CN205613972U - Automatic guide portable swing arm punching press machine people - Google Patents

Automatic guide portable swing arm punching press machine people Download PDF

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Publication number
CN205613972U
CN205613972U CN201620341931.2U CN201620341931U CN205613972U CN 205613972 U CN205613972 U CN 205613972U CN 201620341931 U CN201620341931 U CN 201620341931U CN 205613972 U CN205613972 U CN 205613972U
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China
Prior art keywords
swing arm
horizontal
belt
robot
leading
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CN201620341931.2U
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Chinese (zh)
Inventor
谢传海
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Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
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Triumphant Large Precision Die Automation Science And Technology Ltd Of Shunde District Of Foshan City
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Priority to CN201620341931.2U priority Critical patent/CN205613972U/en
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Abstract

The utility model relates to an industrial robot, especially one kind can replace artifical portable swing arm punching press machine people in the punching press trade. It includes the robot that the punching press was used, and the robot includes fuselage, swing arm, swing arm horizontal migration mechanism, swing arm angle of rotation mechanism and swing arm elevating system, the fuselage bottom is provided with the automation that can make the robot remove and guides the mobile device. The utility model discloses swing arm robot and the automatic mobile device advantage between them that guides have been combined to realize the operations such as getting the material, shift and unload of material, realized simultaneously independently guiding at the interplant, freely exercised the route, realized that the mill does not have the humanization, degree of automation is high, satisfied nimble transport demand, can obviously improve work piece conveying efficiency.

