CN205290979U - Reciprocating type people and robot be operation automation equipment in coordination - Google Patents
Reciprocating type people and robot be operation automation equipment in coordination Download PDFInfo
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- CN205290979U CN205290979U CN201620018574.6U CN201620018574U CN205290979U CN 205290979 U CN205290979 U CN 205290979U CN 201620018574 U CN201620018574 U CN 201620018574U CN 205290979 U CN205290979 U CN 205290979U
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Abstract
The utility model provides a reciprocating type people and robot be operation automation equipment in coordination, comprises a workbench, first carrier, the robot, the second carrier, first slide rail, the second slide rail, a feeding mechanism, the 2nd feeding mechanism, first slide rail is installed side by side to the workstation anterior segment, the second slide rail, the robot is installed in the workstation back end, first carrier and first slide rail sliding connection are driven by first carrier conveying mechanism, second carrier and second slide rail sliding connection are driven by second carrier conveying mechanism, the workman is the operation before the workstation, the work piece operation of material on to first carrier is got from a feeding mechanism by the robot, the work piece operation of material on to the second carrier is got from the 2nd feeding mechanism by the robot. The utility model discloses can handle the product of multitask station, the robot integrated degree of difficulty is little, and is with low costs, and is fit for the business model of current commodity personalization, the little batch of the many varieties of customization design, and the line changing dead time is short, and the operating efficiency is high.
Description
Technical field
This utility model relates to Industrial Robot Technology field, particularly to a kind of reciprocating people and robot work compound automation equipment.
Background technology
Current industrial robot is more and more universal in the utilization of manufacturing, and they are replaced be accomplished manually these high intensity, high-risk, loaded down with trivial details task by the substantial amounts of operation stations such as assembling, punching press, piling, plug-in unit, spraying, welding that are used in. Being presently required the product of multitasking station, the difficulty that the robot of automation equipment is integrated is big, and cost is high, and is not suitable for the business model of current commodity personalization, customization design multi-varieties and small-batch, and thread-changing is long for downtime, and working performance is low.
In view of this, special proposition this utility model, to solve above-mentioned technical problem.
Utility model content
For above-mentioned prior art, technical problem to be solved in the utility model is to provide a kind of reciprocating people and robot work compound automation equipment, this equipment can process the product of multitask station, the difficulty that the robot of automation equipment is integrated is little, cost is low, and applicable current commodity is personalized, the business model of customization design multi-varieties and small-batch, thread-changing is short for downtime, and working performance is high.
In order to solve above-mentioned technical problem, this utility model provides a kind of reciprocating people and robot work compound automation equipment, it includes workbench, first carrier, robot, second carrier, first slide rail, second slide rail, first feed mechanism, second feed mechanism, described workbench leading portion has been mounted side by side the first slide rail, second slide rail, described robot is installed on workbench back segment, described first carrier and the first slide rail are slidably connected and are driven by the first carrier conveying mechanism, described second carrier and the second slide rail are slidably connected and are driven by the second carrier conveying mechanism, described first feed mechanism is disposed adjacent to the side of the workbench of the first carrier, described second feed mechanism is disposed adjacent to the side of the workbench of the second carrier, workman is operation before workbench, described robot is from the first feed mechanism feeding to the workpiece operation the first carrier, described robot is from the second feed mechanism feeding to the workpiece operation the second carrier.
Further improvement of the utility model is, described robot includes base, X-axis telecontrol equipment, Y-axis telecontrol equipment, Z axis telecontrol equipment, two groups of angular adjustment apparatus, two set product clamp devices, described X-axis telecontrol equipment is installed on described base, described Y-axis telecontrol equipment is installed on described X-axis telecontrol equipment, described Z axis telecontrol equipment is installed on described Y-axis telecontrol equipment front end, two groups of angular adjustment apparatus are respectively arranged in described Z axis telecontrol equipment both sides, two set product clamp devices are respectively arranged under two groups of angular adjustment apparatus, described X-axis telecontrol equipment realizes horizontal Primary Location, described Y-axis telecontrol equipment realizes level and is accurately positioned, described Z axis telecontrol equipment realizes Z-direction motion and is accurately positioned, described angular adjustment apparatus realizes angle adjustment, described product clamp device gripping product.
