CN205552113U - Feeding mechanical arm in vertical punch press sucking disc formula - Google Patents
Feeding mechanical arm in vertical punch press sucking disc formula Download PDFInfo
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- CN205552113U CN205552113U CN201620234418.3U CN201620234418U CN205552113U CN 205552113 U CN205552113 U CN 205552113U CN 201620234418 U CN201620234418 U CN 201620234418U CN 205552113 U CN205552113 U CN 205552113U
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- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000000034 method Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 241000397426 Centroberyx lineatus Species 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000007599 discharging Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000109 continuous material Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The utility model relates to a feeding mechanical arm in vertical punch press sucking disc formula belongs to manipulator technical field. Comprises a hand, a middle seat, an arm telescopic mechanism, an arm rotary mechanism and an arm lifting mechanism; the hand part comprises a sucker and a chute lever, and the chute lever comprises a U-shaped rod, a lever and two clamping jaws; the arm telescopic mechanism comprises a telescopic arm, a stepping motor I, a middle frame body and a ram; the arm lifting mechanism comprises a double-acting oil cylinder and a base; the arm telescopic mechanism is connected with the arm lifting mechanism in a sliding mode, and the arm slewing mechanism is connected to one end of the arm telescopic mechanism. Has the advantages that: the chuck type feeding and discharging manipulator of the vertical machine tool is used for an automatic production line of the vertical machine tool to complete position conversion of a workpiece from a manipulator station to a machine tool workbench, all actions of the manipulator can be automatically completed, and can also be manually controlled in a single step, and the actions of a secondary machine tool are simple and easy to control on the premise of meeting the requirements of high positioning precision and high working efficiency.
Description
Technical field
This utility model relates to a kind of vertical punch press sucked type loading and unloading manipulator, belongs to mechanical hand technical field.
Background technology
Industry mechanical arm is the automatic manipulator of a kind of program able to programme, and it is to occur at the fifties end, and the important automation equipment developed rapidly in recent years, is to realize industrialized important means.At present, at each production field in order to improve production efficiency and product quality, realize safety in production, all have employed various multi-form, the mechanical hand of difference in functionality, appearance due to mechanical hand, many production technologies all instead of artificial, making industrial automation have large development, this is not only greatly improved labor productivity, improves labor condition, alleviate labor strength, and make to have produced quality technology guarantee by batch, because of that, mechanical hand designed and developed the important topic into current industrial technology.
Countries in the world all take much count of application and the development of industry mechanical arm, and applying of mechanical hand still belongs to the starting stage in China, especially particularly lacks on punch press field.
Utility model content
Technical problem to be solved in the utility model is the defect overcoming prior art, it is provided that a kind of positioning precision is higher, the vertical punch press sucked type loading and unloading manipulator that work efficiency is high.
For solving above-mentioned technical problem, this utility model provides a kind of vertical machine sucked type loading and unloading manipulator, comprises positioning element, hand, middle base (6), arm telescoping mechanism, arm slew gear, arm lifting mechanism；It is equipped with positioning element on arm telescoping mechanism, arm slew gear, arm lifting mechanism；Hand comprises sucker (5) and chute lever (8), and chute lever (8) comprises U-shaped bar (7), lever (8) and two jaws (9)；Sucker (5) is air-negative-pressure sucker (5)；All having a knuckle to form bending between head end and the tail end of two jaws (9), the bending of two jaws (9) is rotationally connected the top of U-shaped bar (7) respectively, and lever (8) is through the tail end of bottom center connection jaw (9) of U-shaped bar (7)；Rotational hand can realize the exchange of sucker (5) and chute lever (8) and use；Arm telescoping mechanism comprises telescopic arm, motor one (1), middle support body and ram (10)；One end of telescopic arm connects motor one (1)；Bottom and the middle base (6) of middle support body connect；Ram (10) respectively with fixed pulley and gear-linked；When telescopic arm works, the fixed pulley on motor one (1) output power linkage chain-driving ram (10) rotates, and gear-linked ram (10) seesaws and realizes the reciprocating motion of telescopic arm；Arm slew gear comprises motor two (2) and planet circular system；Planet circular system comprises a central gear and several planetary gears；The output shaft of motor two (2) fixes the axle center connecting central gear；Arm lifting mechanism comprises motor three (3), double-acting type oil cylinder and base (11)；Motor three (3) is located in base (11), and it is internal that double-acting type oil cylinder is installed in base (11)；Arm telescoping mechanism is slidably connected arm lifting mechanism, and arm slew gear is connected to one end of arm telescoping mechanism.