Description

Automatically portable swing arm pressing robot is guided
Technical field
This utility model relates to a kind of industrial robot, a kind of can replace artificial automatically guiding portable swing arm pressing robot in punching press industry.
Background technology
Existing factory still uses manpower to carry material, and material is the heaviest, and production efficiency is low and industrial accident easily occurs, and the labor force of workman is big, and the automaticity of factory is low, it is impossible to meet requirements of mass production.
Utility model content
The purpose of this utility model is the deficiency overcoming above-mentioned prior art to exist, and provides a kind of simple and reasonable for structure, it is achieved unmanned factory, automaticity is high, can significantly improve workpiece transmission efficiency automatically guide portable swing arm pressing robot.
The purpose of this utility model is achieved in that
Automatically portable swing arm pressing robot is guided, robot including punching press, robot includes fuselage, swing arm, swing arm horizontal mobile mechanism, pendulum arm angle rotating mechanism and swing arm lifting mechanism, and described fuselage bottom is provided with and can make what robot moved automatically to guide mobile device.
The purpose of this utility model can also use techniques below measure to solve:
Described automatic guiding mobile device is to have the AGV that laser guides automatically.
Described swing arm horizontal mobile mechanism includes horizontal guide rail, horizontal carriage, horizontal drive mechanism and horizontal servo motor, horizontal guide rail is fixed on the top of fuselage, swing arm is seated on horizontal guide rail by horizontal carriage, and swing arm outer end extends outside fuselage, horizontal servo motor drives described horizontal carriage by horizontal drive mechanism, it is characterized in that, described swing arm includes swing arm leading portion and pendulum back segment, swing arm leading portion is provided with material grasping hands, swing arm back segment is arranged in horizontal carriage, is provided with swing arm leading portion rotating mechanism between swing arm leading portion and swing arm back segment.
As scheme more specifically, described swing arm leading portion rotating mechanism includes swing arm leading portion rotating servo motor, first harmonic reductor and the first belt, swing arm leading portion rotating servo motor is arranged on horizontal carriage or swing arm leading portion, first harmonic reductor is connected between swing arm leading portion and swing arm back segment, and the first belt is connected between swing arm leading portion rotating servo motor and first harmonic reductor.
As further scheme, the level height of described swing arm leading portion is less than the level height of swing arm back segment.
As scheme more specifically, the bottom of described swing arm back segment extends along a length thereof direction and is provided with belt chamber, first belt is arranged on belt intracavity, and the bottom of first harmonic reductor is connected with swing arm leading portion, and its top embeds the belt intracavity of swing arm back segment and is connected with the first belt.
As more preferably scheme, described horizontal guide rail is the horizontal rail of two mutual balances of back, horizontal carriage is seated in two horizontal rail by both sides rail chair, horizontal drive mechanism includes front-wheel, trailing wheel and the second belt, front wheels and rear wheels sets up the front-end and back-end two horizontal rail separately, second belt is connected between front wheels and rear wheels, and front-wheel is by horizontal servo driven by motor, and horizontal carriage is connected between front wheels and rear wheels and with the second belt transmission.
As more specifically scheme, being additionally provided with crawler belt groove, be provided with crawler belt in crawler belt groove by the horizontal rail of described fuselage, on one end connecting band track groove of crawler belt, the other end connects swing arm back segment.
As more specifically scheme, described pendulum arm angle rotating mechanism includes angle rotating servo motor, angle rotating belt and second harmonic reductor, the bottom of second harmonic reductor is arranged on fuselage by support, its top connects swing arm horizontal mobile mechanism, and angle rotating servo motor drives second harmonic reductor by angle rotating belt.
As more preferably embodiment, described angle rotating servo motor is fixed on support, is provided with fixing seat bottom swing arm horizontal mobile mechanism, and the top of second harmonic reductor is arranged on fixing seat.
As more specifically scheme, described swing arm lifting mechanism includes swing arm lifting servomotor, swing arm connecting rod reductor, swing arm lifting push rod and swing arm lifting cylinder, swing arm lifting cylinder is fixed on fuselage bottom, its lift telescopic end connects pendulum arm angle rotating mechanism, swing arm lifting servomotor drives swing arm lifting push rod by swing arm connecting rod reductor, and swing arm lifting push rod is connected with pendulum arm angle rotating mechanism.
As more specifically scheme, described pendulum arm angle rotating mechanism arranges a pillar, swing arm lifting cylinder and swing arm lifting push rod and connects described pillar respectively.
The beneficial effects of the utility model are as follows:
(1) this utility model combines swing arm robot and the advantage automatically guiding mobile device, it is achieved thereby that the operation such as the feeding of material, transfer and discharging, realize independently guiding in factory simultaneously, freely exercise route, realize that factory is unmanned, automaticity is high, meet and carry demand flexibly, workpiece transmission efficiency can be significantly improved.
Accompanying drawing explanation
Fig. 1 is the structural representation that this utility model guides portable swing arm pressing robot automatically.
Fig. 2 is the sectional structure schematic diagram (eliminate and automatically guide mobile device) in Fig. 1 at A-A.
Fig. 3 is the structural representation that Fig. 1 omits fuselage.
Fig. 4 is the structural representation of another angle of Fig. 3.
Fig. 5 be this utility model automatically guide portable swing arm pressing robot and punch press with the use of structural representation.
Fig. 6 is the top view of Fig. 5.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is further described by embodiment.
As shown in Fig. 1 to Fig. 6, automatically portable swing arm pressing robot is guided, robot 6 including punching press, robot 6 includes fuselage 1, swing arm 2, swing arm horizontal mobile mechanism 3, pendulum arm angle rotating mechanism 4 and swing arm lifting mechanism 5, and described fuselage bottom is provided with the guiding mobile device 7 automatically that robot 6 can be made to move.
