CN206216684U - Hybrid Quadratic Finite Element mould inner machine people - Google Patents
Hybrid Quadratic Finite Element mould inner machine people Download PDFInfo
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- CN206216684U CN206216684U CN201621263116.5U CN201621263116U CN206216684U CN 206216684 U CN206216684 U CN 206216684U CN 201621263116 U CN201621263116 U CN 201621263116U CN 206216684 U CN206216684 U CN 206216684U
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- finite element
- machine people
- manipulator
- mould inner
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Abstract
The utility model discloses a kind of hybrid Quadratic Finite Element mould inner machine people, including support, and the mechanical arm being actively coupled with support, the support is provided with the vertical drive component for driving mechanical arm to move vertically, first level drive component and the second horizontal drive component are fixed with the mechanical arm, and have been slidably connected the first manipulator and the second manipulator；The first level drive component drives the first manipulator to move horizontally, and the second manipulator of the second horizontal drive Component driver is moved horizontally.Mechanical arm of the present utility model is provided with two by the manipulators of different driving motor control, two manipulators can horizontal movement alone, be independent of each other, while will not be interfered between mechanical arm and mechanical arm；In addition, horizontal drive motor is provided close to the both sides of support, make the structure of hybrid Quadratic Finite Element mould inner machine people compacter and attractive in appearance, while the tension pulley seat that horizontal drive motor both sides are provided with makes Timing Belt closer to transverse arm body, it is to avoid influence of the Timing Belt to support.
Description
Technical field
The utility model is related to material punching press feeder equipment, more specifically a kind of hybrid Quadratic Finite Element mould inner machine
People.
Background technology
Mould inner machine people is usually used in the carrying of stamping parts, such as patent application document (Patent No. CN201520064267.7)
Described mould inner machine people, when workpiece is carried, moves left and right to remove workpiece by the mechanical arm of robot, and this needs punch press
Between pull open distance more long, otherwise the distance between mechanical arm and another mechanical arm too closely can be interlaced, in order to avoid mutual
The influence for staggeredly producing, then can elongate production line, and this can cause floor space big, so that low production efficiency, waste of resource
The problems such as, in addition, the manipulator on mechanical arm is affixed on mechanical arm, make when pressing equipment needs mold changing, then need by
Mechanical arm is removed and could changed, and is made troubles to mold changing.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of hybrid Quadratic Finite Element mould inner machine
People, two manipulators on the mechanical arm level can be moved left and right alone, be independent of each other.
To achieve the above object, the utility model uses following technical scheme：A kind of hybrid Quadratic Finite Element mould inner machine
People, including support, and the mechanical arm being actively coupled with support, the support are provided with for hanging down of driving mechanical arm to move vertically
Straight drive component, is fixed with first level drive component and the second horizontal drive component, and be slidably connected on the mechanical arm
There are the first manipulator and the second manipulator；The first level drive component drives the first manipulator to move horizontally, and described second
The manipulator of horizontal drive Component driver second is moved horizontally.
Preferably, the support front side is fixedly connected with vertical rails.
Preferably, the mechanical arm includes transverse arm body, horizontal slide rail and vertical slide unit, and the horizontal slide rail is fixedly connected
In transverse arm body front side, the vertical slide unit is fixedly connected on transverse arm body rear side, and the vertical slide unit is provided with lifting nut
Seat, the vertical slide unit is slidably connected with the vertical rails.
Preferably, the vertical drive component includes vertical driving motor and the lifting silk being connected with vertical driving motor
Bar, the elevating screw driving coupling has the ball nut being fixed in the lifting nut seat；Vertical driving motor drives and rises
Drop screw mandrel rotation, lifting nut seat does lifting and moves back and forth in the presence of elevating screw.
Preferably, the first level drive component, the second horizontal drive component include the level of driving coupling successively
Motor, synchronizing wheel and Timing Belt.
Preferably, the transverse arm body front inward depression is formed with cavity, synchronous wheel seat is provided with the cavity and is prevented
Collision block, the synchronous wheel seat is provided with two support plates for supporting the synchronizing wheel；The anticollison block is located at the inner of support plate.
Preferably, the horizontal drive motor both sides are provided with tension pulley seat, and regulation is fixedly connected with the tension pulley seat
The tensioning wheel of tensioning degree between Timing Belt and synchronizing wheel.