Preferential, positioning element is block and travel switch (4)；Travel switch (4) comprises microswitch, operating mechanism and shell；Block is arranged on telescopic arm, revolution arm and lifting arm；When block actuating procedure mechanism, microswitch Guan Bi or disconnection.
Preferential, grabbing weight scope is 1-10kg.
Preferential, ram (10) is swallow-tail form ram (10).
Preferential, the gear that revolution arm mechanism uses is all straight spur gear.
Preferential, hand is aluminum alloy material.
The beneficial effect that this utility model is reached:
This vertical machine sucked type loading and unloading manipulator is for the upper strands device special manipulator of vertical machine automatic assembly line, complete workpiece position conversion from mechanical hand station to platen, its whole actions both can be automatically performed, can also complete by single step Non-follow control, secondary machinery is on the premise of meeting positioning precision and work efficiency height, action is simple, it is easy to control.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of circular cylindrical coordinate form of the present utility model.
Fig. 2 is the schematic diagram of each module of stepping motor system of the present utility model.
Fig. 3 is hand axonometric chart of the present utility model.
Reference, 1-motor one；2-motor two；3-motor three；4-travel switch；5-sucker；6-middle base；7-U shape bar；8-lever；9-jaw；10-ram；11-base.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.Following example are only used for clearly illustrating the technical solution of the utility model, and can not limit protection domain of the present utility model with this.
This vertical machine sucked type loading and unloading manipulator is used for vertical machine automatic assembly line, complete workpiece position conversion from mechanical hand to platen, its whole actions can be automatically performed, can also complete by single step Non-follow control, this mechanical hand is made up of parts such as arm telescoping mechanism, arm slew gear, middle base portion mechanism, bases, there is three degree of freedom to meet production requirement, i.e. arm stretching motion, arm horizontal rotation and arm elevating movement.Paw position and direction can be arbitrarily changed in a big way while travelling workpiece.Its motion all uses hydraulic way to drive, its electrical control uses PLV to be controlled, for ensureing the degree of accuracy of each operating position of mechanical hand, the stroke end of each step action uses block location, improve the ability that automatically controls and the positional precision of mechanical hand further, to improve efficiency and the work quality of production line further.Secondary mechanical hand meet positioning precision and high sit efficiency higher on the premise of, make its action simple, it is easy to control as far as possible.
For industry mechanical arm, there is more important effect in the testing agency of electrical control.Detection is to provide foundation for comparing and judging, is the basis of operation control, and the position detecting element of employing is travel switch.
Travel switch is also referred to as limit switch, is mainly used in being changed into mechanical displacement the signal of telecommunication, controls to drive the running status of motor, or controls relevant electromagnetic valve action, thus realizes the location of mechanical hand or carry out running Stroke Control.Travel switch is made up of microswitch, operating mechanism and shell, it is common that by they with fixed or adjustable block with the use of, utilize loading machine block on hand, actuating procedure mechanism so that microswitch Guan Bi or disconnect.
The effect of this vertical machine sucked type loading and unloading manipulator is will to go down after forging on workpiece handling to lathe and deliver in next process.This mechanical hand is mainly made up of several most of and some other adnexaes such as sucker, arm stretching structure, arm slew gear, arm lifting mechanism, middle seat part, bottoms.
The specifications parameter of mechanical hand chatted up and down by vertical machine sucked type, grabbing weight scope is 0-10kg, number of degrees of freedom, is 3, as it is shown in figure 1, coordinate form uses circular cylindrical coordinate, maximum working radius is 1000mm, arm telescopic extensions is 0-500mm, arm stretching speed: stretching out speed is 170mm/s, and retraction speed is 133mm/s, arm revolution range is 0 °-200 ° (actually used 95 °), 63 °/s of arm speed of gyration.
Loading and unloading action according to artificial hoist material device is similar to Cartesian form, and circular cylindrical coordinate form floor space is little and actuating range is big.Using air-negative-pressure sucker, typically have air compressor machine in factory, source of the gas is easier to solve, it is not necessary to is dedicated for machine and is equipped with vacuum pump, so this sucker uses more convenient in factory.
Arm parts are the primary grip parts of mechanical hand, and its effect is to support bowl portion and hand, and drives them to do space motion.The purpose of arm movement is any point in the range of handle portion delivers to space motion.If change hand gestures, then realized with wrist.It is big that handle configurations should have bearing capacity, rigidity number and the feature from heavy and light, further needs exist for positional precision high.Arm telescoping mechanism mainly comprises motor one, the middle composition such as support body, ram；Bottom and the middle base of middle support body connect, arm right-hand member exit wrist and hand grip are connected with motor, when the arm motor one that stretches exports the fixed pulley linked on chain-driving ram after power and rotates, seesawed by gear-linked ram and realize arm reciprocating motion, its stroke size adjusts by block and travel switch, external part is on the screw of adjustable location, guarantee positioning precision, arm telescopic guide uses swallow-tail form ram, guidance type can be good, arm rigidity is big, stable movement during work.Ram guiding telescopic machanism, its guidance type performance is the best, arm rigidity is relatively big, work time stable movement, oil pipe uses telescopic oil tube form, well protects oil pipe, and positioning precision is high.
Arm slew gear uses the planet circular system of the compositions such as motor two, roller gear to realize.
When motor two rotates, drive output shaft and planetary gear rotation, planetary gear is forced to produce a revolution motion owing to planetary gear and central gear engage each other, thus drive arm to turn round around axis, and it being the gyration of arm, it is 180 ° that arm realizes angle of revolution, and motor two is outside parts, thus convenient to install and maintain, this motor two can also play the balanced action of part.
Owing to the speed of gyration of this mechanical hand is the lowest, arm gyroscope wheel gear uses open type straight spur gear, for alleviating weight, uses web-type, selects seven class precisions.Gear size is relatively big, and under the working condition that operating rate is relatively low, surrounding dust content is high, the material such as cast steel and cast iron selected by gear, and its wearability and intensity are preferable.Number of gear teeth is 20, it is contemplated that wear out failure, again for making the gear teeth be unlikely to very few.
Manufacture hand with aluminium alloy, alleviate the weight of hand, reduce and lay particular stress on load, improve the rigidity of hand, on structure is arranged, ensure stable movement, improve the dependability of mechanical hand, increase the service life.Improve the raising quality of fit of buffer unit, it is ensured that motion steady, it is ensured that machining accuracy and matched in clearance.
In order to improve the positioning precision of mechanical hand, double-acting type oil cylinder is selected to realize the mechanism of elevating movement.Compared with single-acting formula oil cylinder, this oil cylinder be widely used much, pressure can replace to piston both sides supply, drive piston move reciprocatingly.Movement velocity and charge oil pressure in its push-and-pull both direction can control so that control accuracy is high.
As in figure 2 it is shown, drive system power source uses Drive System of Step-motor, low inertia, big torque and being widely used, convenient use.The effect that stepping motor system is played in the robot is, by electric transition element, control signal is carried out power amplification, to electric-powered mechanism travel direction, position and the control of speed, and then controls mechanical arm by given characteristics of motion action.
A kind of vertical machine sucked type loading and unloading manipulator, is characterized in that, comprise positioning element, hand, middle base, arm telescoping mechanism, arm slew gear, arm lifting mechanism；It is equipped with positioning element on arm telescoping mechanism, arm slew gear, arm lifting mechanism；Hand comprises sucker and chute lever, and chute lever comprises U-shaped bar, lever and two jaws；Sucker is air-negative-pressure sucker；All having a knuckle to form bending between head end and the tail end of two jaws, the bending of two jaws is rotationally connected the top of U-shaped bar respectively, and lever is through the tail end of the bottom center connection jaw of U-shaped bar；Rotational hand can realize the exchange of sucker and chute lever and use；Arm telescoping mechanism comprises telescopic arm, motor one, middle support body and ram；One end of telescopic arm connects motor one；Bottom and the middle base of middle support body connect；Ram respectively with fixed pulley and gear-linked；The fixed pulley that motor one exports on power linkage chain-driving ram when telescopic arm works rotates, and gear-linked ram seesaws and realizes the reciprocating motion of telescopic arm；Arm slew gear comprises motor two and planet circular system；Planet circular system comprises a central gear and several planetary gears；The output shaft of motor two fixes the axle center connecting central gear；Arm lifting mechanism comprises double-acting type oil cylinder and base；Double-acting type oil cylinder is installed in chassis interior；Arm telescoping mechanism is slidably connected arm lifting mechanism, and arm slew gear is connected to one end of arm telescoping mechanism.
Excellent positioning element is block and travel switch 4；Travel switch 4 comprises microswitch, operating mechanism and shell；Block is arranged on telescopic arm, revolution arm and lifting arm；When block actuating procedure mechanism, microswitch Guan Bi or disconnection.
Vertical machine sucked type loading and unloading manipulator sequence of movement:
Decline sucker material grasping arm retraction arm revolution arm second time extension sucker of holding out outside the arm of pump start arm to be expected location is given vent to anger and is unclamped arm second time retraction arm lifting arm reversion and reset off-load to be expected (loop ends).
Above-mentioned being transmitted by electric-control system controls the order of corresponding electromagnetic steering valve follow procedure instruction to realize circulation and the feeding in continuous material process of action.
Below it is only preferred implementation of the present utility model; it should be pointed out that, for those skilled in the art, on the premise of without departing from this utility model know-why; can also make some improvement and deformation, these improve and deformation also should be regarded as protection domain of the present utility model.
Claims (6)
1. a vertical machine sucked type loading and unloading manipulator, is characterized in that, comprises positioning element, hand, middle base (6), arm telescoping mechanism, arm slew gear, arm lifting mechanism；It is equipped with positioning element on arm telescoping mechanism, arm slew gear, arm lifting mechanism；Hand comprises sucker (5) and chute lever (8), and chute lever (8) comprises U-shaped bar (7), lever (8) and two jaws (9)；Sucker (5) is air-negative-pressure sucker (5)；All having a knuckle to form bending between head end and the tail end of two jaws (9), the bending of two jaws (9) is rotationally connected the top of U-shaped bar (7) respectively, and lever (8) is through the tail end of bottom center connection jaw (9) of U-shaped bar (7)；Rotational hand can realize the exchange of sucker (5) and chute lever (8) and use；Arm telescoping mechanism comprises telescopic arm, motor one (1), middle support body and ram (10)；One end of telescopic arm connects motor one (1)；Bottom and the middle base (6) of middle support body connect；Ram (10) respectively with fixed pulley and gear-linked；When telescopic arm works, the fixed pulley on motor one (1) output power linkage chain-driving ram (10) rotates, and gear-linked ram (10) seesaws and realizes the reciprocating motion of telescopic arm；Arm slew gear comprises motor two (2) and planet circular system；Planet circular system comprises a central gear and several planetary gears；Arm lifting mechanism comprises motor three (3), double-acting type oil cylinder and base (11)；Motor three (3) is located in base (11), and it is internal that double-acting type oil cylinder is installed in base (11)；Arm telescoping mechanism is slidably connected arm lifting mechanism, and arm slew gear is connected to one end of arm telescoping mechanism.
A kind of vertical machine sucked type loading and unloading manipulator the most according to claim 1, is characterized in that, positioning element is block and travel switch (4)；Travel switch (4) comprises microswitch, operating mechanism and shell；Block is arranged on telescopic arm, revolution arm and lifting arm；When block actuating procedure mechanism, microswitch Guan Bi or disconnection.
A kind of vertical machine sucked type loading and unloading manipulator the most according to claim 1, is characterized in that, the gear that revolution arm mechanism uses is all straight spur gear.
4.
A kind of vertical machine sucked type loading and unloading manipulator according to claim 1, is characterized in that, gripper of manipulator weight scope is 1-10kg.
A kind of vertical machine sucked type loading and unloading manipulator the most according to claim 1, is characterized in that, ram (10) is swallow-tail form ram (10).
A kind of vertical machine sucked type loading and unloading manipulator the most according to claim 1, is characterized in that, hand is aluminum alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620234418.3U CN205552113U (en) | 2016-03-25 | 2016-03-25 | Feeding mechanical arm in vertical punch press sucking disc formula |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620234418.3U CN205552113U (en) | 2016-03-25 | 2016-03-25 | Feeding mechanical arm in vertical punch press sucking disc formula |
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| CN205552113U true CN205552113U (en) | 2016-09-07 |
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| CN201620234418.3U Expired - Fee Related CN205552113U (en) | 2016-03-25 | 2016-03-25 | Feeding mechanical arm in vertical punch press sucking disc formula |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN108637075A (en) * | 2018-04-24 | 2018-10-12 | 合肥学院 | Pipe batch processing device |
| CN114290653A (en) * | 2021-12-28 | 2022-04-08 | 昆山赛腾平成电子科技股份有限公司 | Automatic bending equipment for circuit flexible printed circuit board |
-
2016
- 2016-03-25 CN CN201620234418.3U patent/CN205552113U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN108637075A (en) * | 2018-04-24 | 2018-10-12 | 合肥学院 | Pipe batch processing device |
| CN108637075B (en) * | 2018-04-24 | 2019-07-26 | 合肥学院 | Pipe batch processing device |
| CN114290653A (en) * | 2021-12-28 | 2022-04-08 | 昆山赛腾平成电子科技股份有限公司 | Automatic bending equipment for circuit flexible printed circuit board |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160907 Termination date: 20170325 |
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| CF01 | Termination of patent right due to non-payment of annual fee |