow synchronizing wheel, sealed hollow wire-passing tube and hollow rotating servomotor, described hollow output shaft is movably arranged on the upper position of described bearing support block by bearing assembly, and lower end is stretched in bearing support block, the upper end of described sealed hollow wire-passing tube is stretched in described bearing support block, and be connected with the lower end of described hollow output shaft, described hollow synchronizing wheel is connected with described hollow output shaft by harmonic drive assembly, described hollow rotating servomotor is arranged on described bearing support block side by mount pad, and be connected with described hollow synchronizing wheel by belt.
3. four axle transplanting machine hands according to claim 2, it is characterized in that: described harmonic drive assembly comprises harmonic oscillator, harmonic wave flexbile gear and harmonic wave steel wheel, the lower end of described hollow output shaft is stretched in bearing support block and is formed a cavity that described harmonic wave flexbile gear and sealed hollow wire-passing tube can be encased, described harmonic wave flexbile gear is fixed on the upper end of described sealed hollow wire-passing tube, described harmonic wave steel wheel is fixed on described bearing support block, described harmonic oscillator is movably arranged on bearing support block by deep groove ball bearing, and be set on described sealed hollow wire-passing tube, described hollow synchronizing wheel is fixed on described harmonic oscillator.
4. four axle transplanting machine hands according to claim 2, it is characterized in that: described elevating mechanism comprises lift servo motor, elevating bracket, ball-screw assembly and vertical slide rail, described elevating bracket is movably arranged on described fixed supporting seat by vertical slide rail, described lift servo motor is arranged on fixed supporting seat, and be connected with described elevating bracket by ball-screw assembly, described bearing support block is fixed on this elevating bracket by the support that moves up and down.
5. four axle transplanting machine hands according to claim 2, it is characterized in that: described linear extendible mechanism comprises telescopic boom, flexible servomotor, guide rail slide and telescopic rail, described telescopic boom is fixed on the upper end of described hollow output shaft, described guide rail slide is movably arranged in described telescopic boom by telescopic rail, described flexible servomotor is arranged in described telescopic boom, and drives guide rail slide reciprocating on telescopic rail by synchronous wheel belt.
6. four axle transplanting machine hands according to claim 5, it is characterized in that: described end rotates section bar mechanism and comprises rotating arm, rotating servo motor and be arranged on the rotation load module of described rotating arm end, the head end of described rotating arm is fixed on described guide rail slide, described rotating servo motor is arranged on described rotating arm, and drives rotation load module to do spinning movement by synchronous wheel belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420863656.1U CN204546516U (en) | 2014-12-31 | 2014-12-31 | Four axle transplanting machine hands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420863656.1U CN204546516U (en) | 2014-12-31 | 2014-12-31 | Four axle transplanting machine hands |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204546516U true CN204546516U (en) | 2015-08-12 |
Family
ID=53821678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420863656.1U Expired - Fee Related CN204546516U (en) | 2014-12-31 | 2014-12-31 | Four axle transplanting machine hands |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204546516U (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
- 2014-12-31 CN CN201420863656.1U patent/CN204546516U/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: 20150812 Termination date: 20151231 |