CN204913904U - Novel connecting rod formula manipulator - Google Patents
Novel connecting rod formula manipulator Download PDFInfo
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- CN204913904U CN204913904U CN201520592668.XU CN201520592668U CN204913904U CN 204913904 U CN204913904 U CN 204913904U CN 201520592668 U CN201520592668 U CN 201520592668U CN 204913904 U CN204913904 U CN 204913904U
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- horizontal
- support plate
- mechanical arm
- horizontal support
- motor
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Abstract
The utility model discloses a novel connecting rod formula manipulator, this manipulator includes: a machine support. The horizontal migration subassembly sets up in the frame, includes: first horizontal motor, first horizontal support plate, the horizontal motor of second and the horizontal support plate of second, horizontal support plate of second and first horizontal support plate sliding connection, the first horizontal support plate horizontal migration of first horizontal motor drive, the horizontal support plate horizontal migration of the horizontal motor drive second of second, lifting unit sets up on the horizontal support plate of second, includes: elevator motor and the lift support plate of being connected with the elevator motor transmission, elevator motor drive lift support plate goes up and down, get the material subassembly, include: set up the arm on the lift support plate and set up at least one the absorption foot on the arm, be provided with vacuum chuck or electromagnet assembly on the absorption foot. The utility model relates to a novel connecting rod formula manipulator simple structure, it is with low costs, require lowly to arranging of mould and punch press, effectively improve the whole production efficiency of product, reduction in production cost.
Description
Technical field
The utility model relates to mechanical manufacturing field, is specifically related to a kind of novel link type manipulator.
Background technology
The conventional linkage formula manipulator for punching press in the market, and move up and down due to the front and back that mechanical arm that traditional link manipulator is all is unified, it requires higher to the arrangement of mould and punch press.Link manipulator as traditional requires that all punch press centers on same straight line, must require that the centre distance of all punch presses is necessary consistent, require that the height of all counterdies must be consistent, require all mold center's distances necessary consistent.Above requirement adds production cost virtually.And in a lot of situation, when client needs production small lot, during the product of multi items, this problem is especially remarkable, and conventional linkage formula manipulator debugging complexity is large, and needs the energy of at substantial to come layout mould and punch press again, consumes a large amount of man power and materials.Although the problem existing for traditional link manipulator, four axis robot or five axis robot can be adopted to solve, four axis robot or five axis robot, due to the increase of the joint number of axle, cause the reduction of production efficiency, and production cost increases.
Therefore, a kind of structure is simple, cost is low, require low to the arrangement of mould and punch press, and the high novel link type manipulator of production efficiency urgently proposes.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of novel link type manipulator, and this robot manipulator structure is simple, and cost is low, requires low to the arrangement of mould and punch press, effectively improves the integral production efficiency of product, reduces production cost.
In order to achieve the above object, the technical solution of the utility model is as follows:
A kind of novel link type manipulator comprises: frame; Move horizontally assembly, be arranged in frame, comprise: the first horizontal motor, the first horizontal support plate be in transmission connection with the first horizontal motor, the second horizontal motor and the second horizontal support plate be in transmission connection with the second horizontal motor, second horizontal support plate and the first horizontal support plate are slidably connected, first horizontal motor drives the first horizontal support plate to move horizontally, and the second horizontal motor drives the second horizontal support plate to move horizontally; Lifting assembly, is arranged on the second horizontal support plate, comprises: lifting motor and the lifting support plate be in transmission connection with lifting motor, and lifting motor drives the lifting of lifting support plate; Feeding assembly, comprising: be arranged at the mechanical arm on lifting support plate and be arranged at least one the absorption pin on mechanical arm, absorption pin is provided with at least one vacuum cup or electromagnet assembly, and vacuum cup is connected with external vacuum extractor.