Preferably, the tension pulley seat is provided with the screw slots for left and right adjusting, by the movement of left and right directions, realizes
The regulation of tensile force.
Preferably, first manipulator, the second manipulator include horizontal slide unit, horizontal stand and sucker, the horizontal stroke
To being provided with two groups of cross sliding clocks for being slidably connected to the horizontal slide rail on rear side of slide unit, in the middle of the horizontal slide unit rear side and institute
Timing Belt is stated to be fixedly connected；The horizontal stand rear end is fixedly connected with the horizontal slide unit, and horizontal stand front end is fixedly connected
In sucker stand, the sucker stand lower section is fixedly connected with some suckers vertically downward.
Preferably, the horizontal slide unit is provided with the dovetail groove of vertical direction, and the horizontal stand rear end is fixedly connected with
The sliding block of swallowtail shape, the sliding block is embedded in the dovetail groove, and is fixed by the lock handle being provided with.
The utility model beneficial effect compared with prior art is：Mechanical arm is provided with two by different driving motor
The manipulator of control, two manipulators can horizontal movement alone, be independent of each other, while will not be mutual between mechanical arm and mechanical arm
Disturb, therefore multiple devices can work simultaneously, improve production efficiency, shorten the distance between production line, reduce and set
Standby floor space；In addition, horizontal drive motor is provided close to the both sides of support, make the knot of hybrid Quadratic Finite Element mould inner machine people
Structure is compacter and attractive in appearance, while the tension pulley seat that horizontal drive motor both sides are provided with makes Timing Belt closer to transverse arm body, keeps away
Influence of the Timing Belt to support is exempted from.
Brief description of the drawings
Fig. 1 is a kind of structural representation of hybrid Quadratic Finite Element mould inner machine people's specific embodiment of the utility model；
Fig. 2 is a kind of mechanical arm structural representation of hybrid Quadratic Finite Element mould inner machine people's specific embodiment of the utility model
Figure；
Fig. 3 is a kind of mechanical arm top view of hybrid Quadratic Finite Element mould inner machine people's specific embodiment of the utility model；
Fig. 4 sets for a kind of mechanical arm of hybrid Quadratic Finite Element mould inner machine people's specific embodiment of the utility model with punching press
The side view of standby assembling；
Fig. 5 sets for a kind of mechanical arm of hybrid Quadratic Finite Element mould inner machine people's specific embodiment of the utility model with punching press
The sectional view of standby assembling.
Reference
The vertical rails of 1 support 11
The elevating screw of 12 vertical drive component 121
The mechanical arm of 122 vertical driving motor 2
The cavity of 21 transverse arm body 22
The synchronous wheel seat of 23 horizontal slide rail 24
The anticollison block of 25 synchronizing wheel 26
The lifting nut of 27 vertical slide unit 271 seat
The horizontal slide unit of 3 first manipulator 31
The dovetail groove of 32 cross sliding clock 33
The horizontal stand of 34 lock handle 35
The sucker stand of 351 sliding block 36
The manipulator of 361 sucker 4 second
The horizontal drive motor of 5 first level drive component 51
The horizontal drive component of 52 Timing Belt 6 second
The tensioning wheel of 7 tension pulley seat 71
8 pressing equipments
Specific embodiment
In order to more fully understand technology contents of the present utility model, with reference to specific embodiment to skill of the present utility model
Art scheme is further described and illustrates, but is not limited to this.
Specific embodiment as shown in Figure 1, Figure 4, Figure 5, the hybrid Quadratic Finite Element mould inner machine of the utility model design
People is mounted in pressing equipment 8, only Arm expanding pressing equipment 8, hybrid Quadratic Finite Element mould inner machine people, bag
Support 1 is included, and the mechanical arm 2 being actively coupled with support 1, support 1 is provided with the vertical drive for driving mechanical arm 2 to move vertically
Dynamic component 12, is fixed with the horizontal drive component 6 of first level drive component 5 and second on mechanical arm 2, and has been slidably connected the
One manipulator 3 and the second manipulator 4；First level drive component 5 drives the first manipulator 3 to move horizontally, the second horizontal drive
Component 6 drives the second manipulator 4 to move horizontally.
As shown in figure 1, the front side of support 1 is fixedly connected with vertical rails 11, the left side of vertical rails 11 and the right are equipped with
One.
Further, as shown in Figure 1, Figure 2, Figure 3 shows, mechanical arm 2 includes transverse arm body 21, horizontal slide rail 23 and vertical slide unit
27, horizontal slide rail 23 is fixedly connected on the front side of transverse arm body 21, and horizontal slide rail 23 has two, and horizontal interval is fixedly connected on respectively
The front side of transverse arm body 21, vertical slide unit 27 is fixedly connected on rear side in the middle of transverse arm body 21, and vertical slide unit 27 is provided with lifting spiral shell
Female seat 271, vertical slide unit 27 is slidably connected with vertical rails 11；Vertical drive component 12 include vertical driving motor 122 and with
Vertical driving motor 122 connection elevating screw 121, the driving coupling of elevating screw 121 have be fixed on lifting nut seat 271 in
Ball nut；Vertical driving motor 122 drives elevating screw 121 to rotate, effect of the lifting nut seat 271 in elevating screw 121
Under do lifting and move back and forth.
Specifically, elevating screw 121 is loaded vertically into lifting nut seat 271, the work of vertical driving motor 122 drives lifting
Screw mandrel 121 rotates makes ball nut be rolled along the screw thread of lifting nut seat 271, and rolling the frictional force for producing makes lifting nut
Seat 271 pumps, because lifting nut seat 271 is fixed on vertical slide unit 27, and vertical slide unit 27 and transverse arm sheet
Body 21 is fixedly connected, therefore, lifting nut seat 271 pumps and transverse arm body 21 can be driven to move up and down.
Further, first level drive component 5, the second horizontal drive component 6 include the level of driving coupling successively
Motor 51, synchronizing wheel 25 and Timing Belt 52, the both sides of horizontal drive motor 51 are provided with tension pulley seat 7, fixed on tension pulley seat 7
The tensioning wheel 71 of tensioning degree between regulation Timing Belt 52 and synchronizing wheel 25 is connected with, tension pulley seat 7 is provided with to be adjusted for left and right
The screw slots of section, by the movement of left and right directions, realize the regulation of tensile force.
Specifically, the one end of horizontal drive motor 51 is provided with driving wheel, horizontal drive motor 51 drives driving wheel rotation, actively
Wheel outside is provided with the tooth bar being engaged with the inner side of Timing Belt 52, so as to driving wheel rotarily drives Timing Belt 52 move, is driven in level
The dynamic arranged on left and right sides of motor 51 is provided with tension pulley seat 7, and tensioning wheel 71 is installed vertically on tension pulley seat 7, meanwhile, tension pulley seat 7 sets
In the outside of Timing Belt 52 to be formed to the inward pressure of Timing Belt 52, in addition, tensioning wheel 71 is provided with the screw of forward and backward regulation
Groove, by adjusting screw groove forward, can reduce the cornerite of the driving wheel on Timing Belt 52 and horizontal drive motor 51, so as to drop
Transmission capacity between low Timing Belt 52 and driving wheel；By adjusting screw groove backward, the bag of Timing Belt 52 and driving wheel can be made
Angle increases, so as to increase the transmission capacity between Timing Belt 52 and driving wheel.Horizontal motor 51 is used in the present embodiment
It is servomotor, to reach, high precision, rotating speed be fast, good stability requirement.
As shown in Figure 1, Figure 2, Figure 3 shows, the front inward of transverse arm body 21 depression is formed with cavity 22, cavity 22 and is provided with synchronization
Wheel seat 24 and anticollison block 26, synchronous wheel seat 24 are provided with two support plates for supporting synchronizing wheel 25；Anticollison block 26 is located at support plate
It is inner.
Specifically, synchronous wheel seat 24 has four, two of which synchronous wheel seat 24 is used to install first level drive component 5
Synchronizing wheel 25, two other synchronous wheel seat 24 is used to install the synchronizing wheel 25 of the second horizontal drive component 6, in addition, anticollison block 26
It is excellent power glue material matter, has intensity good, the small advantage of dilatation.
