CN204913913U - Four -axis stirring machinery hand - Google Patents
Four -axis stirring machinery hand Download PDFInfo
- Publication number
- CN204913913U CN204913913U CN201520574876.7U CN201520574876U CN204913913U CN 204913913 U CN204913913 U CN 204913913U CN 201520574876 U CN201520574876 U CN 201520574876U CN 204913913 U CN204913913 U CN 204913913U
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- China
- Prior art keywords
- timing belt
- arm
- product
- horizontal
- lifting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000003756 stirring Methods 0.000 title claims abstract description 26
- 230000003028 elevating Effects 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 26
- 238000010521 absorption reaction Methods 0.000 claims description 13
- 230000001808 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 241000252254 Catostomidae Species 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000005012 migration Effects 0.000 abstract 3
- 239000000047 product Substances 0.000 description 24
- 239000006227 byproduct Substances 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003638 reducing agent Substances 0.000 description 1
Abstract
The utility model discloses a four -axis stirring machinery hand, four -axis stirring machinery hand includes: elevating system for to the product removal of going up and down, rotary mechanism sets up on elevating system for to the product carry on the level left / turn right and move, horizontal migration mechanism sets up on rotary mechanism for carry out horizontal migration to the product, tilting mechanism sets up in horizontal migration mechanism for overturn to the product, feeding agencies sets up on tilting mechanism for get the material to the product. The utility model discloses four -axis stirring machinery hand simple structure, it is with low costs, it is efficient to the upset of product, effectively improve the whole production efficiency of product.
Description
Technical field
The utility model relates to mechanical manufacturing field, is specifically related to a kind of four axle stirring manipulators.
Background technology
Along with the arriving of automation age, punching press manipulator used is of a great variety, it mainly can be divided into: four axis robot, five axis robot, six axis robot etc., and its cost also increases along with the increase of the manipulator number of axle, therefore four axis robot are in great demand the most in the market.
But, four traditional axis robot structures are simple, it does not have independently trip shaft, if when product needed carries out reverse side turn-over, it is not usually when affecting production capacity, increase by four axis robot and a roll-over table, it needs again to import two equipment, substantially increases production cost, and the inserting of two equipment, area occupied increases, and produces line and may be difficult to arrange.
If directly adopt five axis robot to overturn product, its cost is higher, even and if employing five axis robot overturn, still need to increase intermediate station, product is first placed on intermediate station by five axis robot, then is picked up by product from the another one face of product, and upset efficiency is low, directly affect whole production line, cause the production efficiency of product low.
Therefore, the four axle stirring manipulators that a kind of structure is simple, cost is low, upset efficiency is high urgently propose.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides four axle stirring manipulators, and this robot manipulator structure is simple, and cost is low, high to the upset efficiency of product, effectively improves the integral production efficiency of product.
In order to achieve the above object, the technical solution of the utility model is as follows:
Four axle stirring machinery hands comprise: elevating mechanism, for carrying out lifting moving to product; Rotating mechanism, rotating mechanism is arranged on elevating mechanism, for product is carried out level left/turn right move; Horizontal mobile mechanism, horizontal mobile mechanism is arranged on rotating mechanism, for moving horizontally product; Switching mechanism, switching mechanism is arranged on horizontal mobile mechanism, for overturning product; Material fetching mechanism, material fetching mechanism is arranged on switching mechanism, for carrying out feeding to product.
The utility model is four axis robot, and structure is simple, and cost is low, and Each performs its own functions in each mechanism, effectively can be elevated product, moves horizontally, horizontally rotates and overturn, and effectively can improve the production efficiency of product.
On the basis of technique scheme, also can do following improvement:
As preferred scheme, elevating mechanism comprises: lifting motor and lifting arm, and lifting motor is connected with ball leading screw driving by lift main transmission belt wheel, and ball screw transmits with lifting arm and is connected, and drives lifting arm lifting.
Adopt above-mentioned preferred scheme, utilize lifting motor to provide power, by lift main transmission belt wheel by power transmission in ball screw, thus drive lifting arm lifting.
