CN204954840U - Four -axis punching press machine people - Google Patents
Four -axis punching press machine people Download PDFInfo
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- CN204954840U CN204954840U CN201520742228.8U CN201520742228U CN204954840U CN 204954840 U CN204954840 U CN 204954840U CN 201520742228 U CN201520742228 U CN 201520742228U CN 204954840 U CN204954840 U CN 204954840U
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- servo motor
- swing arm
- connecting rod
- mount pad
- arm connecting
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Abstract
The utility model provides a compact structure, the four -axis punching press machine people that the action reflection is faster, work efficiency is higher, it includes the frame, install in swing arm connecting rod lift servo motor in the frame, the swing arm connecting rod lift RV speed reducer that links to each other with this swing arm connecting rod lift servo motor, one end and swing arm connecting rod, the other end that swing arm connecting rod lift recreation vehicle speed reducer links to each other and the mount pad that is used for installing servo motor articulate mutually, are used for driving harmonic speed reducer machine that the mount pad go up and down moved, linked to each other with this servo motor output, drive mechanisms such as horizontal wobbling swing arm by this harmonic speed reducer machine, this scheme is the servo motor through adopting four independent synergy actions and corresponding drive mechanism's structural style mainly for it is higher and more nimble at during operation work efficiency in robot in this scheme.
Description
Technical field
The utility model relates to mechanical stamping equipment technical field, refers more particularly to a kind of four axle pressing robot.
Background technology
In the production process of punching parts, often need to adopt industrial robot to extract stamping parts, shift and the action such as discharging, its application on stamping line for raising business productivity, improve the quality of products, reduce production cost and all there is significant economic benefit the shortening production cycle.But existing pressing robot its generally there is complex structure, floor space is large, the defects such as the loaded down with trivial details and underaction of course of action, such as Chinese publication No. is the patent document of " a kind of four axle punching press feeding robots " of CN104308845A (date of publication is on 01 28th, 2015), during work, the first axle on it drives the 3rd axle to rotate to feeding position, after being rotated in place, 3rd axle drives the second axle to drop to above product, 4th axle rotates to proper angular position simultaneously, so that the 3rd axle declines carry out feeding, after feeding action completes, 3rd axle rises, first axle drives the 3rd axle to rotate above product discharge zone simultaneously, after being rotated in place, the while that 3rd axle declining, the 4th axle rotates, 3rd axle is declined to put in place laggard row product discharge, thus complete the feeding of single product, transfer and discharging process.Although this four axles punching press feeding robot can realize feeding to material, transfer and discharging action, its total is complicated, and drive mechanism is loaded down with trivial details, is unfavorable for the production efficiency and the market competitiveness that improve enterprise.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of compact conformation, action reflection is faster, operating efficiency is higher four axle pressing robot.
For achieving the above object, technical scheme provided by the utility model is: a kind of four axle pressing robot, comprise frame, also comprise the swing arm connecting rod lifting servo motor be installed in described frame, the swing arm connecting rod lifting RV reductor be connected with this swing arm connecting rod lifting servo motor, the swing arm connecting rod that one end is connected with described swing arm connecting rod lifting RV reductor, the other end be hinged for the mount pad installing servo motor, for driving described mount pad lifting moving, the harmonic wave speed reducing machine be connected with this servo motor output, the swing arm of horizontal hunting is driven by this harmonic wave speed reducing machine, be fixedly installed in the telescopic arm servo motor of described swing arm one end, the first belt gear of transmission is driven by this telescopic arm servo motor, driven by this first belt gear and formed linear reciprocation with described swing arm and move the telescopic arm be slidably connected, be fixed on the material grasping arm servo motor on this telescopic arm one end, the second belt gear be connected with this material grasping arm servo motor and to be fixed on the described telescopic arm other end and to be driven the material grasping arm of horizontal hunting by this second belt gear, wherein said mount pad and frame form being slidably connected of vertical direction.
Further, a balance cylinder for its lifting moving auxiliary be fixedly linked with described mount pad is also included.
Again further, described mount pad is one with the strip shell structure of cavity, and wherein said balance cylinder is vertically installed in described mount pad cavity.
This programme is mainly through adopting the version of the servo motor of four independent coordinated actions and corresponding transmission mechanism, make the robot in this programme its operationally operating efficiency is higher and more flexible, be wherein swing arm connecting rod lifting servo motor by being arranged in frame for realizing the part of whole robot lifting action, the swing arm connecting rod lifting RV reductor be connected with this swing arm connecting rod lifting servo motor, the swing arm connecting rod that one end is connected with this swing arm connecting rod lifting RV reductor, the other end be hinged for the mount pad installing servo motor, and mount pad and frame form the version be slidably connected of vertical direction, adopt this this kind of version can make ensureing under the prerequisite reducing costs and be swift in motion, structure is more simply compact, adopt the horizontal hunting function of machine National People's Congress amplitude when driving swing arm to realize work by the servo motor be arranged on this mount pad and harmonic wave speed reducing machine simultaneously, and moving the telescopic arm be slidably connected and the telescopic arm servo motor driving this telescopic arm to move back and forth by forming linear reciprocation with this swing arm, realizing the rectilinear movement action of machine man-hour, in addition also by being arranged on material grasping arm servo motor on one end of this telescopic arm and driving by it material grasping arm horizontally rotating action be installed on this telescopic arm other end, realize by a small margin horizontally rotate action, said structure form can make robot in the course of the work, and its lifting, swing and straight reciprocating motion can be carried out simultaneously, thus greatly improve machine task efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is of the present utility model point of de-assembly schematic diagram.