As concrete technical scheme of the present utility model.
Described automatic guiding mobile device is to have the AGV that laser guides automatically.
Described swing arm horizontal mobile mechanism 3 includes horizontal guide rail 31, horizontal carriage 32, horizontal drive mechanism 33 and horizontal servo motor 34, horizontal guide rail 31 is fixed on the top of fuselage 1, swing arm 2 is seated on horizontal guide rail 31 by horizontal carriage 32, and swing arm 2 outer end extends outside fuselage 1, horizontal servo motor 34 drives described horizontal carriage 32 by horizontal drive mechanism 33, it is characterized in that, described swing arm 2 includes swing arm leading portion 21 and pendulum back segment, swing arm leading portion 21 is provided with material grasping hands 23, swing arm back segment 22 is arranged in horizontal carriage 32, swing arm leading portion rotating mechanism 24 it is provided with between swing arm leading portion 21 and swing arm back segment 22.
Described swing arm leading portion rotating mechanism 24 includes swing arm leading portion rotating servo motor 25, first harmonic reductor 26 and the first belt 27, swing arm leading portion rotating servo motor 25 is arranged on horizontal carriage 32 or swing arm leading portion 21, first harmonic reductor 26 is connected between swing arm leading portion 21 and swing arm back segment 22, and the first belt 27 is connected between swing arm leading portion rotating servo motor 25 and first harmonic reductor 26.
The level height of described swing arm leading portion 21 is less than the level height of swing arm back segment 22.
The bottom of described swing arm back segment 22 extends along a length thereof direction and is provided with belt chamber 28, first belt 27 is arranged in belt chamber 28, the bottom of first harmonic reductor 26 is connected with swing arm leading portion 21, in the belt chamber 28 of its top embedding swing arm back segment 22 and is connected with the first belt 27.
Described horizontal guide rail 31 is the horizontal rail 30 of two mutual balances on fuselage 1 top, horizontal carriage 32 is seated in two horizontal rail 30 by both sides rail chair, horizontal drive mechanism 33 includes front-wheel 35, trailing wheel 36 and the second belt 37, front-wheel 35 and trailing wheel 36 set up separately in the front-end and back-end of two horizontal rail 30, second belt 37 is connected between front-wheel 35 and trailing wheel 36, front-wheel 35 is driven by horizontal servo motor 34, and horizontal carriage 32 is in transmission connection between front-wheel 35 and trailing wheel 36 and with the second belt 37.
The horizontal rail 30 of described fuselage 1 is other is additionally provided with crawler belt groove 39, is provided with crawler belt 391 in crawler belt groove 39, and on one end connecting band track groove 39 of crawler belt 391, the other end connects swing arm back segment 22.
Described pendulum arm angle rotating mechanism 4 includes angle rotating servo motor 41, angle rotating belt 42 and second harmonic reductor 43, the bottom of second harmonic reductor 43 is installed on the fuselage 1 by support 44, its top connects swing arm horizontal mobile mechanism 3, and angle rotating servo motor 41 drives second harmonic reductor 43 by angle rotating belt 42.
Described angle rotating servo motor 41 is also secured on support 44, is provided with fixing seat 38 bottom swing arm horizontal mobile mechanism 3, and the top of second harmonic reductor 43 is arranged on fixing seat 38.
Described swing arm lifting mechanism 5 includes swing arm lifting servomotor 51, swing arm connecting rod reductor 52, swing arm lifting push rod 53 and swing arm lifting cylinder 54, swing arm lifting cylinder 54 is fixed on bottom fuselage 1, its lift telescopic end connects pendulum arm angle rotating mechanism 4, swing arm lifting servomotor 51 drives swing arm lifting push rod 53, swing arm lifting push rod 53 to be connected with pendulum arm angle rotating mechanism 4 by swing arm connecting rod reductor 52.
One pillar 45, swing arm lifting cylinder 54 and swing arm lifting push rod 53 are set on described pendulum arm angle rotating mechanism 4 and connect described pillar 45 respectively.
Operation principle of the present utility model is:
This utility model is general and multiple stage punch press with the use of, during work, first, horizontal servo motor 34 starts, horizontal servo motor 34 drives horizontal carriage 32 to move forward by horizontal drive mechanism 33, thus drive swing arm to extend to First punch press, material grasping hands 23 is located just at the top of the workbench of First punch press 81, then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 start, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, swing arm drops on First punch press 81, then material grasping hands 23 draws the workpiece on First punch press 81 workbench.Then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 are again started up, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to rise, swing arm rises to top on First punch press 81, then horizontal servo motor 34 is again started up, horizontal servo motor 34 drives horizontal carriage 32 to move back to initial position, thus drives swing arm to be retracted into initial position.
After this utility model feeding, this utility model guides mobile device 7 to start automatically, automatically guides mobile device 7 to guide this utility model to travel according to the guide path being laid in fabrication facility floor, until this utility model moves to second punch press 82 side.
Angle rotating servo motor 41 the most of the present utility model starts, and angle rotating servo motor 41 drives horizontal mobile mechanism 3 to rotate, until swing arm rotates to the angle of corresponding second punch press by angle rotating belt 42, second harmonic reductor 43.Then horizontal servo motor 34 drives horizontal carriage 32 to move forward by horizontal drive mechanism 33, thus drives swing arm to extend to second punch press 82, until material grasping hands 23 is elongated to the top of the workbench of second punch press 82.Then swing arm lifting servomotor 51 and swing arm lifting balance cylinder 54 start, thus drive swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, until material grasping hands 23 drops to the workbench of second punch press 82, this utility model controls material grasping hands 23 discharging again, thus workpiece is sent into the workbench of second punch press 82, so that the second punch press carries out the punching press of subsequent processing, thus completes the feeding of single product, transfer and discharging process.Therefore, this utility model guides portable swing arm pressing robot can realize the operations such as the feeding to material, transfer and discharging automatically.

