CN206899277U - A kind of robotic stamping system based on positive and negative rotation circuit - Google Patents
A kind of robotic stamping system based on positive and negative rotation circuit Download PDFInfo
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- CN206899277U CN206899277U CN201720847182.5U CN201720847182U CN206899277U CN 206899277 U CN206899277 U CN 206899277U CN 201720847182 U CN201720847182 U CN 201720847182U CN 206899277 U CN206899277 U CN 206899277U
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Abstract
The utility model discloses a kind of robotic stamping system based on positive and negative rotation circuit,Its structure includes pedestal,Ribs,Rotating seat,Electric source line interface,Control cabinet,Sleeve,Lifting arm,Circular cover,Elevating lever,Transverse transmission mechanism,Horizontal power transmission shaft,Hexagon socket head cap screw,Flexing transverse arm,Motor rear cover,Horizontal actuator servo motor,Decelerator,Belt shaft,Rotary turnplate,Sucker,Bearing block,Linear slide rail,Linear slide block,Support base,Incremental optical-electricity encoder,Pedestal is mutually perpendicular to rotating seat,Mutually welded with pedestal the bottom of rotating seat,The beneficial effects of the utility model,Structure accesses incremental optical-electricity encoder on the power transmission shaft of horizontal actuator servo motor internal,The geometry of machinery displacement of output shaft is converted to pulse or digital quantity by incremental optical-electricity encoder,The speed of the motor in stamping mechanical arm can accurately be measured,It is easy to the reception of device signal.
Description
Technical field
The utility model is a kind of robotic stamping system based on positive and negative rotation circuit, belongs to pressing equipment technology
Field.
Background technology
Separate unit stamping mechanical arm, separate unit single-station, separate unit multiple site punching machinery hand can be divided into.Separate unit single-station stamping machine
Tool hand is suitable for relatively large, sheet punching production occasion.It is general to coordinate sheet material material issuing device to use.And separate unit Multi-station punching machine
Tool hand then the punching press more suitable for miniature workpiece and needs the processing occasions of multiple stamping procedures, typically coordinates autoloader
And circle material is produced.
Prior art discloses Application No.：201220216471.2 a kind of stamping mechanical arm, including frame and control
Device；Also include workpiece transition platform, handpiece support device, head, cross slide way, carriage, lowering or hoisting gear, mechanical arm
And two Work fixing devices；Handpiece support device and workpiece transition platform are on frame；Pacify handpiece support device upper end
Installation head, head are provided with first driving means, and cross slide way is located at head front end, and carriage is installed on cross slide way, should
First driving means can drive carriage or so to translate；Lowering or hoisting gear is installed on carriage, mechanical arm connection lifting
Device；Lowering or hoisting gear is provided with the second drive device, second drive device can driving mechanical arm move up and down；Two workpiece
Fixing device is installed on mechanical arm both ends.The utility model adapts to the stamping line of different punch press quantity, transmits beat
It hurry up, speed height, safety, and location of workpiece error can be adjusted in workpiece transmit process, greatly improve workpiece quality.It is but existing
Technology can not accurately measure the speed of the motor in stamping mechanical arm, be not easy to the reception of device signal.
Utility model content
In view of the deficienciess of the prior art, the utility model purpose is to provide a kind of manipulator based on positive and negative rotation circuit
Automatic stamping system, to solve the speed that prior art can not accurately measure the motor in stamping mechanical arm, it is not easy to set
The problem of reception of standby signal.
To achieve these goals, the utility model is to realize by the following technical solutions：One kind is based on rotating
The robotic stamping system of circuit, its structure include pedestal, ribs, rotating seat, electric source line interface, control cabinet, set
Cylinder, lifting arm, circular cover, elevating lever, transverse transmission mechanism, horizontal power transmission shaft, hexagon socket head cap screw, flexing transverse arm, motor
Bonnet, horizontal actuator servo motor, decelerator, belt shaft, rotary turnplate, sucker, bearing block, linear slide rail, linear slide block, branch
Seat, incremental optical-electricity encoder are supportted, the pedestal is mutually perpendicular to rotating seat, and the bottom of the rotating seat is mutually welded with pedestal,
It is uniformly equidistant between the pedestal and rotating seat to be provided with four pieces of ribs, the electric source line interface and the integrated knot of rotating seat
Structure, the left side of the rotating seat are provided with control cabinet, and the lifting arm coordinates with sleeve gap, the rotating seat, lifting arm with
Sleeve is on same center line, and the upper end of the circular cover and lifting arm cooperates, and the support base bottom is with rising
Bar threaded connection is dropped, and the elevating lever is mutually perpendicular to circular cover, support base, and being uniformly equally spaced in the circular cover has
Four elevating levers, it is characterised in that：
The transverse transmission mechanism is engaged with laterally transmission shaft end, and the flexing transverse arm and horizontal power transmission shaft are mutual
It is parallel, it is threadedly coupled inside the flexing transverse arm by hexagon socket head cap screw with linear slide block, the horizontal actuator servo motor
It is engaged with decelerator, the decelerator is engaged with the Pulley shaft inside flexing transverse arm, and the rotary turnplate passes through band
Wheel shaft is connected with the end of flexing transverse arm, and four suckers, the linear slide rail and horizontal stroke are uniformly provided with the rotary turnplate
It is parallel to each other to power transmission shaft, the linear slide rail is threadedly coupled by screw with the right flank of horizontal power transmission shaft, and the transverse direction is stretched
Contracting arm is coordinated by linear slide block and linear slide rail gap, and the support base is provided with horizontal power transmission shaft, in the motor rear cover
Portion is provided with incremental optical-electricity encoder, and the power transmission shaft of the incremental optical-electricity encoder and horizontal actuator servo motor internal connects
Connect；
The incremental optical-electricity encoder is by power cord connector, power line, bearing, rotary shaft, drive end bearing bracket, light-emitting diodes
Pipe, prism, fixed grating, photosensitive tube, original screen panel composition, the incremental optical-electricity encoder is provided with power cord connector, described
Power line inside incremental optical-electricity encoder by power cord connector with being connected, and the drive end bearing bracket is with measuring formula photoelectric encoder phase
Coordinate, the drive end bearing bracket inside middle is provided with bearing, and the rotary shaft is fixedly connected by bearing with original screen panel, the drive end bearing bracket
With being provided with light emitting diode inside incremental optical-electricity encoder, the grating front edge of board is provided with fixed grating, after the original screen panel
End is provided with photosensitive tube.
Further, the lifting arm is by fixed seat, lead, lifting disk, circular sleeve, nut seat, motor, screw mandrel group
Into.
Further, the lead and fixed seat vertical connection, the lifting disk are lived by circular sleeve and lead
Dynamic connection, the lead coordinate with circular sleeve gap, and the nut seat welds with lifting disk interphase, the screw mandrel and spiral shell
Female seat is threadedly coupled, and the motor is connected by shaft coupling with screw mandrel.
Further, the transverse transmission mechanism by square fixed plate, small pulley, power transmission shaft, big belt wheel, transmission belt, watch
Take motor composition.
Further, the servomotor is mutually perpendicular to square fixed plate, the servomotor by screw with it is square
Fixed plate is threadedly coupled, and the output shaft on the servomotor is engaged with small pulley, and the small pulley is by transmission belt and greatly
Belt wheel is connected, and the power transmission shaft is engaged by key with the endoporus of big belt wheel.
Further, the power transmission shaft is engaged with the drive inside horizontal power transmission shaft.
Further, the PLC inside the control cabinet is provided with positive and negative rotation circuit control circuit, the rotating electricity
Road control circuit by three-phase power input end, knife switch QS, fuse FU1, A.C. contactor KM2, A.C. contactor KM1,
Electrothermal relay, fuse FU2, stop button SB1, start button SB2, start button SB3, ac contactor coil KM2, exchange
Contactor coil KM1 is formed.
Further, the knife switch QS is connected with three-phase power input end, the fuse FU1, fuse FU2
It is connected with knife switch QS, the A.C. contactor KM2 and A.C. contactor KM1 is in series, and the electrothermal relay is with exchanging
Contactor KM1 is connected, and the stop button SB1 is connected with fuse FU2, the start button SB2, A.C. contactor line
Circle KM1 and stop button SB1 is in series, the start button SB3, ac contactor coil KM2 and ac contactor coil KM1
It is in parallel with stop button SB1.