As preferred scheme, the both sides of ball screw are provided with the guiding rail parallel with ball screw.
Adopt above-mentioned preferred scheme, ensure that lifting arm lifting is more steady.
As preferred scheme, rotating mechanism is arranged in the cavity on lifting arm top, and rotating mechanism comprises: rotary servomotor and the rotary decelerator be in transmission connection with rotary servomotor, rotary decelerator and horizontal mobile mechanism are in transmission connection.
Adopt above-mentioned preferred scheme, rotary servomotor provides power, and rotary decelerator effectively can increase moment of torsion, drives horizontal mobile mechanism and switching mechanism to rotate.Be arranged in the cavity on lifting arm top, make overall structure more compact, improve space availability ratio.
As preferred scheme, horizontal mobile mechanism comprises: horizontal motor and horizontal arm, cavity is provided with in horizontal arm, Timing Belt is provided with in cavity, horizontal motor is connected with toothed belt transmission, the upper surface of Timing Belt and lower surface to be respectively equipped with on Timing Belt fixture block under fixture block and Timing Belt, and Timing Belt to drive on Timing Belt fixture block level of synchronization under fixture block and Timing Belt to move.
Adopt above-mentioned preferred scheme, Timing Belt is arranged in the cavity on horizontal arm, is hidden by Timing Belt, makes the profile of four axle stirring manipulators more attractive in appearance, also makes Timing Belt be isolated from the outside simultaneously, effectively extends its service life.And adopting the upper and lower fixture block of Timing Belt to move horizontally to drive switching mechanism, it is steadily effective.
As preferred scheme, the two ends of horizontal arm are provided with bearing die holder, are respectively equipped with driving wheel and driven pulley in bearing die holder, and Timing Belt is arranged on driving wheel and driven pulley, and horizontal motor is connected with capstan drive, drive driving wheel to rotate.
Adopt above-mentioned preferred scheme, the driving wheel that bearing die holder is provided with and driven pulley effectively can regulate the rate of tension of Timing Belt, Timing Belt are moved more stable.
As preferred scheme, on switching mechanism and Timing Belt, fixture block is in transmission connection, and switching mechanism comprises: upset servo motor, upset decelerator and flip-arm, and upset servo motor is in transmission connection with flip-arm by upset decelerator, and driving flip-arm overturns.
Adopt above-mentioned preferred scheme, upset servo motor provides power, and overturns decelerator and effectively can increase moment of torsion, drives flip-arm to carry out the upset of 10 ~ 180 °.
As preferred scheme, material fetching mechanism is arranged on flip-arm, material fetching mechanism comprises: sucker dish and at least one the absorption pin be arranged on sucker dish, absorption pin is provided with at least one vacuum cup or electromagnet assembly, and vacuum cup is connected with external vacuum extractor.
Adopt above-mentioned preferred scheme, product is effectively adsorbed.
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 material fetching mechanism feeding more accurately with stable.
Accompanying drawing explanation
The four axle stirring manipulator sectional views that Fig. 1 provides for the utility model embodiment.
The four axle stirring manipulator structural representations that Fig. 2 provides for the utility model embodiment.
The four axle stirring manipulator top views that Fig. 3 provides for the utility model embodiment.
Fig. 4 is A portion enlarged drawing in Fig. 3.
Wherein, fixture block, 18 rotary decelerators, 19 rotary servomotors, 20 lifting arms, 21 driving wheels, 22 driven pulleys, 23 absorption pin, 24U shape through hole, 25 couplings under fixture block, 17 Timing Belts on 1 lift main transmission belt wheel, 2 lifting motors, 3 ball screws, 4 guiding rails, 5 supporting seats, 6 horizontal motor, 7 bearing die holders, 8 turns of servo motors, 9 upset decelerators, 10 flip-arms, 11 sucker dish, 12 electromagnet assemblies, 13 Timing Belts, 14 horizontal arms, 15 intermediate plates, 16 Timing Belts.
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 wherein a kind of embodiment of the utility model four axle stirring manipulator.
Four axle stirring machinery hands comprise: material fetching mechanism, switching mechanism, horizontal mobile mechanism, rotating mechanism and elevating mechanism.
Elevating mechanism is used for carrying out lifting moving to product.Elevating mechanism comprises: lifting motor 2 and lifting arm 20, lifting motor 2 is in transmission connection by lift main transmission belt wheel and ball screw 3, ball screw 3 transmits with lifting arm 20 and is connected, drive lifting arm 20 to be elevated, the both sides of ball screw 3 are provided with the guiding rail 4 parallel with ball screw 3.And lifting motor 2, lift main transmission belt wheel 1 are arranged in the supporting seat 5 of lifting arm 20 side with ball screw 3.
Elevating mechanism utilizes lifting motor 2 to provide power, by lift main transmission belt wheel 1 by power transmission in ball screw 3, thus drive lifting arm 20 be elevated.And the guiding rail 4 being arranged at ball screw 3 both sides effectively can ensure that its lifting is more steady.
Rotating mechanism is arranged on described elevating mechanism, for product is carried out level left/turn right move.Rotating mechanism is arranged in the cavity on lifting arm 20 top, and rotating mechanism comprises: rotary servomotor 19 and the rotary decelerator 18 be in transmission connection with rotary servomotor 19, and rotary decelerator 18 and horizontal mobile mechanism are in transmission connection.
Rotating mechanism utilizes rotary servomotor 19 to provide power, and rotary decelerator 18 effectively can increase moment of torsion, drives horizontal mobile mechanism and switching mechanism to rotate.Compared to traditional structure, rotating mechanism is arranged at the bottom of elevating mechanism by it, needs to drive elevating mechanism to rotate simultaneously, and the utility model only needs to drive horizontal mobile mechanism and switching mechanism to rotate, and reduces energy ezpenditure, more energy-conservation.And be arranged in the cavity on lifting arm 20 top, make overall structure more compact, improve space availability ratio.
Horizontal mobile mechanism is arranged on described rotating mechanism, for moving horizontally product.Horizontal mobile mechanism comprises: horizontal motor 6 and horizontal arm 14, horizontal arm 14 is aluminium alloy extrusions, cavity is provided with in it, Timing Belt 13 is provided with in cavity, horizontal motor 6 and Timing Belt 13 are in transmission connection, the upper surface of Timing Belt 13 and lower surface are respectively equipped with fixture block 16 and fixture block 17 under Timing Belt on Timing Belt, and Timing Belt 13 drives fixture block 16 on Timing Belt to move with fixture block 17 level of synchronization under Timing Belt.The two ends of horizontal arm 14 are provided with bearing die holder 7, are respectively equipped with driving wheel 21 and driven pulley 22 in bearing die holder 7, and Timing Belt 13 is arranged at driving wheel 21 with on driven pulley 22, and horizontal motor 6 and driving wheel 21 are in transmission connection, and drives driving wheel 21 to rotate.
Timing Belt 13 is arranged in the cavity on horizontal arm 14, is hidden by Timing Belt 13, makes the profile of four axle stirring manipulators more attractive in appearance, also makes Timing Belt 13 be isolated from the outside simultaneously, effectively extends its service life.Horizontal arm 14 is aluminium alloy extrusions, its inside has enclosed cavity, Timing Belt 13 one end from section bar is stretched into, stretch out from the other end, then step is utilized by the head and the tail of Timing Belt 13 to bring fixture block 16 to clamp with fixture block 17 under Timing Belt, form the Timing Belt 13 of closed circulation, and the two ends of Timing Belt 13 utilize driving wheel 21 and driven pulley 22 to be fixed tensioning, and driving wheel 21 and driven pulley 22 are arranged in the bearing die holder 7 of inner opening, distance between adjustment bearing die holder 7 and horizontal arm 14 effectively can regulate the rate of tension of Timing Belt 13, Timing Belt 13 is moved more stable.And adopting on Timing Belt fixture block 17 under block block 16 and Timing Belt to move horizontally to drive switching mechanism, it is steadily effective.