A kind of novel link type manipulator of the utility model is two axis robot, effectively can regulate horizontal range and the vertical range of absorption pin, it is made to require lower to the arrangement of mould and punch press, when needing the product of production different cultivars, without the need to again carrying out layout to mould and punch press, substantially increase production efficiency, reduce production cost.And the mode that the utility model moves horizontally assembly employing secondary drive shifts product, the position of transfer is more accurate, and transmission better effects if, in certain space, increase effectively the impulse stroke of mechanical arm.
On the basis of technique scheme, also can do following improvement:
As preferred scheme, frame is provided with horizontal base plate, is provided with tooth bar along on the length direction of horizontal base plate, the first horizontal support plate is provided with gear, gear and the first horizontal motor are in transmission connection, and wheel and rack engagement.
Adopt above-mentioned preferred scheme, what move horizontally that assembly utilizes wheel and rack has cooperatively interacted moving horizontally of primary large distance, and driving force is large, stable drive.
As preferred scheme, horizontal base plate is provided with the horizontal slide rail parallel with tooth bar, the first horizontal support plate is provided with rail slider, rail slider and horizontal slide rail are in being slidably connected.
Adopt above-mentioned preferred scheme, ensure that first time moves horizontally more effectively stable.
As preferred scheme, the second horizontal motor is arranged on the first horizontal support plate, and the second horizontal motor and conveyer belt are in transmission connection, and the second horizontal support plate is in transmission connection by transmission annex and conveyer belt.
Adopt above-mentioned preferred scheme, move horizontally assembly and utilize transmission to bring moving horizontally of secondary small distance, stable transmission, more accurately.
As preferred scheme, the first horizontal support plate is also provided with speed-changing gear box, the second horizontal motor is linked by conveyer belt and speed-changing gear box.
Adopt above-mentioned preferred scheme, effectively can be adjusted the transfer rate of conveyer belt by speed-changing gear box, thus the movement rate of adjustment the second horizontal support plate, make the motion of the second horizontal support plate more accurate.
As preferred scheme, one or more handset mechanical arm that mechanical arm comprises main frame mechanical arm and is rotationally connected with main frame mechanical arm, absorption pin is arranged in handset mechanical arm.
Adopt above-mentioned preferred scheme, main frame mechanical arm and handset mechanical arm are rotationally connected, its can effectively expand absorption pin impulse stroke, make absorption pin can accurate stable realize feeding.
As preferred scheme, absorption pin is provided with U-shaped through hole, and U-shaped through hole is provided with coupling, and vacuum cup or electromagnet assembly are arranged on coupling.
Adopt above-mentioned preferred scheme, by the adjustment position of coupling on U-shaped through hole, effectively can adjust vacuum cup or the relative position of electromagnet assembly on absorption pin, ensure feeding assembly feeding more accurately with stable.
As preferred scheme, handset mechanical arm is rotatably connected to one or more auxiliary mechanical arm.
Adopt above-mentioned preferred scheme, more effectively can expand the working range of adsorbing pin, improve the accuracy of absorption pin feeding.
As preferred scheme, auxiliary mechanical arm is the multiple sub-auxiliary mechanical arm be rotationally connected successively.
Adopt above-mentioned preferred scheme, more effectively can expand the working range of adsorbing pin, improve the accuracy of absorption pin feeding.
Accompanying drawing explanation
The novel link type robot manipulator structure schematic diagram that Fig. 1 provides for the utility model embodiment.
Structural representation after the novel link type manipulator removing rack section that Fig. 2 provides for the utility model embodiment.
Front view after the novel link type manipulator removing rack section that Fig. 3 provides for the utility model embodiment.
One of top view after the novel link type manipulator removing rack section that Fig. 4 provides for the utility model embodiment.
Top view two after the novel link type manipulator removing rack section that Fig. 5 provides for the utility model embodiment.
Sectional view after the novel link type manipulator removing rack section that Fig. 6 the utility model embodiment provides.
Wherein, 1 frame, 11 horizontal base plates, 12 tooth bars, 13 horizontal slide rails, 14 postive stop baffles, 2 move horizontally assembly, 21 first horizontal motor, 22 first horizontal support plates, 221 horizontal double action guide rails, 222 rail sliders, 23 second horizontal motor, 24 second horizontal support plates, 25 gears, 26 conveyer belts, 27 transmit annex, 28 speed-changing gear boxs, 3 lifting assemblies, 31 lifting motors, 32 lifting support plates, 33 connecting plates, 34 riser guides, 4 feeding assemblies, 41 main frame mechanical arm, 42 handset mechanical arm, 43 absorption pin, 44U shape through hole, 45 couplings, 46 electromagnet assemblies, 5 auxiliary mechanical arms, 51 sub-auxiliary mechanical arms.
Detailed description of the invention
Preferred embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.
In order to reach the purpose of this utility model, in the embodiment of a kind of novel link type manipulator of the utility model,
As shown in figures 1 to 6, a kind of novel link type manipulator comprises: frame 1, move horizontally assembly 2, lifting assembly 3, feeding assembly 4.
Moving horizontally assembly 2 is arranged in frame 1, comprise: the first horizontal motor 21, the first horizontal support plate 22, second horizontal motor 23 be in transmission connection with the first horizontal motor 21 and the second horizontal support plate 24 be in transmission connection with the second horizontal motor 23, first horizontal support plate 22 is provided with horizontal double action guide rail 221, second horizontal support plate 24 is arranged on horizontal float guide rail 221, and the second horizontal support plate 24 and the first horizontal support plate 22 are slidably connected.
Frame 1 is provided with horizontal base plate 11, tooth bar 12 is provided with along on the length direction of horizontal base plate 11, the two ends of horizontal base plate 11 are provided with postive stop baffle 14, first horizontal support plate 22 is provided with gear 25, gear 25 and the first horizontal motor 21 are in transmission connection, and gear 25 is meshed with tooth bar 12.Horizontal base plate 11 is provided with on the horizontal support plate 22 of horizontal slide rail 13, first parallel with tooth bar 12 and is provided with rail slider 222, rail slider 222 and horizontal slide rail 13 are in being slidably connected.
Second horizontal motor 23 is arranged on the first horizontal support plate 22, and the second horizontal motor 23 is in transmission connection with conveyer belt 26, and the second horizontal support plate 23 is in transmission connection with conveyer belt 26 by transmitting annex 27, and levelling accessory 27 can be belt bolt.First horizontal support plate 22 is also provided with speed-changing gear box 28, and the second horizontal motor 23 is linked by conveyer belt 26 and speed-changing gear box 28.
What move horizontally that assembly 2 utilizes gear 25 and tooth bar 12 has cooperatively interacted moving horizontally of primary large distance, and driving force is large, stable drive.And horizontal slide rail 13 can effectively ensure first time move horizontally more effectively stable.Moving horizontally assembly 2 utilizes conveyer belt 26 to complete moving horizontally of secondary small distance, stable transmission, more accurately.And secondary moving horizontally can superpose on the basis that move horizontally for the first time, in certain space, improve the impulse stroke of mechanical arm.And when punch press spacing is different, it can adopt secondary levels to move the horizontal throw of reconditioner mechanical arm with the object of satisfied carrying.
Lifting assembly 3 is arranged on the second horizontal support plate 23, comprising: lifting motor 31 and the lifting support plate 32 be in transmission connection with lifting motor 31.Second horizontal support plate 23 is provided with connecting plate 33, connecting plate 33 is provided with riser guide 34, lifting support plate 32 is arranged on riser guide 34, and with riser guide 34 in being slidably connected, lifting motor 31 drives lifting support plate 32 to be elevated along riser guide 34.