The beneficial effects of the utility model, structure access increment type light on the power transmission shaft of horizontal actuator servo motor internal
The geometry of machinery displacement of output shaft is converted to pulse or digital quantity by photoelectric coder, incremental optical-electricity encoder, can be accurate
The speed for measuring the motor in stamping mechanical arm, be easy to the reception of device signal.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural representation of the robotic stamping system based on positive and negative rotation circuit of the utility model；
Fig. 2 is a kind of structural representation of the robotic stamping system based on positive and negative rotation circuit of the utility model；
Fig. 3 is the structural representation of A in Fig. 2；
Fig. 4 is the structural representation of B in Fig. 2；
Fig. 5 is a kind of flexing transverse arm machine of the robotic stamping system based on positive and negative rotation circuit of the utility model
Structure structural representation；
Fig. 6 is a kind of lifting arm internal junction of the robotic stamping system based on positive and negative rotation circuit of the utility model
Structure schematic diagram；
Fig. 7 is a kind of transverse transmission mechanism of the robotic stamping system based on positive and negative rotation circuit of the utility model
Internal structure schematic diagram；
Fig. 8 is that a kind of increment photoelectric of robotic stamping system based on positive and negative rotation circuit of the utility model is compiled
Code device structural representation；
Fig. 9 is that a kind of increment photoelectric of robotic stamping system based on positive and negative rotation circuit of the utility model is compiled
Code device internal structure schematic diagram；
Figure 10 is a kind of increment photoelectric of the robotic stamping system based on positive and negative rotation circuit of the utility model
Encoder operation principle structural representation；
Figure 11 is a kind of positive and negative rotation circuit of the robotic stamping system based on positive and negative rotation circuit of the utility model
Control circuit structural representation；
Figure 12 is a kind of PLC external cablings of the robotic stamping system based on positive and negative rotation circuit of the utility model
Schematic diagram；
Figure 13 is that a kind of rotating of robotic stamping system based on positive and negative rotation circuit of the utility model controls
Circuit diagram.
In figure：Pedestal -1, ribs -2, rotating seat -3, electric source line interface -4, control cabinet -5, sleeve -6, lifting arm -7,
Circular cover -8, elevating lever -9, transverse transmission mechanism -10, horizontal power transmission shaft -11, hexagon socket head cap screw -12, flexing transverse arm -
13rd, motor rear cover -14, horizontal actuator servo motor -15, decelerator -16, belt shaft -17, rotary turnplate -18, sucker -19, axle
Bearing -20, linear slide rail -21, linear slide block -22, support base -23, incremental optical-electricity encoder -24, power cord connector -
2401st, power line -2402, bearing -2403, rotary shaft -2404, drive end bearing bracket -2405, light emitting diode -2406, prism -2407,
Fixed grating -2408, photosensitive tube -2409, original screen panel -2410, fixed seat -701, lead -702, lifting disk -703, circular set
Cylinder -704, nut seat -705, motor -706, screw mandrel -707, square fixed plate -1001, small pulley -1002, power transmission shaft -1003,
Big belt wheel -1004, transmission belt -1005, servomotor -1006, positive and negative rotation circuit control circuit -25, three-phase power input end -
2501st, knife switch QS-2502, fuse FU1-2503, A.C. contactor KM2-2504, A.C. contactor KM1-2505, heat
Relay -2506, fuse FU2-2507, stop button SB1-2508, start button SB2-2509, start button SB3-
2510th, ac contactor coil KM2-2511, ac contactor coil KM1-2512.
Embodiment
Technological means, creation characteristic, reached purpose and effect to realize the utility model are easy to understand, below
With reference to embodiment, the utility model is expanded on further.
Embodiment 1：
Fig. 1-Figure 10 is referred to, the utility model provides a kind of robotic punching press system based on positive and negative rotation circuit
System：Its structure includes pedestal 1, ribs 2, rotating seat 3, electric source line interface 4, control cabinet 5, sleeve 6, lifting arm 7, circular cover
8th, elevating lever 9, transverse transmission mechanism 10, horizontal power transmission shaft 11, hexagon socket head cap screw 12, flexing transverse arm 13, motor rear cover 14, horizontal stroke
To actuator servo motor 15, decelerator 16, belt shaft 17, rotary turnplate 18, sucker 19, bearing block 20, linear slide rail 21, linear
Sliding block 22, support base 23, incremental optical-electricity encoder 24, the pedestal 1 are mutually perpendicular to rotating seat 3, the bottom of the rotating seat 3
Portion is welded with the phase of pedestal 1, and uniformly equidistantly four pieces of ribs 2, the electric source line interface 4 are provided between the pedestal 1 and rotating seat 3
It is integrated with rotating seat 3, the left side of the rotating seat 3 is provided with control cabinet 5, and the lifting arm 7 is matched somebody with somebody with the gap of sleeve 6
Close, the rotating seat 3, lifting arm 7 and sleeve 6 are on same center line, the circular cover 8 and the upper end of lifting arm 7
Cooperate, the bottom of support base 23 is threadedly coupled with elevating lever 9, the elevating lever 9 and circular cover 8, the phase of support base 23
Mutually vertical, being uniformly equally spaced in the circular cover 8 has four elevating levers 9, it is characterised in that：The transverse transmission mechanism 10
It is engaged with the horizontal end of power transmission shaft 11, the flexing transverse arm 13 is parallel to each other with horizontal power transmission shaft 11, the transversal stretching
It is threadedly coupled inside arm 13 by hexagon socket head cap screw 12 with linear slide block 22, the horizontal actuator servo motor 15 and decelerator 16
It is engaged, the decelerator 16 is engaged with the Pulley shaft inside flexing transverse arm 13, and the rotary turnplate 18 passes through belt wheel
Axle 17 is connected with the end of flexing transverse arm 13, and four suckers 19 are uniformly provided with the rotary turnplate 18, described linear sliding
Rail 21 is parallel to each other with horizontal power transmission shaft 11, and the linear slide rail 21 is connected by the right flank screw thread of screw and horizontal power transmission shaft 11
Connect, the flexing transverse arm 13 is coordinated by linear slide block 22 and the gap of linear slide rail 21, and the support base 23 is provided with laterally
Power transmission shaft 11, the inside of motor rear cover 14 are provided with incremental optical-electricity encoder 24, the incremental optical-electricity encoder 24 and horizontal stroke
To the transmission axis connection inside actuator servo motor 15；The incremental optical-electricity encoder 24 is by power cord connector 2401, power supply
Line 2402, bearing 2403, rotary shaft 2404, drive end bearing bracket 2405, light emitting diode 2406, prism 2407, fixed grating 2408, light
Quick pipe 2409, original screen panel 2410 form, and the incremental optical-electricity encoder 24 is provided with power cord connector 2401, the power line
2402 by power cord connector 2401 with being connected inside incremental optical-electricity encoder 24, the drive end bearing bracket 2405 with amount formula photoelectricity
Encoder 24 is engaged, and the inside middle of drive end bearing bracket 2405 is provided with bearing 2403, and the rotary shaft 2404 passes through bearing 2403
It is fixedly connected with original screen panel 2410, the drive end bearing bracket 2405 is provided with light emitting diode with the inside of incremental optical-electricity encoder 24
2406, the front end of original screen panel 2410 is provided with fixed grating 2408, and the rear end of original screen panel 2410 is provided with photosensitive tube 2409, described
Lifting arm 7 is by fixed seat 701, lead 702, lifting disk 703, circular sleeve 704, nut seat 705, motor 706, screw mandrel 707
Composition, the lead 702 and the vertical connection of fixed seat 701, the lifting disk 703 pass through circular sleeve 704 and lead 702
It is flexibly connected, the lead 702 coordinates with the gap of circular sleeve 704, and the nut seat 705 welds with the interphase of lifting disk 703
Connect, the screw mandrel 707 is threadedly coupled with nut seat 705, and the motor 706 is connected by shaft coupling with screw mandrel 707, the horizontal stroke
To transmission mechanism 10 by square fixed plate 1001, small pulley 1002, power transmission shaft 1003, big belt wheel 1004, transmission belt 1005, servo
Motor 1006 is formed, and the servomotor 1006 is mutually perpendicular to square fixed plate 1001, and the servomotor 1006 passes through spiral shell
Silk is threadedly coupled with square fixed plate 1001, and the output shaft on the servomotor 1006 is engaged with small pulley 1002, described
Small pulley 1002 is connected by transmission belt 1005 with big belt wheel 1004, and the power transmission shaft 1003 passes through key and big belt wheel 1004
Endoporus is engaged, and the power transmission shaft 1003 is engaged with the drive inside horizontal power transmission shaft 11.