On Timing Belt, fixture block 17 upper surface is provided with intermediate plate 15, and switching mechanism is arranged on intermediate plate 15, and switching mechanism is used for overturning product.Switching mechanism comprises: upset servo motor 8, upset decelerator 9 and flip-arm 10, and upset servo motor 8 is in transmission connection with flip-arm 10 by upset decelerator 9, drives flip-arm 10 to overturn.
Switching mechanism utilizes upset servo motor 8 to provide power, and upset decelerator 9 is right angle planetary reducer, and it effectively can increase moment of torsion, drives flip-arm 10 to carry out the upset of 10 ~ 180 °.
Material fetching mechanism is arranged on described switching mechanism, for carrying out feeding to product.Material fetching mechanism is arranged on flip-arm 10, and material fetching mechanism comprises: sucker dish 11 and at least one the absorption pin 23 be arranged on sucker dish 11, absorption pin 23 is provided with at least one electromagnet assembly 12.Absorption pin 23 is provided with U-shaped through hole 24, and U-shaped through hole 24 is provided with coupling 25, and electromagnet assembly 12 is arranged on coupling 25.Certainly, absorption pin 23 also can arrange vacuum cup, and vacuum cup is connected with external vacuum extractor.
By the adjustment position of coupling 25 on U-shaped through hole 24, effectively can adjust the relative position of electromagnet assembly 12 on absorption pin 23, ensure material fetching mechanism feeding more accurately with stable.
When product in punching course has turn-over operation, place four axle stirring manipulators before punch press, the course of work of the utility model four axle stirring manipulator is as follows:
1) horizontal mobile mechanism, rotating mechanism and elevating mechanism running, adjusts to suitable feeding position, is taken out by product in punch press by material fetching mechanism;
2) after product thoroughly leaves punch press, switching mechanism action, carries out reverse side operation by product;
3) horizontal mobile mechanism, rotating mechanism and elevating mechanism running, material fetching mechanism being adjusted to next manipulator can the position of feeding, carries out subsequent operation after next manipulator feeding.
The utility model is four axis robot, structure is simple, cost is low, Each performs its own functions in each mechanism, effectively can be elevated product, move horizontally, horizontally rotate and overturn, without the need to by equipment such as intermediate stations in the process of upset, save space, and upset efficiency is high, effectively can improve the production efficiency of product.
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 (8)
1. four axle stirring manipulators, is characterized in that, comprising:
Elevating mechanism, for carrying out lifting moving to product;
Rotating mechanism, described rotating mechanism is arranged on described elevating mechanism, for product is carried out level left/turn right move;
Horizontal mobile mechanism, described horizontal mobile mechanism is arranged on described rotating mechanism, for moving horizontally product, described horizontal mobile mechanism comprises: horizontal motor and horizontal arm, cavity is provided with in described horizontal arm, Timing Belt is provided with in described cavity, described horizontal motor is connected with described toothed belt transmission, the upper surface of described Timing Belt and lower surface to be respectively equipped with on Timing Belt fixture block under fixture block and Timing Belt, and described Timing Belt to drive on described Timing Belt fixture block level of synchronization under fixture block and described Timing Belt to move;
Switching mechanism, described switching mechanism is arranged on described horizontal mobile mechanism, for overturning product;
Material fetching mechanism, described material fetching mechanism is arranged on described switching mechanism, for carrying out feeding to product.
2. four axle stirring manipulators according to claim 1, it is characterized in that, described elevating mechanism comprises: lifting motor and lifting arm, described lifting motor is connected with ball leading screw driving by lift main transmission belt wheel, described ball screw transmits with described lifting arm and is connected, and drives described lifting arm to be elevated.
3. four axle stirring manipulators according to claim 2, is characterized in that, the both sides of described ball screw are provided with the guiding rail parallel with described ball screw.