Feeding assembly 4 comprises: be arranged at the main frame mechanical arm 41 on lifting support plate 32, the both sides of main frame mechanical arm 41 are respectively provided with the handset mechanical arm 42 be rotationally connected with main frame mechanical arm 41, handset mechanical arm 41 is provided with three absorption pin 43, absorption pin 43 is provided with U-shaped through hole 44, U-shaped through hole 44 is provided with coupling 45, and electromagnet assembly 46 is arranged on coupling 45.In addition, absorption pin 42 also can arrange vacuum cup, and vacuum cup is connected with external vacuum extractor.And handset mechanical arm 42 also can be arranged at the zone line of main frame mechanical arm 41, the adjustment of position can be carried out according to the actual conditions at scene.And the handset mechanical arm 42 being arranged at main frame mechanical arm 41 both sides can carry out feeding to the product on station simultaneously, can effectively enhance productivity.As shown in Figure 4, main frame mechanical arm 41 and handset mechanical arm 42 are in and are same as on straight line, and after main frame mechanical arm 41 and handset mechanical arm 42 turn an angle, as shown in Figure 5.
Main frame mechanical arm 41 and handset mechanical arm 42 are rotationally connected, and it effectively can expand the impulse stroke of absorption pin, make absorption pin 43 can accurate stable realize feeding.By the adjustment position of coupling 45 on U-shaped through hole 44, effectively can adjust the relative position of electromagnet assembly 46 on absorption pin 43, ensure feeding assembly feeding more accurately with stable.
A kind of novel link type of the utility model manipulator its compared to traditional link-type mechanical arm and four shaft mechanical arms, there is following beneficial effect:
1) horizontal range and the vertical range of absorption pin 43 can effectively be regulated, it is made to require lower to the arrangement of mould and punch press, when needing the product of production different cultivars, without the need to again carrying out layout to mould and punch press, substantially increase production efficiency, reduce production cost.
2) a kind of novel link type manipulator of the utility model only has two axles in operation, the manipulator more than four axles, and its materials are few, more cost-saving, movement velocity also more block.
3) the utility model moves horizontally assembly 2 and adopts the mode of secondary drive to carry out horizontal transfer to product, and the position of transfer is more accurate, and transmission better effects if, in certain space, increase effectively the impulse stroke of mechanical arm.
In order to optimize implementation result of the present utility model further, in another kind of embodiment of the present utility model, on the basis of foregoing teachings, handset mechanical arm 42 is rotatably connected to one or more auxiliary mechanical arm 5.
Adopt above-mentioned preferred scheme, more effectively can expand the working range of adsorbing pin 43, improve the accuracy of absorption pin 43 feeding.
Further, auxiliary mechanical arm is the multiple sub-auxiliary mechanical arm 51 be rotationally connected successively.
Adopt above-mentioned preferred scheme, more effectively can expand the working range of adsorbing pin 43, improve the accuracy of absorption pin 43 feeding.
Above is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (9)
1. a novel link type manipulator, is characterized in that, comprising: frame;
Move horizontally assembly, be arranged in described frame, comprise: the first horizontal motor, the first horizontal support plate be in transmission connection with described first horizontal motor, the second horizontal motor and the second horizontal support plate be in transmission connection with the second horizontal motor, second horizontal support plate and described first horizontal support plate are slidably connected, described first horizontal motor drives described first horizontal support plate to move horizontally, and described second horizontal motor drives described second horizontal support plate to move horizontally;
Lifting assembly, is arranged on described second horizontal support plate, comprises: lifting motor and the lifting support plate be in transmission connection with described lifting motor, and described lifting motor drives described lifting support plate to be elevated;
Feeding assembly, comprise: be arranged at the mechanical arm on described lifting support plate and be arranged at least one the absorption pin on described mechanical arm, described absorption pin is provided with at least one vacuum cup or electromagnet assembly, and described vacuum cup is connected with external vacuum extractor.