Claims (10)

1. automatically guide portable swing arm pressing robot, robot (6) including punching press, robot (6) includes fuselage (1), swing arm (2), swing arm horizontal mobile mechanism (3), pendulum arm angle rotating mechanism (4) and swing arm lifting mechanism (5), it is characterized in that, described fuselage (1) bottom be provided with can make robot (6) movement automatically guide mobile device (7).
The most according to claim 1, automatically guide portable swing arm pressing robot, it is characterized in that, described automatic guiding mobile device (7) is to have the AGV that laser guides automatically.
Automatic guiding movable type swing arm pressing robot the most according to claim 1 or claim 2, it is characterized in that, described swing arm horizontal mobile mechanism (3) includes horizontal guide rail (31), horizontal carriage (32), horizontal drive mechanism (33) and horizontal servo motor (34), horizontal guide rail (31) is fixed on the top of fuselage (1), swing arm (2) is seated on horizontal guide rail (31) by horizontal carriage (32), and swing arm (2) outer end extends fuselage (1) outward, horizontal servo motor (34) drives described horizontal carriage (32) by horizontal drive mechanism (33).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described swing arm (2) includes swing arm leading portion (21) and swing arm back segment (22), swing arm leading portion (21) is provided with material grasping hands (23), arm back segment (22) is arranged in horizontal carriage (32), is provided with swing arm leading portion rotating mechanism (24) between swing arm leading portion (21) and swing arm back segment (22).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described swing arm leading portion rotating mechanism (24) includes swing arm leading portion rotating servo motor (25), first harmonic reductor (26) and the first belt (27), swing arm leading portion rotating servo motor (25) is arranged on horizontal carriage (32) or swing arm leading portion (21), first harmonic reductor (26) is connected between swing arm leading portion (21) and swing arm back segment (22), first belt (27) is connected between swing arm leading portion rotating servo motor (25) and first harmonic reductor (26).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, the bottom of described swing arm back segment (22) extends along a length thereof direction and is provided with belt chamber (28), first belt (27) is arranged in belt chamber (28), the bottom of first harmonic reductor (26) is connected with swing arm leading portion (21), in the belt chamber (28) on its top embedding swing arm back segment (22) and is connected with the first belt (27).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described horizontal guide rail (31) is the horizontal rail (30) of two mutual balances on fuselage (1) top, horizontal carriage (32) is seated on two horizontal rail (30) by both sides rail chair, horizontal drive mechanism (33) includes front-wheel (35), trailing wheel (36) and the second belt (37), front-wheel (35) and trailing wheel (36) set up separately in the front-end and back-end of two horizontal rail (30), second belt (37) is connected between front-wheel (35) and trailing wheel (36), front-wheel (35) is driven by horizontal servo motor (34), horizontal carriage (32) is positioned between front-wheel (35) and trailing wheel (36) and is in transmission connection with the second belt (37).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described pendulum arm angle rotating mechanism (4) includes angle rotating servo motor (41), angle rotating belt (42) and second harmonic reductor (43), the bottom of second harmonic reductor (43) is arranged on fuselage (1) by support (44), its top connects swing arm horizontal mobile mechanism (3), and angle rotating servo motor (41) drives second harmonic reductor (43) by angle rotating belt (42).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described angle rotating servo motor (41) is fixed on support (44), swing arm horizontal mobile mechanism (3) bottom is provided with fixing seat (38), and the top of second harmonic reductor (43) is arranged on fixing seat (38).
The most automatically portable swing arm pressing robot is guided, it is characterized in that, described swing arm lifting mechanism (5) includes swing arm lifting servomotor (51), swing arm connecting rod reductor (52), swing arm lifting push rod (53) and swing arm lifting cylinder (54), swing arm lifting cylinder (54) is fixed on fuselage (1) bottom, its lift telescopic end connects pendulum arm angle rotating mechanism (4), swing arm lifting servomotor (51) drives swing arm lifting push rod (53) by swing arm connecting rod reductor (52), swing arm lifting push rod (53) is connected with pendulum arm angle rotating mechanism (4), on described pendulum arm angle rotating mechanism (4), a pillar (45) is set, swing arm lifting cylinder (54) and swing arm lifting push rod (53) connect described pillar (45) respectively.
CN201620341931.2U 2016-04-21 2016-04-21 Automatic guide portable swing arm punching press machine people Active CN205613972U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620341931.2U CN205613972U (en) 2016-04-21 2016-04-21 Automatic guide portable swing arm punching press machine people