Incremental optical-electricity encoder 24 described in this patent is to work out signal (such as bit stream) or data, be converted to
It can be used to the equipment of signal form for communicating, transmitting and storing.Angular displacement or straight-line displacement are converted into electric signal by encoder, preceding
Person is referred to as code-disc, and the latter is referred to as yardstick.It can be divided into contact and contactless two kinds according to playback mode encoder；According to work
Increment type and the class of absolute type two can be divided into by making principle encoder.Incremental encoder is that displacement is converted into periodic telecommunications
Number, then this electric signal is transformed into count pulse, the size of displacement is represented with the number of pulse.Absolute type encoder it is each
The digital code of one determination of individual position correspondence, the therefore only starting with measurement and final position are relevant for its indicating value, and with measurement
Pilot process it is unrelated.
Equipment is accessed into power supply, the control program inside control cabinet 5 sends instruction control machinery hand action, and lifting arm 7 exists
Rotary motion is performed under the control of rotating seat 3, support base 23 is pumped by lifting arm 7, and rotary turnplate 18 is in horizontal stroke
Crawl instruction is carried out under driving to actuator servo motor 15, transverse transmission mechanism 10 drives flexing transverse arm 13 to do horizontal fortune
It is dynamic.
The utility model pedestal -1, ribs -2, rotating seat -3, electric source line interface -4, control cabinet -5, sleeve -6, lifting
Arm -7, circular cover -8, elevating lever -9, transverse transmission mechanism -10, horizontal power transmission shaft -11, hexagon socket head cap screw -12, transversal stretching
Arm -13, motor rear cover -14, horizontal actuator servo motor -15, decelerator -16, belt shaft -17, rotary turnplate -18, sucker -
19th, bearing block -20, linear slide rail -21, linear slide block -22, support base -23, incremental optical-electricity encoder -24, power line connect
Head -2401, power line -2402, bearing -2403, rotary shaft -2404, drive end bearing bracket -2405, light emitting diode -2406, prism -
2407th, fixed grating -2408, photosensitive tube -2409, original screen panel -2410, fixed seat -701, lead -702, lifting disk -703,
Circular sleeve -704, nut seat -705, motor -706, screw mandrel -707, square fixed plate -1001, small pulley -1002, power transmission shaft -
1003rd, big belt wheel -1004, transmission belt -1005, servomotor -1006, positive and negative rotation circuit control circuit -25, three phase mains input
End -2501, knife switch QS-2502, fuse FU1-2503, A.C. contactor KM2-2504, A.C. contactor KM1-2505,
Electrothermal relay -2506, fuse FU2-2507, stop button SB1-2508, start button SB2-2509, start button SB3-
2510th, ac contactor coil KM2-2511, ac contactor coil KM1-2512, part are universal standard part or this area
The part that technical staff knows, its structure and principle all can be learnt or by conventional reality for this technology personnel by technical manual
Proved recipe method knows that the utility model solves the speed that prior art can not accurately measure the motor in stamping mechanical arm, inconvenience
In the reception of device signal the problem of, the utility model is combined with each other by above-mentioned part, and structure is in horizontal actuator servo electricity
Access incremental optical-electricity encoder on power transmission shaft inside machine, incremental optical-electricity encoder is by the geometry of machinery displacement of output shaft
Pulse or digital quantity are converted to, the speed of the motor in stamping mechanical arm can be accurately measured, be easy to the reception of device signal,
It is described in detail below：
The incremental optical-electricity encoder 24 is by power cord connector 2401, power line 2402, bearing 2403, rotary shaft
2404th, drive end bearing bracket 2405, light emitting diode 2406, prism 2407, fixed grating 2408, photosensitive tube 2409,2410 groups of original screen panel
Into the incremental optical-electricity encoder 24 is provided with power cord connector 2401, and the power line 2402 passes through power cord connector
2401 inside incremental optical-electricity encoder 24 with being connected, and the drive end bearing bracket 2405 is engaged with amount formula photoelectric encoder 24, institute
State the inside middle of drive end bearing bracket 2405 and be provided with bearing 2403, the rotary shaft 2404 is fixed by bearing 2403 and original screen panel 2410 to be connected
Connect, the inside of the drive end bearing bracket 2405 and incremental optical-electricity encoder 24 is provided with light emitting diode 2406, before the original screen panel 2410
End is provided with fixed grating 2408, and the rear end of original screen panel 2410 is provided with photosensitive tube 2409.