2. novel link type manipulator according to claim 1, it is characterized in that, described frame is provided with horizontal base plate, tooth bar is provided with along on the length direction of described horizontal base plate, described first horizontal support plate is provided with gear, described gear and described first horizontal motor are in transmission connection, and described gear engages with described tooth bar.
3. novel link type manipulator according to claim 2, it is characterized in that, described horizontal base plate is provided with the horizontal slide rail parallel with described tooth bar, and described first horizontal support plate is provided with rail slider, and described rail slider and described horizontal slide rail are in being slidably connected.
4. the novel link type manipulator according to any one of claim 1-3, it is characterized in that, described second horizontal motor is arranged on described first horizontal support plate, described second horizontal motor and conveyer belt are in transmission connection, and described second horizontal support plate is in transmission connection by transmission annex and described conveyer belt.
5. novel link type manipulator according to claim 4, is characterized in that, described first horizontal support plate is also provided with speed-changing gear box, and described second horizontal motor is linked by described conveyer belt and described speed-changing gear box.
6. novel link type manipulator according to claim 5, is characterized in that, one or more handset mechanical arm that described mechanical arm comprises main frame mechanical arm and is rotationally connected with described main frame mechanical arm, and described absorption pin is arranged in described handset mechanical arm.
7. novel link type manipulator according to claim 6, is characterized in that, described absorption pin is provided with U-shaped through hole, and described U-shaped through hole is provided with coupling, and described vacuum cup or electromagnet assembly are arranged on described coupling.
8. novel link type manipulator according to claim 6, is characterized in that, described handset mechanical arm is rotatably connected to one or more auxiliary mechanical arm.
9. novel link type manipulator according to claim 8, is characterized in that, described auxiliary mechanical arm is the multiple sub-auxiliary mechanical arm be rotationally connected successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520592668.XU CN204913904U (en) | 2015-08-03 | 2015-08-03 | Novel connecting rod formula manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520592668.XU CN204913904U (en) | 2015-08-03 | 2015-08-03 | Novel connecting rod formula manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204913904U true CN204913904U (en) | 2015-12-30 |
Family
ID=54963081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520592668.XU Withdrawn - After Issue CN204913904U (en) | 2015-08-03 | 2015-08-03 | Novel connecting rod formula manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204913904U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105014661A (en) * | 2015-08-03 | 2015-11-04 | 亿和精密工业（苏州）有限公司 | Novel connecting-rod type mechanical arm |
| CN105499424A (en) * | 2016-01-15 | 2016-04-20 | 云嘉集团有限公司 | Safe magnetic hand |
| CN106001300A (en) * | 2016-06-28 | 2016-10-12 | 昆山华航威泰机器人有限公司 | Mechanical hand for punching machine |
| CN106393086A (en) * | 2016-11-25 | 2017-02-15 | 江门市大光明电力设备厂有限公司 | Modularized mechanical hand |
| CN111661606A (en) * | 2020-07-29 | 2020-09-15 | 吉林大学 | Turnover machine for stamping products |
-
2015
- 2015-08-03 CN CN201520592668.XU patent/CN204913904U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105014661A (en) * | 2015-08-03 | 2015-11-04 | 亿和精密工业（苏州）有限公司 | Novel connecting-rod type mechanical arm |
| CN105499424A (en) * | 2016-01-15 | 2016-04-20 | 云嘉集团有限公司 | Safe magnetic hand |
| CN106001300A (en) * | 2016-06-28 | 2016-10-12 | 昆山华航威泰机器人有限公司 | Mechanical hand for punching machine |
| CN106393086A (en) * | 2016-11-25 | 2017-02-15 | 江门市大光明电力设备厂有限公司 | Modularized mechanical hand |
| CN111661606A (en) * | 2020-07-29 | 2020-09-15 | 吉林大学 | Turnover machine for stamping products |
| CN111661606B (en) * | 2020-07-29 | 2023-11-10 | 吉林大学 | Turnover machine for stamping formed products |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151230 Effective date of abandoning: 20170718 |