4. four axle stirring manipulators according to Claims 2 or 3, it is characterized in that, described rotating mechanism is arranged in the cavity on described lifting arm top, described rotating mechanism comprises: rotary servomotor and the rotary decelerator be in transmission connection with described rotary servomotor, described rotary decelerator and described horizontal mobile mechanism are in transmission connection.
5. four axle stirring manipulators according to claim 4, it is characterized in that, the two ends of described horizontal arm are provided with bearing die holder, driving wheel and driven pulley is respectively equipped with in described bearing die holder, described Timing Belt is arranged on described driving wheel and described driven pulley, described horizontal motor is connected with described capstan drive, drives described driving wheel to rotate.
6. four axle stirring manipulators according to claim 5, it is characterized in that, on described switching mechanism and described Timing Belt, fixture block is in transmission connection, described switching mechanism comprises: upset servo motor, upset decelerator and flip-arm, described upset servo motor is in transmission connection by the transmission of described upset decelerator and described flip-arm, drives described flip-arm to overturn.
7. four axle stirring manipulators according to claim 6, it is characterized in that, described material fetching mechanism is arranged on described flip-arm, described material fetching mechanism comprises: sucker dish and at least one the absorption pin be arranged on described sucker dish, described absorption pin is provided with at least one vacuum cup or electromagnet assembly, and described vacuum cup is connected with external vacuum extractor.
8. four axle stirring manipulators according to claim 7, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520574876.7U CN204913913U (en) | 2015-08-03 | 2015-08-03 | Four -axis stirring machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520574876.7U CN204913913U (en) | 2015-08-03 | 2015-08-03 | Four -axis stirring machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204913913U true CN204913913U (en) | 2015-12-30 |
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ID=54963090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520574876.7U Expired - Fee Related CN204913913U (en) | 2015-08-03 | 2015-08-03 | Four -axis stirring machinery hand |
Country Status (1)
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| CN (1) | CN204913913U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437220A (en) * | 2015-12-31 | 2016-03-30 | 深圳市艾兰特科技有限公司 | Mobile manipulator for cylindrical battery |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN108673494A (en) * | 2018-05-28 | 2018-10-19 | 温州职业技术学院 | Piezo on-line checking turning manipulator |
| CN109108955A (en) * | 2018-09-28 | 2019-01-01 | 杭州金浪机电有限公司 | A kind of four axis stamping mechanical arms |
| CN109132370A (en) * | 2018-10-09 | 2019-01-04 | 杭州金浪机电有限公司 | material processing system |
| CN109801860A (en) * | 2018-12-29 | 2019-05-24 | 大连益盛达智能科技有限公司 | Full-automatic COG bonding machine IC turnover mechanism |
-
2015
- 2015-08-03 CN CN201520574876.7U patent/CN204913913U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437220A (en) * | 2015-12-31 | 2016-03-30 | 深圳市艾兰特科技有限公司 | Mobile manipulator for cylindrical battery |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN107745056B (en) * | 2017-11-15 | 2020-01-03 | 绵阳海迪机器人科技有限公司 | Automatic feeding and discharging manipulator of punch press |
| CN108673494A (en) * | 2018-05-28 | 2018-10-19 | 温州职业技术学院 | Piezo on-line checking turning manipulator |
| CN108673494B (en) * | 2018-05-28 | 2020-03-17 | 温州职业技术学院 | Buzzer piece on-line detection overturning manipulator |
| CN109108955A (en) * | 2018-09-28 | 2019-01-01 | 杭州金浪机电有限公司 | A kind of four axis stamping mechanical arms |
| CN109132370A (en) * | 2018-10-09 | 2019-01-04 | 杭州金浪机电有限公司 | material processing system |
| CN109801860A (en) * | 2018-12-29 | 2019-05-24 | 大连益盛达智能科技有限公司 | Full-automatic COG bonding machine IC turnover mechanism |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151230 Termination date: 20200803 |