As shown in Figure 10：
Integer is filtered first from the two-way angular displacement signal of photoelectric encoder output, hardware sensing, extracts complete cycle
Signal, obtain coarse positioning shifting；A/D conversions are carried out to two paths of signals simultaneously, count pulse are obtained by U functions, so as to obtain octant
Value, the address signal of smart displacement is obtained by V functions, inquiry obtains smart displacement.
Embodiment 2：
Figure 11-Figure 13 is referred to, the PLC inside control cabinet adds positive and negative rotation circuit control circuit, can control
The rotating of servomotor in system processed, makes equipment safe and reliable.
As shown in figure 11：The PLC of the inside of control cabinet -5 is provided with positive and negative rotation circuit control circuit -25, described
Positive and negative rotation circuit control circuit -25 is by three-phase power input end -2501, knife switch QS-2502, fuse FU1-2503, friendship
Flow contactor KM2-2504, A.C. contactor KM1-2505, electrothermal relay -2506, fuse FU2-2507, stop button SB1-
2508th, start button SB2-2509, start button SB3-2510, ac contactor coil KM2-2511, ac contactor coil
KM1-2512 is formed, and the knife switch QS-2502 is connected with three-phase power input end -2501, the fuse FU1-
2503rd, fuse FU2-2507 is connected with knife switch QS-2502, the A.C. contactor KM2-2504 and A.C. contactor
KM1-2505 is in series, and the electrothermal relay -2506 is connected with A.C. contactor KM1-2505, the stop button SB1-
2508 are connected with fuse FU2-2507, and the start button SB2-2509, ac contactor coil KM1-2512 are with stopping
Button SB1-2508 is in series, the start button SB3-2510, ac contactor coil KM2-2511 and A.C. contactor line
Circle KM1-2512 and stop button SB1-2508 is in parallel.
Positive start-up course：
Starting button SB2, contactor KM1 coil electricities are pressed, the KM1 in parallel with SB2 auxiliary normally opened contact closes, with
Ensure that KMl coils are persistently powered, the main contacts for the KM1 being connected in motor circuit persistently closes, the continuous positive fortune of motor
Turn.
Stopped process：
Stop button SB1, contactor KMl coil blackouts are pressed, the KM1 in parallel with SB2 auxiliary contact disconnect, to ensure
KMl coils continue dead electricity, and the main contacts for the KMl being connected in motor circuit is continuously turned off, and cut off motor stator power supply, electricity
Motivation stalls.
Reverse starting process：
Starting button SB3, contactor KM2 coil electricities are pressed, the KM2 in parallel with SB3 auxiliary normally opened contact closes, with
Ensure that KM2 coils are persistently powered, the main contacts for the KM2 being connected in motor circuit is persistently closed, and motor is continuously reversely transported
Turn.
As shown in figure 12：
In ladder diagram, protect power failure road with two and control rotating and reverse for motor respectively.Rotating forward is pressed to start
Button SB2, X0 are changed into ON, and its normally opened contact is connected, Y0 coil " obtaining electric " and self-sustaining, make KM1 coil electricity, and motor is opened
Begin to rotate forward operation.Press stop button SB1, X2 and be changed into ON, its normally-closed contact disconnects, and makes Y0 coils " dead electricity ", and motor stops
Operation.