Further improvement of the utility model is, described X-axis telecontrol equipment includes the first motor, the first decelerator, principal arm, described first motor is provided with the first stepper motor output shaft, described first motor is installed in described base, described first decelerator is installed on base, described first stepper motor output shaft is connected with described first decelerator, and one end of described principal arm is connected with described first decelerator.
Further improvement of the utility model is, described Y-axis telecontrol equipment includes the second motor, the second decelerator, auxiliary, described second motor is provided with the second stepper motor output shaft, described second motor, the second decelerator are respectively arranged in one end of described auxiliary, described second stepper motor output shaft is connected with described second decelerator, and described second decelerator is connected with the other end of described principal arm.
Further improvement of the utility model is, described Z axis telecontrol equipment includes the 3rd motor, 3rd motor installing plate, first synchronous pulley, second synchronous pulley, Timing Belt, guide rail, slide block, tooth bar, tooth bar mounting seat, bearing pin, described 3rd motor is provided with the 3rd stepper motor output shaft, described 3rd motor is installed on described 3rd motor installing plate, described 3rd motor installing plate is fixing with the other end of described auxiliary to be connected, described first synchronous pulley is fixedly installed in described 3rd stepper motor output shaft, described second synchronous pulley is rotationally connected by described bearing pin and described 3rd motor installing plate, described Timing Belt respectively with described first synchronous pulley, second synchronous belt pulley transmission connects, described guide rail is fixedly installed in described 3rd motor installing plate, described guide rail is connected with described skid, described tooth bar is installed on described tooth bar mounting seat, described tooth bar mounting seat is fixing with described slide block to be connected, described tooth bar is engaged with described Timing Belt.
Further improvement of the utility model is, described angular adjustment apparatus includes the 4th motor, the 4th motor installing plate, torsion plate, torque stand, described 4th motor is provided with the 4th stepper motor output shaft, described 4th motor is installed on described 4th motor installing plate, described 4th motor installing plate is fixing with described slide block to be connected, described torsion plate is fixedly installed in described 4th stepper motor output shaft, and described torque stand is fixedly installed in torsion plate.
Further improvement of the utility model is, described product clamp device includes finger cylinder, the first jaw, the second jaw, described finger cylinder is provided with two pneumatic-fingers, described first jaw, the second jaw are respectively arranged in described two pneumatic-fingers, and described finger cylinder is installed under described torque stand.
Further improvement of the utility model is, described first decelerator, the second decelerator are all harmonic speed reducer.
Further improvement of the utility model is, described Z axis telecontrol equipment also includes cushion pad, and described cushion pad is fixedly installed in described 3rd motor installing plate top, buffering when moving upward for described slide block.
Further improvement of the utility model is, described Z axis telecontrol equipment also includes Timing Belt strainer, described Timing Belt strainer includes adjustment block, trip bolt, tensioning screw, described 3rd motor installing plate bottom is provided with regulating tank, square cavity, described bearing pin is fixedly installed in described adjustment block, described adjustment block is placed in described square cavity and loosens with it and connects, described trip bolt is through described regulating tank and threadeds with described adjustment block, described tensioning screw is threadeded through the through hole bottom described 3rd motor installing plate with described adjustment block.
Compared with prior art, this utility model adopts robot from the first feed mechanism feeding to the workpiece operation the first carrier, first carrier is driven movable by the first carrier conveying mechanism, robot is from the second feed mechanism feeding to the workpiece operation the second carrier, second carrier is driven movable by the second carrier conveying mechanism, workman is operation before workbench, and this utility model achieves people and the reciprocating work compound of robot. This utility model can process the product of multitask station, and the difficulty that the robot of automation equipment is integrated is little, and cost is low, and applicable current commodity is personalized, the business model of customization design multi-varieties and small-batch, and thread-changing is short for downtime, and working performance is high.
Accompanying drawing explanation
Fig. 1 is axonometric chart of the present utility model;
Fig. 2 is robot of the present utility model axonometric chart;
Fig. 3 is X-axis telecontrol equipment axonometric chart of the present utility model;
Fig. 4 is the stereo unfolding figure of Fig. 3;
Fig. 5 is Y-axis telecontrol equipment axonometric chart of the present utility model;
Fig. 6 is the stereo unfolding figure of Fig. 5;
Fig. 7 is Z axis telecontrol equipment axonometric chart of the present utility model;
Fig. 8 is the 3rd motor installing plate axonometric chart of the present utility model;
Fig. 9 is the stereo unfolding figure of Fig. 8;
Figure 10 is angular adjustment apparatus axonometric chart of the present utility model;
Figure 11 is product clamp device axonometric chart of the present utility model;
Figure 12 is the stereo unfolding figure of Figure 10;
Figure 13 is the stereo unfolding figure of Figure 11.