As shown in figure 1, the first manipulator 3, the second manipulator 4 include horizontal slide unit 31, horizontal stand 35 and sucker, it is horizontal
Be provided with two groups of cross sliding clocks 32 for being slidably connected to horizontal slide rail 23 to the rear side of slide unit 31, in the middle of the rear side of horizontal slide unit 31 with it is same
Step band 52 is fixedly connected；The rear end of horizontal stand 35 is fixedly connected with horizontal slide unit 31, and the front end of horizontal stand 35 is fixedly connected on suction
Disc carrier 36, the lower section of sucker stand 36 is fixedly connected with some suckers 361 vertically downward.Horizontal slide unit 31 is provided with vertical side
To dovetail groove 33, the rear end of horizontal stand 35 is fixedly connected with the sliding block 351 of swallowtail shape, and sliding block 351 is embedded in dovetail groove 33,
Horizontal stand 35 can be adjusted up and down relative to horizontal slide unit 31, and be fixed by the lock handle 34 being provided with.
In other embodiments, the screw slots on tension pulley seat 7 left and right can be adjusted.
In other embodiments, anticollison block 26 caves inward near the side of horizontal slide unit 31 and is formed with two circular holes,
Be provided with two latches corresponding with circular hole near the side of the horizontal slide unit 31 of circular hole, when Timing Belt 52 drive horizontal slide unit 31 to
Anticollison block is moved, because the gap between circular hole and latch is smaller, during latch quick insertion circular hole, and the air meeting inside circular hole
Quick discharge, so as to serve the effect of gas buffer, anticollison block 26 itself also has cushioning effect, has thereby served to dual anti-
The effect hit.
The course of work of the utility model hybrid Quadratic Finite Element mould inner machine people is as follows：First, vertical driving motor 122
Driving mechanical arm 2 moves up and down, and then, starts horizontal drive motor 51, and horizontal drive motor 51 drives the first manipulator 3 and the
Manipulator horizontal movement alone, the first manipulator 3 and the second manipulator 4 move left and right the suitable position that grabbing workpiece is moved on mould
Postpone release, the first manipulator 3 and the second manipulator 4 move moulds between the space of mould, wait the punching press of pressing equipment 8 to complete
Afterwards, that restarts that horizontal drive motor 51 drives the first manipulator 3 and the next round of the second manipulator 4 moves horizontally grabbing workpiece.
In sum, mechanical arm 2 is provided with two manipulators by different driving motor control, and two manipulators can be only
From horizontal movement, it is independent of each other, while will not be interfered between mechanical arm 2 and mechanical arm 2, therefore multiple devices can be simultaneously
Work, improves production efficiency, shortens the distance between production line, reduces occupation area of equipment；In addition, horizontal drive is electric
Machine 51 is provided close to the both sides of support, makes the structure of hybrid Quadratic Finite Element mould inner machine people compacter and attractive in appearance, while water
The tension pulley seat 7 that the both sides of flat motor 51 are provided with makes Timing Belt 52 closer to transverse arm body 21, it is to avoid Timing Belt 52 is to machine
The influence of seat 1.
It is above-mentioned that technology contents of the present utility model are only further illustrated with embodiment, it is easier to understand in order to reader,
But implementation method of the present utility model not being represented and being only limitted to this, any technology done according to the utility model extends or recreates,
Receive protection of the present utility model.Protection domain of the present utility model is defined by claims.
Claims (10)
1. a kind of hybrid Quadratic Finite Element mould inner machine people, including support, and the mechanical arm being actively coupled with support, the support
It is provided with the vertical drive component for driving mechanical arm to move vertically, it is characterised in that the is fixed with the mechanical arm
One horizontal drive component and the second horizontal drive component, and it has been slidably connected the first manipulator and the second manipulator；Described first
The manipulator of horizontal drive Component driver first is moved horizontally, and the second manipulator of the second horizontal drive Component driver level is moved
It is dynamic.
2. hybrid Quadratic Finite Element mould inner machine people according to claim 1, it is characterised in that the support front side is fixed
It is connected with vertical rails.
3. hybrid Quadratic Finite Element mould inner machine people according to claim 2, it is characterised in that the mechanical arm includes horizontal stroke
Arm body, horizontal slide rail and vertical slide unit, the horizontal slide rail are fixedly connected on transverse arm body front side, and the vertical slide unit is fixed
Transverse arm body rear side is connected to, the vertical slide unit is provided with lifting nut seat, and the vertical slide unit is slided with the vertical rails
Dynamic connection.