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620341931.2U CN205613972U (en) 2016-04-21 2016-04-21 Automatic guide portable swing arm punching press machine people

Publications (1)

Publication Number Publication Date
CN205613972U true CN205613972U (en) 2016-10-05

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393086A (en) * 2016-11-25 2017-02-15 江门市大光明电力设备厂有限公司 Modularized mechanical hand
CN107884438A (en) * 2017-11-15 2018-04-06 绵阳海迪机器人科技有限公司 A kind of explosion-proof test system
CN107914283A (en) * 2017-11-15 2018-04-17 绵阳海迪机器人科技有限公司 A kind of explosion-proof special robot
CN109396285A (en) * 2018-11-05 2019-03-01 无锡鹏德汽车配件有限公司 A kind of exhaust system end cone automation press line turning manipulator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393086A (en) * 2016-11-25 2017-02-15 江门市大光明电力设备厂有限公司 Modularized mechanical hand
CN107884438A (en) * 2017-11-15 2018-04-06 绵阳海迪机器人科技有限公司 A kind of explosion-proof test system
CN107914283A (en) * 2017-11-15 2018-04-17 绵阳海迪机器人科技有限公司 A kind of explosion-proof special robot
CN107914283B (en) * 2017-11-15 2020-10-09 绵阳海迪机器人科技有限公司 Explosion-proof special type manipulator
CN107884438B (en) * 2017-11-15 2021-01-01 绵阳海迪机器人科技有限公司 Explosion-proof test system
CN109396285A (en) * 2018-11-05 2019-03-01 无锡鹏德汽车配件有限公司 A kind of exhaust system end cone automation press line turning manipulator

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Automatic guide portable swing arm punching press machine people

Effective date of registration: 20170908

Granted publication date: 20161005

Pledgee: Bank of China Limited by Share Ltd Shunde branch

Pledgor: Triumphant large precision die automation Science and Technology Ltd. of Shunde District of Foshan City

Registration number: 2017440000077

PE01 Entry into force of the registration of the contract for pledge of patent right