In figure, each component names is as follows:
1 workbench;
2 first carriers;
3 robots;
31 bases;
32 X-axis telecontrol equipments;
321 first motors;
322 first decelerators;
323 principal arms;
3231 first Angle ambiguity blocks;
33 Y-axis telecontrol equipments;
331 second motors;
332 second decelerators;
333 auxiliarys;
34 Z axis telecontrol equipments;
3401 the 3rd motors;
3402 the 3rd motor installing plates;
34021 regulating tanks;
34022 square cavity;
3403 first synchronous pulleys;
3404 second synchronous pulleys;
3405 Timing Belts;
3406 guide rails;
3407 slide blocks;
3408 tooth bars;
3409 tooth bar mounting seats;
3410 bearing pins;
3411 cushion pads;
3412 Timing Belt strainers;
34121 adjustment blocks;
34122 trip bolts;
34123 tensioning screws;
35 angular adjustment apparatus;
351 the 4th motors;
352 the 4th motor installing plates;
353 torsion plates;
354 torque stands;
355 force transducers;
36 product clamp devices;
361 finger cylinder;
3611 pneumatic-fingers;
362 first jaws;
363 second jaws;
4 second carriers;
5 first slide rails;
6 second slide rails;
7 first feed mechanisms;
8 second feed mechanisms.
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and this utility model is further illustrated by detailed description of the invention.
As shown in Figure 1, a kind of reciprocating people and robot work compound automation equipment, it includes workbench 1, first carrier 2, robot 3, second carrier 4, first slide rail 5, second slide rail 6, first feed mechanism 7, second feed mechanism 8, described workbench 1 leading portion has been mounted side by side the first slide rail 5, second slide rail 6, described robot 3 is installed on workbench 1 back segment, described first carrier 2 and the first slide rail 5 is slidably connected and by first carrier conveying mechanism drive, described second carrier 4 and the second slide rail 6 is slidably connected and by second carrier conveying mechanism drive, described first feed mechanism 7 is disposed adjacent to the side of the workbench 1 of the first carrier 2, described second feed mechanism 8 is disposed adjacent to the side of the workbench 1 of the second carrier 4, workman's operation before workbench 1, described robot 3 is from the first feed mechanism 7 feeding to the workpiece operation the first carrier 2, described robot 3 is from the second feed mechanism 8 feeding to the workpiece operation the second carrier 4.
Specifically; as it is shown in figure 1, workbench of the present utility model 1, first carrier the 2, second carrier the 4, first slide rail the 5, second slide rail the 6, first feed mechanism the 7, second feed mechanism the 8, first carrier conveying mechanism, the second carrier conveying mechanism (not shown) are all prior art; First feed mechanism the 7, second feed mechanism 8 all adopts vibrating disk feeding, and the first carrier conveying mechanism, the second carrier conveying mechanism (not shown) all adopt cylinder to carry, therefore are not elaborating a bit.
Specifically, as shown in Figure 2, described robot 3 includes base 31, X-axis telecontrol equipment 32, Y-axis telecontrol equipment 33, Z axis telecontrol equipment 34, two groups of angular adjustment apparatus 35, two set product clamp devices 36, described X-axis telecontrol equipment 32 is installed on described base 31, described Y-axis telecontrol equipment 33 is installed on described X-axis telecontrol equipment 32, described Z axis telecontrol equipment 34 is installed on described Y-axis telecontrol equipment 33 front end, two groups of angular adjustment apparatus 35 are respectively arranged in described Z axis telecontrol equipment 34 both sides, two set product clamp devices 36 are respectively arranged in two groups of angular adjustment apparatus 35 times, described X-axis telecontrol equipment 32 realizes horizontal Primary Location, described Y-axis telecontrol equipment 33 realizes level and is accurately positioned, described Z axis telecontrol equipment 34 realizes Z-direction motion and is accurately positioned, described angular adjustment apparatus 35 realizes angle adjustment, described product clamp device 36 grips product.
Specifically; as shown in Figures 3 and 4; described X-axis telecontrol equipment 32 includes first motor the 321, first decelerator 322, principal arm 323; described first motor 321 is provided with the first stepper motor output shaft; described first motor 321 is fixedly installed in base 31; described first decelerator 322 is fixedly installed on base 31, and described first stepper motor output shaft is fixing with described first decelerator 322 to be connected, and one end of described principal arm 323 is fixing with described first decelerator 322 to be connected; Described first decelerator 322 is harmonic speed reducer.
Specifically; as shown in Figures 5 and 6; described Y-axis telecontrol equipment 33 includes second motor the 331, second decelerator 332, auxiliary 333; described second motor 331 is provided with the second stepper motor output shaft; described second motor the 331, second decelerator 332 is fixedly installed in one end of described auxiliary 333 respectively; described second stepper motor output shaft is fixing with described second decelerator 332 to be connected, and described second decelerator 332 is fixing with the other end of described principal arm 323 to be connected; Described second decelerator 332 is harmonic speed reducer.
Specifically, such as Fig. 7, shown in Fig. 8 and Fig. 9, described Z axis telecontrol equipment 34 includes the 3rd motor 3401, 3rd motor installing plate 3402, first synchronous pulley 3403, second synchronous pulley 3404, Timing Belt 3405, guide rail 3406, slide block 3407, tooth bar 3408, tooth bar mounting seat 3409, bearing pin 3410, described 3rd motor 3401 is provided with the 3rd stepper motor output shaft, described 3rd motor 3401 is fixedly installed in described 3rd motor installing plate 3402 back side, the back side of described 3rd motor installing plate 3402 is fixing with the other end of described auxiliary 333 to be connected, described first synchronous pulley 3403 is fixedly installed in described 3rd stepper motor output shaft, described second synchronous pulley 3404 is rotationally connected with described 3rd motor installing plate 3402 by described bearing pin 3410, described Timing Belt 3405 respectively with described first synchronous pulley 3403, second synchronous pulley 3404 is in transmission connection, described guide rail 3406 is fixedly installed in before described 3rd motor installing plate 3402, described guide rail 3406 is slidably connected with described slide block 3407, described tooth bar 3408 is fixedly installed in described tooth bar mounting seat 3409, described tooth bar mounting seat 3409 is fixing with described slide block 3407 to be connected, described tooth bar 3408 is engaged with described Timing Belt 3405, described guide rail 3406, slide block 3407, tooth bar 3408, tooth bar mounting seat 3409, bearing pin 3410 quantity be all 2. preferably, described Z axis telecontrol equipment 34 also includes two cushion pads 3411, and said two cushion pad 3411 is fixedly installed in described 3rd motor installing plate 3402 top, buffering when moving upward for described slide block 3407 respectively. described Z axis telecontrol equipment 34 also includes Timing Belt strainer 3412, described Timing Belt strainer 3412 includes adjustment block 34121, trip bolt 34122, tensioning screw 34123, described 3rd motor installing plate 3402 bottom is provided with regulating tank 34021, square cavity 34022, described bearing pin 3410 is fixedly installed in described adjustment block 34121, described adjustment block 34121 is placed in described square cavity 34022 and loosens with it and connects, described trip bolt 34122 is through described regulating tank 34021 and threadeds with described adjustment block 34121, described tensioning screw 34123 is threadeded through the through hole bottom described 3rd motor installing plate 3402 with described adjustment block 34121, unclamp described trip bolt 34122, and turn described tensioning screw 34123 up and down and can realize Timing Belt 3405 tensioning or unclamp.
Specifically, as shown in Figure 10 and Figure 12, described angular adjustment apparatus 35 includes the 4th motor the 351, the 4th motor installing plate 352, torsion plate 353, torque stand 354, described 4th motor 351 is provided with the 4th stepper motor output shaft, described 4th motor 351 is fixedly installed in described 4th motor installing plate 352, described 4th motor installing plate 352 is fixing with described slide block 47 to be connected, described torsion plate 353 is fixedly installed in described 4th stepper motor output shaft, and described torque stand 354 is fixedly installed in torsion plate 353.
Specifically, as shown in Figure 11 and Figure 13, described product clamp device 36 includes finger cylinder the 361, first jaw the 362, second jaw 363, described finger cylinder 361 is provided with two pneumatic-fingers 3611, described first jaw the 362, second jaw 363 is fixedly installed in described two pneumatic-finger 3611 places respectively, and described finger cylinder 361 is fixedly installed in described torque stand 354 times.Described angular adjustment apparatus 35 also includes force transducer 355, and described force transducer 355 is fixedly installed between described torsion plate 353, torque stand 354, the described force transducer 355 quality for measuring the first jaw 362 and when the second jaw 363 grips product. Described angular adjustment apparatus 35 and product clamp device 36 are all two groups, in order to can grip two products simultaneously, improve efficiency, save man-hour.
Preferably, as shown in Figure 4, being additionally provided with the first Angle ambiguity block 3231 on described principal arm 323, described first Angle ambiguity block 3231 is fixedly installed in the end near described principal arm 323, and described first Angle ambiguity block 241 is for controlling the maximum anglec of rotation of described principal arm 323.
This utility model also includes control system, and described control system is for controlling the work of described first motor the 321, second motor the 331, the 3rd motor the 3401, the 4th motor 351, finger cylinder the 361, first feed mechanism the 7, second feed mechanism the 8, first carrier conveying mechanism, the second carrier conveying mechanism.
As it is shown in figure 1, operation principle of the present utility model (operation) is as follows:
1. operator places workpiece to the first carrier 2, and the first carrier 2 is carried out operation by the first carrier conveying mechanism transfer to robot workstation;
2. then operator places next workpiece to the second carrier 4, and the second carrier 4 is in treats job state;
3. after the work pieces process operation of the first carrier 2 completes; first carrier 2 is return original position by the first carrier conveying mechanism; operator takes out finished goods, then places next workpiece to the first carrier 2, and the second carrier 4 is carried out operation by the second carrier conveying mechanism transfer to robot workstation simultaneously;
4. after the work pieces process operation of the second carrier 4 completes, the second carrier 4 is return original position by the second carrier conveying mechanism, and operator takes out finished goods, then places next workpiece to the second carrier 4;
Undertaken by the circulation of above operation.
The operation principle of robot 3 is as follows:
X-axis motion positions: control system is signaled to described first motor 321; first stepper motor output shaft rotates and passes through the first decelerator 322 and drives described principal arm 323 to rotate, and rotates to specifying position together with driving the auxiliary 333 connected with principal arm 323 simultaneously;
Y-axis motion positions: control system is signaled to described second motor 331, the second stepper motor output shaft rotates and passes through the second decelerator 332 and drives described auxiliary 333 to rotate to specifying position, it is achieved be accurately positioned;
Z axis motion positions: control system is signaled to described 3rd motor 3401, 3rd stepper motor output shaft rotates and passes through the first synchronizing wheel 403, second synchronizing wheel 404 drives described Timing Belt 3405 to drive and moves up and down, described Timing Belt 3405 drives described tooth bar 3408 to move together, described tooth bar 3408 is moved up and down along guide rail 3406 by tooth bar mounting blocks 409 band movable slider 3407, described slide block 3407 drives the 4th motor 351 being attached thereto, finger cylinder 361 moves up and down together, it is finally reached the first jaw 362 and the second jaw 363 is accurately positioned in the Z-axis direction, clamp product,
Angle accurately adjusts location: control system is signaled to described 4th motor 351; described 4th stepper motor output shaft rotates and passes through torsion plate 353, torque stand 354 drives described product clamp device 36 to rotate together, is finally reached angle and accurately adjusts the purpose of location;
Gripping product: control system is signaled to described finger cylinder 361, two pneumatic-finger 3611 work described in described finger cylinder 361 task driven grip or unclamp product.
The utility model has the advantage of, this utility model adopts robot from the first feed mechanism feeding to the workpiece operation the first carrier, first carrier is driven movable by the first carrier conveying mechanism, robot is from the second feed mechanism feeding to the workpiece operation the second carrier, second carrier is driven movable by the second carrier conveying mechanism, workman is operation before workbench, and this utility model achieves people and the reciprocating work compound of robot. This utility model can process the product of multitask station, and the difficulty that the robot of automation equipment is integrated is little, and cost is low, and applicable current commodity is personalized, the business model of customization design multi-varieties and small-batch, and thread-changing is short for downtime, and working performance is high.
Above content is in conjunction with concrete preferred implementation further detailed description of the utility model, it is impossible to assert that of the present utility model being embodied as is confined to these explanations. For this utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, it is also possible to make some simple deduction or replace, protection domain of the present utility model all should be considered as belonging to.