4. hybrid Quadratic Finite Element mould inner machine people according to claim 3, it is characterised in that the vertical drive component
The elevating screw being connected including vertical driving motor and with vertical driving motor, the elevating screw driving coupling has and is fixed on institute
State the ball nut in lifting nut seat；Vertical driving motor drives elevating screw rotation, and lifting nut seat is in elevating screw
Lifting is done under effect to move back and forth.
5. hybrid Quadratic Finite Element mould inner machine people according to claim 4, it is characterised in that the first level drives
Component, the second horizontal drive component include the horizontal drive motor of driving coupling, synchronizing wheel and Timing Belt successively.
6. hybrid Quadratic Finite Element mould inner machine people according to claim 5, it is characterised in that the transverse arm body front side
Cave inward and be formed with cavity, be provided with synchronous wheel seat and anticollison block in the cavity, the synchronous wheel seat be provided with two for branch
Support the support plate of the synchronizing wheel；The anticollison block is located at the inner of support plate.
7. hybrid Quadratic Finite Element mould inner machine people according to claim 6, it is characterised in that the horizontal drive motor
Both sides are provided with tension pulley seat, and the tensioning of tensioning degree between regulation Timing Belt and synchronizing wheel is fixedly connected with the tension pulley seat
Wheel.
8. hybrid Quadratic Finite Element mould inner machine people according to claim 7, it is characterised in that set on the tension pulley seat
There are the screw slots for left and right adjusting, by the movement of left and right directions, realize the regulation of tensile force.
9. hybrid Quadratic Finite Element mould inner machine people according to claim 8, it is characterised in that first manipulator,
Second manipulator includes horizontal slide unit, horizontal stand and sucker, two groups is provided with rear side of the horizontal slide unit and is slidably connected to
The cross sliding clock of the horizontal slide rail, is fixedly connected in the middle of the horizontal slide unit rear side with the Timing Belt；The horizontal stand
Rear end is fixedly connected with the horizontal slide unit, and horizontal stand front end is fixedly connected on sucker stand, and the sucker stand lower section is solid
Surely some suckers vertically downward are connected with.
10. hybrid Quadratic Finite Element mould inner machine people according to claim 9, it is characterised in that in the horizontal slide unit
The dovetail groove of vertical direction is provided with, the horizontal stand rear end is fixedly connected with the sliding block of swallowtail shape, and the sliding block is embedded in institute
State in dovetail groove, and fixed by the lock handle being provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621263116.5U CN206216684U (en) | 2016-11-18 | 2016-11-18 | Hybrid Quadratic Finite Element mould inner machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621263116.5U CN206216684U (en) | 2016-11-18 | 2016-11-18 | Hybrid Quadratic Finite Element mould inner machine people |
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| Publication Number | Publication Date |
|---|---|
| CN206216684U true CN206216684U (en) | 2017-06-06 |
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ID=58791462
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621263116.5U Active CN206216684U (en) | 2016-11-18 | 2016-11-18 | Hybrid Quadratic Finite Element mould inner machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335051A (en) * | 2016-11-18 | 2017-01-18 | 莱恩精机(深圳)有限公司 | Double-dynamic quadratic-element internal robot |
| CN112249672A (en) * | 2020-08-28 | 2021-01-22 | 南京昱晟机器人科技有限公司 | Using method of industrial robot capable of stably grabbing objects and not damaging objects |
| CN113600702A (en) * | 2021-08-04 | 2021-11-05 | 武汉维谘信息技术有限公司 | End effector pre-building system and control method thereof |
-
2016
- 2016-11-18 CN CN201621263116.5U patent/CN206216684U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335051A (en) * | 2016-11-18 | 2017-01-18 | 莱恩精机(深圳)有限公司 | Double-dynamic quadratic-element internal robot |
| CN106335051B (en) * | 2016-11-18 | 2019-05-31 | 莱恩精机(深圳)有限公司 | Hybrid Quadratic Finite Element mould inner machine people |
| CN112249672A (en) * | 2020-08-28 | 2021-01-22 | 南京昱晟机器人科技有限公司 | Using method of industrial robot capable of stably grabbing objects and not damaging objects |
| CN113600702A (en) * | 2021-08-04 | 2021-11-05 | 武汉维谘信息技术有限公司 | End effector pre-building system and control method thereof |
| CN113600702B (en) * | 2021-08-04 | 2023-07-18 | 武汉维谘信息技术有限公司 | Pre-construction system of end effector and control method thereof |
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