As shown in figure 13：
In ladder diagram, Y0 and Y1 normally-closed contact is connected with the coil of other side respectively, it is ensured that they will not be same
When be ON, therefore KM1 and KM2 coil will not be powered simultaneously, and this safety measure referred to as " interlocks " in relay circuit.Remove
Outside this, operate for convenience and ensure that Y0 and Y1 will not be simultaneously ON, " button interlocking " is also provided with ladder diagram, will
The coil for the Y0 that reversion starting button X1 normally-closed contact rotates forward with control connect, by rotating forward starting button X0 normally-closed contact and
Control the Y1 of reversion coil series connection.If Y0 is ON, motor rotates forward, can not be by stopping at this moment if it is desired to being changed to reversion operation
Only button SB1, directly it is changed into ON by reversion starting button SB3, X1, its normally-closed contact disconnects, and makes Y0 coils " dead electricity ", simultaneously
X1 normally opened contact is connected, and makes Y1 coil " obtaining electric ", motor is by being just changed into reversion.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above, for
For those skilled in the art, it is clear that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the utility model is by institute
Attached claim rather than described above limit, it is intended that will fall in the implication and scope of the equivalency of claim
All changes are included in the utility model.Any reference in claim should not be considered as to the involved right of limitation
It is required that.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of robotic stamping system based on positive and negative rotation circuit, its structure includes pedestal (1), ribs (2), rotation
Swivel base (3), electric source line interface (4), control cabinet (5), sleeve (6), lifting arm (7), circular cover (8), elevating lever (9), transverse direction
Transmission mechanism (10), horizontal power transmission shaft (11), hexagon socket head cap screw (12), flexing transverse arm (13), laterally motor rear cover (14), biography
Dynamic servomotor (15), decelerator (16), belt shaft (17), rotary turnplate (18), sucker (19), bearing block (20), linear cunning
Rail (21), linear slide block (22), support base (23), incremental optical-electricity encoder (24), the pedestal (1) and rotating seat (3) phase
Mutually vertical, bottom and the pedestal (1) of the rotating seat (3) mutually weld, uniformly equidistant between the pedestal (1) and rotating seat (3)
Provided with four pieces of ribs (2), the electric source line interface (4) is integrated with rotating seat (3), a left side for the rotating seat (3)
Side is provided with control cabinet (5), and the lifting arm (7) coordinates with sleeve (6) gap, the rotating seat (3), lifting arm (7) and set
Cylinder (6) is on same center line, and the circular cover (8) and the upper end of lifting arm (7) cooperate, the support base
(23) bottom is threadedly coupled with elevating lever (9), and the elevating lever (9) is mutually perpendicular to circular cover (8), support base (23), institute
State uniformly to be equally spaced in circular cover (8) and there are four elevating levers (9), it is characterised in that：
The transverse transmission mechanism (10) is engaged with horizontal power transmission shaft (11) end, and the flexing transverse arm (13) is with laterally passing
Moving axis (11) is parallel to each other, and the flexing transverse arm (13) is internal to be connected by hexagon socket head cap screw (12) and linear slide block (22) screw thread
Connect, the horizontal actuator servo motor (15) is engaged with decelerator (16), the decelerator (16) and flexing transverse arm (13)
Internal Pulley shaft is engaged, and the rotary turnplate (18) is connected by belt shaft (17) with the end of flexing transverse arm (13)
Connect, four suckers (19), the linear slide rail (21) and horizontal power transmission shaft (11) phase are uniformly provided with the rotary turnplate (18)
Mutually parallel, the linear slide rail (21) is threadedly coupled by screw with the right flank of horizontal power transmission shaft (11), the transversal stretching
Arm (13) is coordinated by linear slide block (22) and linear slide rail (21) gap, and the support base (23) is provided with horizontal power transmission shaft
(11), be provided with incremental optical-electricity encoder (24) inside the motor rear cover (14), the incremental optical-electricity encoder (24) and
The internal transmission axis connection of horizontal actuator servo motor (15)；
The incremental optical-electricity encoder (24) is by power cord connector (2401), power line (2402), bearing (2403), rotary shaft
(2404), drive end bearing bracket (2405), light emitting diode (2406), prism (2407), fixed grating (2408), photosensitive tube (2409),
Original screen panel (2410) forms, and the incremental optical-electricity encoder (24) is provided with power cord connector (2401), the power line
(2402) by being connected inside power cord connector (2401) and incremental optical-electricity encoder (24), the drive end bearing bracket (2405) with
Amount formula photoelectric encoder (24) is engaged, and drive end bearing bracket (2405) inside middle is provided with bearing (2403), the rotary shaft
(2404) it is fixedly connected by bearing (2403) with original screen panel (2410), the drive end bearing bracket (2405) and incremental optical-electricity encoder
(24) internal to be provided with light emitting diode (2406), original screen panel (2410) front end is provided with fixed grating (2408), the grating
Plate (2410) rear end is provided with photosensitive tube (2409).
A kind of 2. robotic stamping system based on positive and negative rotation circuit according to claim 1, it is characterised in that：
The lifting arm (7) by fixed seat (701), lead (702), lifting disk (703), circular sleeve (704), nut seat (705),
Motor (706), screw mandrel (707) composition.
A kind of 3. robotic stamping system based on positive and negative rotation circuit according to claim 2, it is characterised in that：
The lead (702) and fixed seat (701) vertical connection, the lifting disk (703) pass through circular sleeve (704) and lead
(702) it is flexibly connected, the lead (702) coordinates with circular sleeve (704) gap, the nut seat (705) and lifting disk
(703) interphase is welded, and the screw mandrel (707) is threadedly coupled with nut seat (705), the motor (706) by shaft coupling and
Screw mandrel (707) is connected.
A kind of 4. robotic stamping system based on positive and negative rotation circuit according to claim 1, it is characterised in that：
The transverse transmission mechanism (10) is by square fixed plate (1001), small pulley (1002), power transmission shaft (1003), big belt wheel
(1004), transmission belt (1005), servomotor (1006) composition.
A kind of 5. robotic stamping system based on positive and negative rotation circuit according to claim 4, it is characterised in that：
The servomotor (1006) is mutually perpendicular to square fixed plate (1001), the servomotor (1006) by screw with it is square
Fixed plate (1001) is threadedly coupled, and the output shaft on the servomotor (1006) is engaged with small pulley (1002), described small
Belt wheel (1002) is connected by transmission belt (1005) with big belt wheel (1004), and the power transmission shaft (1003) passes through key and big belt wheel
(1004) endoporus is engaged.
A kind of 6. robotic stamping system based on positive and negative rotation circuit according to claim 4, it is characterised in that：
The power transmission shaft (1003) drive internal with horizontal power transmission shaft (11) is engaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720847182.5U CN206899277U (en) | 2017-07-12 | 2017-07-12 | A kind of robotic stamping system based on positive and negative rotation circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720847182.5U CN206899277U (en) | 2017-07-12 | 2017-07-12 | A kind of robotic stamping system based on positive and negative rotation circuit |
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| Publication Number | Publication Date |
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| CN206899277U true CN206899277U (en) | 2018-01-19 |
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| CN201720847182.5U Expired - Fee Related CN206899277U (en) | 2017-07-12 | 2017-07-12 | A kind of robotic stamping system based on positive and negative rotation circuit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673559A (en) * | 2018-04-20 | 2018-10-19 | 饶榕琦 | A kind of mounting structure of robot trunk and chassis |
| US11230000B2 (en) * | 2017-03-20 | 2022-01-25 | Georgia Tech Research Corporation | Mobile manipulation device |
-
2017
- 2017-07-12 CN CN201720847182.5U patent/CN206899277U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11230000B2 (en) * | 2017-03-20 | 2022-01-25 | Georgia Tech Research Corporation | Mobile manipulation device |
| CN108673559A (en) * | 2018-04-20 | 2018-10-19 | 饶榕琦 | A kind of mounting structure of robot trunk and chassis |
| CN108673559B (en) * | 2018-04-20 | 2020-11-17 | 温州澳鼎建材有限公司 | Installation structure of robot trunk and chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180817 Address after: 330200 No. 1199 Toyama road five, Nanchang County Xiaolan economic and Technological Development Zone, Nanchang, Jiangxi Patentee after: Jiangxi Zhi Lide Amperex Technology Limited Address before: 362000 Haruki hall, upper hall, Jingfeng Town, Huian, Fujian, Quanzhou, Fujian 165 Patentee before: Li Chunling |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180119 Termination date: 20190712 |