Claims (10)
1. a reciprocating people and robot work compound automation equipment, it is characterized in that: include workbench (1), first carrier (2), robot (3), second carrier (4), first slide rail (5), second slide rail (6), first feed mechanism (7), second feed mechanism (8), described workbench (1) leading portion has been mounted side by side the first slide rail (5), second slide rail (6), described robot (3) is installed on workbench (1) back segment, described first carrier (2) and the first slide rail (5) are slidably connected and are driven by the first carrier conveying mechanism, described second carrier (4) and the second slide rail (6) are slidably connected and are driven by the second carrier conveying mechanism, described first feed mechanism (7) is disposed adjacent to the side of the workbench (1) of the first carrier (2), described second feed mechanism (8) is disposed adjacent to the side of the workbench (1) of the second carrier (4), workman is in workbench (1) front operation, described robot (3) from the first feed mechanism (7) feeding to the first carrier (2) workpiece operation, described robot (3) from the second feed mechanism (8) feeding to the second carrier (4) workpiece operation.
2. reciprocating people as claimed in claim 1 and robot work compound automation equipment, it is characterized in that: described robot (3) includes base (31), X-axis telecontrol equipment (32), Y-axis telecontrol equipment (33), Z axis telecontrol equipment (34), two groups of angular adjustment apparatus (35), two set product clamp devices (36), described X-axis telecontrol equipment (32) is installed on described base (31), described Y-axis telecontrol equipment (33) is installed on described X-axis telecontrol equipment (32), described Z axis telecontrol equipment (34) is installed on described Y-axis telecontrol equipment (33) front end, two groups of angular adjustment apparatus (35) are respectively arranged in described Z axis telecontrol equipment (34) both sides, two set product clamp devices (36) are respectively arranged under two groups of angular adjustment apparatus (35), described X-axis telecontrol equipment (32) realizes horizontal Primary Location, described Y-axis telecontrol equipment (33) level of realization is accurately positioned, described Z axis telecontrol equipment (34) realizes Z-direction motion and is accurately positioned, described angular adjustment apparatus (35) realizes angle adjustment, described product clamp device (36) gripping product.
3. reciprocating people as claimed in claim 2 and robot work compound automation equipment, it is characterized in that: described X-axis telecontrol equipment (32) includes the first motor (321), first decelerator (322), principal arm (323), described first motor (321) is provided with the first stepper motor output shaft, described first motor (321) is installed in described base (31), described first decelerator (322) is installed on base (31), described first stepper motor output shaft is connected with described first decelerator (322), one end of described principal arm (323) is connected with described first decelerator (322).
4. reciprocating people as claimed in claim 3 and robot work compound automation equipment, it is characterized in that: described Y-axis telecontrol equipment (33) includes the second motor (331), second decelerator (332), auxiliary (333), described second motor (331) is provided with the second stepper motor output shaft, described second motor (331), second decelerator (332) is respectively arranged in one end of described auxiliary (333), described second stepper motor output shaft is connected with described second decelerator (332), described second decelerator (332) is connected with the other end of described principal arm (323).
5. reciprocating people as claimed in claim 4 and robot work compound automation equipment, it is characterized in that: described Z axis telecontrol equipment (34) includes the 3rd motor (3401), 3rd motor installing plate (3402), first synchronous pulley (3403), second synchronous pulley (3404), Timing Belt (3405), guide rail (3406), slide block (3407), tooth bar (3408), tooth bar mounting seat (3409), bearing pin (3410), described 3rd motor (3401) is provided with the 3rd stepper motor output shaft, described 3rd motor (3401) is installed on described 3rd motor installing plate (3402), described 3rd motor installing plate (3402) is fixing with the other end of described auxiliary (333) to be connected, described first synchronous pulley (3403) is fixedly installed in described 3rd stepper motor output shaft, described second synchronous pulley (3404) is rotationally connected by described bearing pin (3410) and described 3rd motor installing plate (3402), described Timing Belt (3405) respectively with described first synchronous pulley (3403), second synchronous pulley (3404) is in transmission connection, described guide rail (3406) is fixedly installed in described 3rd motor installing plate (3402), described guide rail (3406) and described slide block (3407) are slidably connected, described tooth bar (3408) is installed on described tooth bar mounting seat (3409), described tooth bar mounting seat (3409) is fixing with described slide block (3407) to be connected, described tooth bar (3408) is engaged with described Timing Belt (3405).
6. reciprocating people as claimed in claim 5 and robot work compound automation equipment, it is characterized in that: described angular adjustment apparatus (35) includes the 4th motor (351), 4th motor installing plate (352), torsion plate (353), torque stand (354), described 4th motor (351) is provided with the 4th stepper motor output shaft, described 4th motor (351) is installed on described 4th motor installing plate (352), described 4th motor installing plate (352) is fixing with described slide block (3407) to be connected, described torsion plate (353) is fixedly installed in described 4th stepper motor output shaft, described torque stand (354) is fixedly installed in torsion plate (353).
7. reciprocating people as claimed in claim 6 and robot work compound automation equipment, it is characterized in that: described product clamp device (36) includes finger cylinder (361), the first jaw (362), the second jaw (363), described finger cylinder (361) is provided with two pneumatic-fingers (3611), described first jaw (362), the second jaw (363) are respectively arranged in described two pneumatic-fingers (3611), and described finger cylinder (361) is installed under described torque stand (354).
8. the reciprocating people as described in any one of claim 4 to 7 and robot work compound automation equipment, it is characterised in that: described first decelerator (322), the second decelerator (332) they are all harmonic speed reducer.
9. the reciprocating people as described in any one of claim 5 to 7 and robot work compound automation equipment, it is characterized in that: described Z axis telecontrol equipment (34) also includes cushion pad (3411), described cushion pad (3411) is fixedly installed in described 3rd motor installing plate (3402) top, buffering when moving upward for described slide block (3407).
10. the reciprocating people as described in any one of claim 5 to 7 and robot work compound automation equipment, it is characterized in that: described Z axis telecontrol equipment (34) also includes Timing Belt strainer (3412), described Timing Belt strainer (3412) includes adjustment block (34121), trip bolt (34122), tensioning screw (34123), described 3rd motor installing plate (3402) bottom is provided with regulating tank (34021), square cavity (34022), described bearing pin (3410) is fixedly installed in described adjustment block (34121), described adjustment block (34121) is placed in described square cavity (34022) and loosens with it and connects, described trip bolt (34122) is through described regulating tank (34021) and threadeds with described adjustment block (34121), described tensioning screw (34123) is threadeded through the through hole of described 3rd motor installing plate (3402) bottom with described adjustment block (34121).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018574.6U CN205290979U (en) | 2016-01-06 | 2016-01-06 | Reciprocating type people and robot be operation automation equipment in coordination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620018574.6U CN205290979U (en) | 2016-01-06 | 2016-01-06 | Reciprocating type people and robot be operation automation equipment in coordination |
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| Publication Number | Publication Date |
|---|---|
| CN205290979U true CN205290979U (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620018574.6U Expired - Fee Related CN205290979U (en) | 2016-01-06 | 2016-01-06 | Reciprocating type people and robot be operation automation equipment in coordination |
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| CN (1) | CN205290979U (en) |
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| CN109590719A (en) * | 2019-01-30 | 2019-04-09 | 广东大唐永恒智能科技有限公司 | Illuminator production torsional spring automatic assembling machine |
| CN113334411A (en) * | 2021-05-25 | 2021-09-03 | 东莞市冠佳电子设备有限公司 | Automatic tool equipment is gone into to dress PCBA board |
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2016
- 2016-01-06 CN CN201620018574.6U patent/CN205290979U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109570976A (en) * | 2019-01-30 | 2019-04-05 | 广东大唐永恒智能科技有限公司 | Torsional spring installing mechanism and the torsional spring automatic assembling machine for applying it |
| CN109590719A (en) * | 2019-01-30 | 2019-04-09 | 广东大唐永恒智能科技有限公司 | Illuminator production torsional spring automatic assembling machine |
| CN109590719B (en) * | 2019-01-30 | 2024-03-01 | 广东大唐永恒智能科技有限公司 | Torsion spring automatic assembly machine for lighting lamp production |
| CN109570976B (en) * | 2019-01-30 | 2024-03-01 | 广东大唐永恒智能科技有限公司 | Torsional spring installation mechanism and torsional spring automatic assembly machine applying same |
| CN113334411A (en) * | 2021-05-25 | 2021-09-03 | 东莞市冠佳电子设备有限公司 | Automatic tool equipment is gone into to dress PCBA board |
| CN113334411B (en) * | 2021-05-25 | 2023-12-08 | 东莞市冠佳电子设备有限公司 | Automatic dress PCBA board goes into tool equipment |
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