In figure: 100-tetra-axle pressing robot, 1-frame, 2-swing arm connecting rod lifting servo motor, 3-swing arm connecting rod lifting RV reductor, 4-swing arm connecting rod, 5-mount pad, 6-servo motor, 7-harmonic wave speed reducing machine, 8-swing arm, 9-telescopic arm servo motor, 10-first belt gear, 11-telescopic arm, 12-material grasping arm servo motor, 13-second belt gear, 14-material grasping arm, 15-balance cylinder.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail:
Shown in accompanying drawing 1 to 2, one four axle pressing robot 100 described in the present embodiment, it comprises frame 1, be arranged on the swing arm connecting rod lifting servo motor 2 of this frame 1 inner chamber bottom, the swing arm connecting rod lifting RV reductor 3 be connected with this swing arm connecting rod lifting servo motor 2, the swing arm connecting rod 4 that one end is connected with this swing arm connecting rod lifting RV reductor 3, the other end of this swing arm connecting rod 4 is hingedly mounted on a side of the mount pad 5 for installing servo motor 6, for driving this mount pad 5 lifting moving, the harmonic wave speed reducing machine 7 be connected with this servo motor 6 output, the swing arm 8 of horizontal hunting is driven by this harmonic wave speed reducing machine 7, be fixedly installed in the telescopic arm servo motor 9 of above-mentioned swing arm 8 one end, the first belt gear 10 of transmission is driven by this telescopic arm servo motor 9, driven by this first belt gear 10 and form linear reciprocation with above-mentioned swing arm 8 and move the telescopic arm 11 be slidably connected, be fixed on the material grasping arm servo motor 12 on this telescopic arm 11 one end, the second belt gear 13 be connected with this material grasping arm servo motor 12 and to be fixed on above-mentioned telescopic arm 11 other end and to be driven the material grasping arm 14 of horizontal hunting by this second belt gear 13, wherein formed by the slide rail that is provided with and chute between this mount pad 5 and frame 1 inner face and be vertically slidably connected.
Refer again to shown in accompanying drawing 2, in addition in order to make robot keep stability better in the course of the work, this programme is also provided with a balance cylinder 15 for its lifting moving auxiliary be fixedly linked with above-mentioned mount pad 5 in frame 1.Preferably, mount pad 5 in this programme is adopt the strip shell structure with cavity, wherein above-mentioned balance cylinder 15 is vertically arranged in mount pad 5 cavity, and this version can make whole robot architecture compacter, makes full use of the inner space of frame.
During lathe press work, after raw material are put into punching machine mold by material grasping arm 14, material grasping arm 14 action returns to home position, after lathe punching press action to be punched completes, swing arm 3 action is in rotary moving above punching machine mold, simultaneous retractable arm 11 action moves down, material grasping arm 14 captures raw material, after raw material grasping movement completes, telescopic arm 11 rises and resets and move retraction, and the action of swing arm 3 simultaneously rotates and realizes discharging action, after discharging action completes, material grasping arm 14 captures next raw material to be processed and puts into punching machine mold, repeats said process.
The examples of implementation of the above are only the preferred embodiment of the utility model, not limit practical range of the present utility model with this, therefore the change that all shapes according to the utility model, principle are done, all should be encompassed in protection domain of the present utility model.
Claims (3)
1. an axle pressing robot, comprise frame (1), it is characterized in that: also comprise the swing arm connecting rod lifting servo motor (2) be installed in described frame (1), swing arm connecting rod lifting RV reductor (3) be connected with this swing arm connecting rod lifting servo motor (2), the swing arm connecting rod (4) that one end is connected with described swing arm connecting rod lifting RV reductor (3), the other end be hinged for the mount pad (5) installing servo motor (6), for driving described mount pad (5) lifting moving, the harmonic wave speed reducing machine (7) be connected with this servo motor (6) output, the swing arm (8) of horizontal hunting is driven by this harmonic wave speed reducing machine (7), be fixedly installed in the telescopic arm servo motor (9) of described swing arm (8) one end, first belt gear (10) of transmission is driven by this telescopic arm servo motor (9), driven by this first belt gear (10) and formed linear reciprocation with described swing arm (8) and move the telescopic arm (11) be slidably connected, be fixed on the material grasping arm servo motor (12) on this telescopic arm (11) one end, the second belt gear (13) be connected with this material grasping arm servo motor (12) and to be fixed on described telescopic arm (11) other end and to be driven the material grasping arm (14) of horizontal hunting by this second belt gear (13), wherein said mount pad (5) and frame (1) form being slidably connected of vertical direction.
2. a kind of four axle pressing robot according to claim 1, is characterized in that: also include a balance cylinder (15) for its lifting moving auxiliary be fixedly linked with described mount pad (5).
3. a kind of four axle pressing robot according to claim 2, it is characterized in that: described mount pad (5) is one with the strip shell structure of cavity, and wherein said balance cylinder (15) is vertically installed in described mount pad (5) cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742228.8U CN204954840U (en) | 2015-09-23 | 2015-09-23 | Four -axis punching press machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742228.8U CN204954840U (en) | 2015-09-23 | 2015-09-23 | Four -axis punching press machine people |
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| Publication Number | Publication Date |
|---|---|
| CN204954840U true CN204954840U (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520742228.8U Active CN204954840U (en) | 2015-09-23 | 2015-09-23 | Four -axis punching press machine people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150205A (en) * | 2015-09-23 | 2015-12-16 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Four-axle punching robot |
-
2015
- 2015-09-23 CN CN201520742228.8U patent/CN204954840U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150205A (en) * | 2015-09-23 | 2015-12-16 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Four-axle punching robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |