CN206544176U - A kind of modular manipulator - Google Patents
A kind of modular manipulator Download PDFInfo
- Publication number
- CN206544176U CN206544176U CN201621276466.5U CN201621276466U CN206544176U CN 206544176 U CN206544176 U CN 206544176U CN 201621276466 U CN201621276466 U CN 201621276466U CN 206544176 U CN206544176 U CN 206544176U
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- China
- Prior art keywords
- module
- connector
- feeding
- mechanical arm
- motor
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- Expired - Fee Related
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Abstract
The utility model is related to modular manipulator, including lifting module, rotary module, pushing module and feeding module；The lifting module is set below rotary module；The pushing module is arranged on above rotary module, and the feeding module is arranged on pushing module.The lifting module is used to drive moving up and down for rotary module, and the rotary module is used for the rotation for driving pushing module, and the pushing module is used for the movement for driving feeding module, and the feeding module is used to capturing and placing material.Compared to prior art, the utility model by manipulator by carrying out modularized design, then modules are carried out into assembling cooperation, can so facilitate the installation and replacing of module.
Description
Technical field
The utility model is related to a kind of manipulator, particularly a kind of punching module manipulator.
Background technology
At present, the punching press of China's Steel Wire Products Industry, most of using manual operations, low production efficiency, labor intensity is big,
And security risk is larger.For present situation, there are Some Enterprises to improve efficiency, reduce labor intensity, reduce potential safety hazard, improve
Repetitive positioning accuracy starts to realize automatic loading/unloading using manipulator.
But, the product type of current manipulator is more, the versatility that the manipulator between different type does not possess.Work as machine
Some component malfunction of tool hand, can only be changed whole manipulator.So, efficiency can be caused low in process of production
Under, it is impossible to meet production needs now.Meanwhile, also increase the cost of enterprise production process.
Utility model content
The purpose of this utility model is to overcome the shortcoming and deficiency of prior art, and there is provided a kind of modular manipulator.
The utility model is realized by following scheme：A kind of modular manipulator, including lifting module, rotary module,
Pushing module and feeding module；The lifting module is set below rotary module；The pushing module is arranged on rotary module
Side, the feeding module is arranged on pushing module；
The lifting module includes the first driving part, for driving rotary module, pushing module and feeding module simultaneously
Lifting；
The rotary module includes the first motor harmonic reductor；First motor by harmonic wave speed reducing machine with it is described
Pushing module is connected, and first motor is driven by harmonic wave speed reducing machine, controls the pushing module to be rotated；
The pushing module includes stroke guide rail, the second driving part and the mechanical arm on stroke guide rail；It is described
Mechanical arm is arranged on the stroke guide rail；Second driving part is used to drive the mechanical arm in the stroke guide rail
It is mobile；
The feeding module includes male connector, female connector feeding part, detection and localization plate, proximity switch and the
Two motors；The male connector is arranged on mechanical arm tail end, and the female connector is arranged on feeding part；The male
It is provided with the middle of connector in the middle of cylinder axis, the female connector and is provided with through hole；The cylinder axis is engaged with the through hole；It is described
Male connector is provided with guide pillar, and the female connector is provided with guide pin bushing, and the guide pillar cooperates to complete male with guide pin bushing
The positioning of connector and female connector；The male connector is provided with air pipe interface, realizes that male connects by break-make gas
The locking and release of fitting and female connector；The male connector is provided with interconnected joint and empty axle, the female
Connector is provided with the joint being mutually communicated and hole, by the cooperation of male connector and female connector, realizes passing through for gas circuit
It is logical；The male connector is provided with the first connector, and the female connector is provided with the second connector, passes through the first connection
The cooperation of device and the second connector, realizes the connection between circuit；Second motor is fixed in the mechanical arm；It is described to connect
Nearly switch is located at below the mechanical arm；The detection and localization plate is fixed on feeding part；The feeding part is arranged on machine
The lower section of tool arm, and with second motor connection；The rotation of the second motor control feeding part, and pass through detection and localization
Plate coordinates with proximity switch, realizes the rotational positioning of feeding part.
As further improvement of the utility model, the feeding part includes sucker and vacuum generator；The vacuum
Generator is connected with sucker, for controlling sucker to draw and placing material.
As further improvement of the utility model, the feeding part is air-actuated jaw.
As further improvement of the utility model, the detection and localization plate is sector.
As further improvement of the utility model, in addition to a controller, for controlling lifting module, rotating mould
The work of block, pushing module and feeding module.
As further improvement of the utility model, the lifting module is provided with upper limit position switch and lower position switch；
When the lifting module reaches upper limit position switch position, the controller controls the lifting module to stop rising；When the liter
When drop module reaches lower position switch position, the controller controls the lifting module to stop decline.
As further improvement of the utility model, the rotary module is provided with rotation position detection switch, for sending out
Send positional information to the controller, the controller realizes the location control to rotary module according to the positional information.
As further improvement of the utility model, the pushing module is provided with front limit switch and rear limit switch；
When the mechanical arm reaches front limit switch, then the controller controls the pushing module to be stopped；When the mechanical arm
When reaching rear limit switch, then the controller controls the pushing module to stop movement.
As further improvement of the utility model, first driving part includes motor and screw component；The electricity
Machine drives moving up and down for workbench by screw mandrel.
As further improvement of the utility model, second driving part includes motor and linear module, the electricity
Machine drives the movement of the mechanical arm by linear module.
Compared to prior art, the utility model is of the present utility model by carrying out modularized design to stamping mechanical arm
Modularization stamping mechanical arm will realize part, the generalization of component, standardization, modularized design, solve arm-and-hand system various
Change, meet the requirement of small lot production, reduce manufacturing cost, stamping mechanical arm is realized in metallic article punching press industry automatic
Change, intelligentized safety in production has important dissemination.
In order to more fully understand and implement, the utility model is described in detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the overall structure diagram of modular manipulator of the present utility model.
Fig. 2 is the structural representation of feeding module of the present utility model.
Fig. 3 is the structural representation of male connector of the present utility model.
Fig. 4 is the structural representation of female connector of the present utility model.
Fig. 5 and Fig. 6 is the structural representation of two kinds of air-actuated jaws of the present utility model.
Fig. 7 is the instrument schematic diagram of the present utility model for quick-replaceable fixture.
Embodiment
The utility model in order to solve the defect for the versatility that the manipulator between different type in the prior art does not possess,
There is provided a kind of modular manipulator, especially by following embodiment explanation.
Modular manipulator of the present utility model, modular design is carried out mainly for whole manipulator.And this practicality
Manipulator in new mainly includes two parts content, and a part is overall structure design, and another part is the control of manipulator
Part processed.It is described and introduces from two parts individually below.
Referring to Fig. 1, it is the overall structure diagram of modular manipulator of the present utility model.First, set in structure
On meter, the utility model provides a kind of modular manipulator, including lifting module 1, rotary module 2, pushing module 3 and feeding
Module 4.The lifting module 1 sets the lower section of rotary module 2；The pushing module 3 is arranged on the top of rotary module 2, described to take
Material module 4 is arranged on pushing module 3.Specifically, introducing the structural principle of several modules in the utility model individually below.
The lifting module 1 includes the first driving part, for driving rotary module, pushing module and feeding module simultaneously
Lifting.Preferably, the first driving part described in the present embodiment includes motor and screw component；The motor passes through screw mandrel
Drive moving up and down for workbench.
The rotary module 2 includes the first motor harmonic reductor；First motor passes through harmonic wave speed reducing machine and institute
Pushing module connection is stated, first motor is driven by harmonic wave speed reducing machine, controls the pushing module to be rotated；
The pushing module 3 includes stroke guide rail 31, the second driving part 32 and the mechanical arm on stroke guide rail
33.The mechanical arm 33 is arranged on the stroke guide rail 31；Second driving part 32 is used to drive the mechanical arm to exist
Moved on the stroke guide rail.Specifically, second driving part 32 includes motor and linear module, the motor passes through line
Property module drive the movement of the mechanical arm.
Please refer to Fig. 2-4, it is respectively feeding module of the present utility model, male connector and female connector
Structural representation.The feeding module 4 includes feeding part 41, detection and localization plate 42, male connector 43, female connector
44th, proximity switch (not shown) and the second motor (not shown).
Specifically, the male connector is arranged on mechanical arm tail end, the female connector is arranged on feeding part.
By the mutual cooperation of male connector and female connector, the quick despatch of feeding part and mechanical arm is realized.
The annexation of male connector and female connector in the present embodiment introduced below.In the male connector 43
Between be provided with the middle of cylinder axis 431, the female connector and be provided with through hole 441, the cylinder axis 431 is engaged with the through hole 441.
The male connector is provided with guide pillar 432, and the female connector is provided with guide pin bushing 442, the guide pillar 432 and the phase of guide pin bushing 442
Mutually coordinate to complete the positioning of male connector and female connector.The male connector is provided with air pipe interface 433, passes through
Break-make gas realizes the locking and release of male connector and female connector.The male connector is provided with connecing for being interconnected
First 434 are provided with the joint 443 being mutually communicated and hole 444 with empty axle 435, the female connector, by male connector with
The cooperation of female connector, realizes the insertion of gas circuit.The male connector is provided with the first connector 436, and the female connects
Fitting is provided with the second connector 445, by the cooperation of the first connector and the second connector, realizes the connection between circuit.
By being designed to male connector and female connector, it is possible to achieve fast quick-detach, and gas circuit and circuit can be met
Connection.
Second motor is fixed in the mechanical arm；The proximity switch is located at below the mechanical arm；It is described fixed
Position detection plate is fixed on feeding part；The feeding part is arranged on the lower section of mechanical arm, and with second motor connection；
The rotation of the second motor control feeding part, and coordinated by detection and localization plate and proximity switch, realize feeding part
Rotational positioning.Specifically, the detection and localization plate is sector.
In addition, in the present embodiment, the feeding part can be sucker, or air-actuated jaw.Wherein, it is used as this
A kind of embodiment of embodiment, the feeding part includes sucker and vacuum generator；The vacuum generator connects with sucker
Connect, for controlling sucker to draw and placing material.
Fig. 5 and Fig. 6 are referred to, it is respectively the schematic diagram of two kinds of structures of air-actuated jaw in the present embodiment.It is used as this reality
The another embodiment of example is applied, the feeding part is air-actuated jaw.
In addition, in control.Modular manipulator of the present utility model also includes a controller, for controlling lifting mould
Block, rotary module, the work of pushing module and feeding module.
Specifically, the lifting module is provided with upper limit position switch and lower position switch；When the lifting module to the upper limit
During bit switch position, the controller controls the lifting module to stop rising；When the lifting module reaches lower position switch position
When putting, the controller controls the lifting module to stop decline.
The rotary module is provided with rotation position detection switch, described for sending positional information to the controller
Controller realizes the location control to rotary module according to the positional information.
The pushing module is provided with front limit switch and rear limit switch；When the mechanical arm reaches front limit switch
When, then the controller controls the pushing module to be stopped；When the mechanical arm reaches rear limit switch, then the control
Device controls the pushing module to stop movement.
Further, referring to Fig. 7, it is the instrument in the utility model for quick-replaceable manipulator fixture.Further,
According to needs of production, it is sometimes necessary to carry out material extraction using sucker, it is sometimes necessary to carry out thing using air-actuated jaw
Feed collet takes.So needing quick progress to realize feeding module quick-replaceable.And by modularized design of the present utility model, can be with
By the cooperation of simple screw and nut, the connection of two modules is realized.And in dismounting and change, extracting tool can be used
Fast quick-detach and installation are carried out, so as to complete the replacing of feeding module.
Compared to prior art, the utility model is of the present utility model by carrying out modularized design to stamping mechanical arm
Modularization stamping mechanical arm will realize part, the generalization of component, standardization, modularized design, solve arm-and-hand system various
Change, meet the requirement of small lot production, reduce manufacturing cost, stamping mechanical arm is realized in metallic article punching press industry automatic
Change, intelligentized safety in production has important dissemination.
The utility model is not limited to above-mentioned embodiment, if do not taken off to various changes or deformation of the present utility model
From spirit and scope of the present utility model, if these are changed and deformation belongs to claim of the present utility model and equivalent technologies
Within the scope of, then the utility model is also intended to comprising these changes and deformed.
Claims (10)
1. a kind of modular manipulator, it is characterised in that：Including lifting module, rotary module, pushing module and feeding module；Institute
Lifting module is stated to set below rotary module；The pushing module is arranged on above rotary module, and the feeding module is arranged on
On pushing module；
The lifting module includes the first driving part, the liter for driving rotary module, pushing module and feeding module simultaneously
Drop；
The rotary module includes the first motor harmonic reductor；First motor is pushed by harmonic wave speed reducing machine with described
Module is connected, and first motor is driven by harmonic wave speed reducing machine, controls the pushing module to be rotated；
The pushing module includes stroke guide rail, the second driving part and the mechanical arm on stroke guide rail；The machinery
Arm is arranged on the stroke guide rail；Second driving part is used to drive the mechanical arm to move up in the stroke guide rail
It is dynamic；
The feeding module includes male connector, female connector feeding part, detection and localization plate, proximity switch and the second electricity
Machine；The male connector is arranged on mechanical arm tail end, and the female connector is arranged on feeding part；The male connection
It is provided with the middle of part in the middle of cylinder axis, the female connector and is provided with through hole；The cylinder axis is engaged with the through hole；The male
Connector is provided with guide pillar, and the female connector is provided with guide pin bushing, and the guide pillar cooperates with guide pin bushing and is connected with completing male
The positioning of part and female connector；The male connector is provided with air pipe interface, and male connector is realized by break-make gas
With the locking and release of female connector；The male connector is provided with interconnected joint and empty axle, the female connection
Part is provided with the joint being mutually communicated and hole, by the cooperation of male connector and female connector, realizes the insertion of gas circuit；Institute
Male connector is stated provided with the first connector, the female connector is provided with the second connector, by the first connector with
The cooperation of second connector, realizes the connection between circuit；Second motor is fixed in the mechanical arm；Described approach is opened
Pass is located at below the mechanical arm；The detection and localization plate is fixed on feeding part；The feeding part is arranged on mechanical arm
Lower section, and with second motor connection；The rotation of the second motor control feeding part, and by detection and localization plate with
Proximity switch coordinates, and realizes the rotational positioning of feeding part.
2. modular manipulator according to claim 1, it is characterised in that：The feeding part includes sucker and vacuum occurs
Device；The vacuum generator is connected with sucker, for controlling sucker to draw and placing material.
3. modular manipulator according to claim 1, it is characterised in that：The feeding part is air-actuated jaw.
4. modular manipulator according to claim 1, it is characterised in that：The detection and localization plate is sector.
5. modular manipulator according to claim 1, it is characterised in that：Also include a controller, for controlling lifting
Module, rotary module, the work of pushing module and feeding module.
6. modular manipulator according to claim 5, it is characterised in that：The lifting module provided with upper limit position switch and
Lower position switch；When the lifting module reaches upper limit position switch position, the controller is controlled in lifting module stopping
Rise；When the lifting module reaches lower position switch position, the controller controls the lifting module to stop decline.
7. modular manipulator according to claim 5, it is characterised in that：The rotary module is detected provided with rotation position
Switch, for sending positional information to the controller, the controller is realized according to the positional information to be determined rotary module
Position control.
8. modular manipulator according to claim 5, it is characterised in that：The pushing module provided with front limit switch and
Rear limit switch；When the mechanical arm reaches front limit switch, then the controller controls the pushing module to be stopped；When
When the mechanical arm reaches rear limit switch, then the controller controls the pushing module to stop movement.
9. modular manipulator according to claim 1, it is characterised in that：First driving part includes motor and screw mandrel
Component；The motor drives moving up and down for workbench by screw mandrel.
10. modular manipulator according to claim 1, it is characterised in that：Second driving part includes motor and line
Property module, the motor passes through the movement that linear module drives the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276466.5U CN206544176U (en) | 2016-11-25 | 2016-11-25 | A kind of modular manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276466.5U CN206544176U (en) | 2016-11-25 | 2016-11-25 | A kind of modular manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206544176U true CN206544176U (en) | 2017-10-10 |
Family
ID=59993512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621276466.5U Expired - Fee Related CN206544176U (en) | 2016-11-25 | 2016-11-25 | A kind of modular manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206544176U (en) |
Cited By (3)
| 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 |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN107900245A (en) * | 2017-11-15 | 2018-04-13 | 绵阳海迪机器人科技有限公司 | Punching machine automatic loading and unloading manipulator |
-
2016
- 2016-11-25 CN CN201621276466.5U patent/CN206544176U/en not_active Expired - Fee Related
Cited By (4)
| 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 |
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN107900245A (en) * | 2017-11-15 | 2018-04-13 | 绵阳海迪机器人科技有限公司 | Punching machine automatic loading and unloading manipulator |
| CN107745056B (en) * | 2017-11-15 | 2020-01-03 | 绵阳海迪机器人科技有限公司 | Automatic feeding and discharging manipulator of punch press |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 Termination date: 20191125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |