CN207014393U - Automatic conveying mechanical arm - Google Patents

Automatic conveying mechanical arm Download PDF

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Publication number
CN207014393U
CN207014393U CN201720923273.2U CN201720923273U CN207014393U CN 207014393 U CN207014393 U CN 207014393U CN 201720923273 U CN201720923273 U CN 201720923273U CN 207014393 U CN207014393 U CN 207014393U
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CN
China
Prior art keywords
mechanical arm
servomotor
driving servomotor
manipulator
automatic conveying
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Active
Application number
CN201720923273.2U
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Chinese (zh)
Inventor
黄器山
周泽棠
周子成
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Guangzhou Bistable Automatic Control Equipment Co Ltd
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Guangzhou Bistable Automatic Control Equipment Co Ltd
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Priority to CN201720923273.2U priority Critical patent/CN207014393U/en
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Abstract

The utility model discloses a kind of automatic conveying mechanical arm,Including support,Manipulator main body elevating mechanism,Mechanical arm rotating mechanism,Mechanical arm telescoping mechanism,Manipulator hand is grabbed and control cabinet,Manipulator main body elevating mechanism includes riser guide,Ball-screw and lifting driving servomotor,Lifting driving servomotor is connected with ball-screw-transmission,Mechanical arm rotating mechanism is arranged on riser guide and can slided up and down along riser guide,Mechanical arm rotating mechanism includes rotation driving servomotor and reductor,Rotation driving servomotor is connected with speed reducer drive,Mechanical arm telescoping mechanism includes telescopic rail,Timing belt and telescopic drive servomotor,Telescopic drive servomotor is connected with toothed belt transmission,Manipulator hand, which is grabbed, to be arranged on telescopic rail and can be horizontally slipped along telescopic rail,The automatic conveying mechanical arm can substitute existing manually-operated operation,So as to reduce cost of labor while improve product quality and the stability of production.

Description

Automatic conveying mechanical arm
Technical field
It the utility model is related to a kind of automatic conveying mechanical arm.
Background technology
Now many punching press streamlines are all to use one punch press of one man operation or (hydraulic press) production operation, punching press streamline On product five spend hundred samples but manual operation technique is substantially similar, pick up raw material first and be put on punching machine mold, product will be aligned Positioned in mould, then people will leave punching press danger zone and start punch press, and punching press, which takes out the good product of punching press after terminating, puts Continue operation to next procedure, latter to continue to repeat upper one of workflow to process result product, one of procedure strikes out Type requires shape (different product operation quantity is all different) to reach to be finally reached, and is entirely artificial behaviour in process of production Make, because action is excessively single operating personnel easily cause dull mind, plus working long hours, frequent spirit can not collect In, so hand is not taken out and causes industrial injury phenomenon to occur in time when bad product or punching press usually occurs, also producers The big operating efficiency of flowing it is always uneven, production efficiency always cannot stablize control production management is difficult to accurately to control System.In order to solve various problems present on above-mentioned technique, the present invention, which designs, a kind of to carry specifically for punch press punching press Mechanism.
It is accordingly required in particular to a kind of can substitute existing manually-operated operation and improve product quality and production The automatic conveying mechanical arm of stability, to solve problems of the prior art.
Utility model content
The defects of the purpose of this utility model is to solve in the prior art, there is provided one kind can substitute existing artificial The operation of operation and the automatic conveying mechanical arm for improving product quality and the stability of production, to solve to exist in the prior art The problem of.
To achieve the above object, the technical solution of the utility model is as follows:
A kind of automatic conveying mechanical arm, including support, manipulator main body elevating mechanism, mechanical arm rotating mechanism, machinery Arm telescoping mechanism, manipulator hand is grabbed and control cabinet, the manipulator main body elevating mechanism include riser guide, ball-screw and Lifting driving servomotor, the riser guide, ball-screw and lifting driving servomotor are arranged on support top surface, institute State lifting driving servomotor to be connected with ball-screw-transmission, the mechanical arm rotating mechanism is arranged on riser guide and can Slided up and down along riser guide, the mechanical arm rotating mechanism includes rotation driving servomotor and reductor, the rotation Driving servomotor is connected with speed reducer drive, and the mechanical arm telescoping mechanism is arranged on above reductor, the manipulator Arm telescoping mechanism includes telescopic rail, timing belt and telescopic drive servomotor, telescopic drive servomotor and toothed belt transmission Connection, the manipulator hand, which is grabbed, to be arranged on telescopic rail and can be horizontally slipped along telescopic rail, and the control cabinet is arranged on machine On seat top surface, the lifting driving servomotor, rotation driving servomotor and telescopic drive servomotor are electric with control cabinet Property connection.
In order to further realize the utility model, cushion blocking is provided with the support bottom surface.
In order to further realize the utility model, the cushion blocking is arranged on four angles of support bottom surface, the vibration damping Pad includes rubber damping plate and the spring being arranged in rubber damping plate.
In order to further realize the utility model, the manipulator hand is grabbed using vacuum cup or electromagnet.
In order to further realize the utility model, the manipulator hand, which is grabbed, is provided with rotation correction driving servo electricity on top surface Machine, the rotation correction driving servomotor are electrically connected with control cabinet.
Beneficial effect
(1) the utility model is in use, the origin position of setting manipulator, elevation and subsidence mechanical hand main body for falling-threshold position Put high 10mm and do origin, the median for rotation position of arm rotation does origin (270 ° of angle rotatable), what arm stretched Origin is done to retract distance limits point 10mm positions, and the median that manipulator hand grabs the rotation position of rotation is done origin and (can revolved 210 ° of gyration), manipulator can wait before signal is received in origin, when a signal is received, start lifting driving servomotor Ball-screw is driven manipulator main body to be raised to the height of setting, then rotation driving servomotor, telescopic drive servomotor Start simultaneously with rotation correction driving servomotor, drive associated joint point to be moved on the position of respective settings (in feeding Directly over position), lifting driving servomotor driving, manipulator main body drops on relevant position (in the upper table of converted products Above face), product is fixed using vacuum cup or electromagnet, lifting driving servomotor starts, and manipulator main body rises to On corresponding position, four servomotors drive startup simultaneously, and driving corresponding joint point returns to origin position, another pressing equipment Preparation can start four servomotors in place, and driving corresponding joint point sends the product on vacuum cup or electromagnet to another Directly over the mould of platform pressing equipment, start lifting driving servomotor, collection meets main body by chance and drops on relevant position (processing production Product are in diel upper surface), converted products is put into above mould, lifting motor starts, and manipulator main body is risen To safe altitude, four servomotors start simultaneously, and driving corresponding joint, which returns to origin, can complete an action cycle;Realize Product automatic transporting, existing production technology is contrasted, existing manually-operated operation can be substituted, use range can extensively correspond to Same metal punching product, so as to reduce cost of labor while improve product quality and the stability of production.
(2) the utility model reduces the vibration of manipulator by being provided with cushion blocking, during so as to reduce robot work Noise, while improve the service life of manipulator.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model automatic conveying mechanical arm;
Fig. 2 is the structural representation that support is compensated in the utility model automatic conveying mechanical arm.
Description of reference numerals:
1st, support;11st, cushion blocking;111st, rubber damping plate;112nd, spring;2nd, manipulator main body elevating mechanism;21st, lift Guide rail;22nd, ball-screw;23rd, lifting driving servomotor;3rd, mechanical arm rotating mechanism;31st, rotation driving servomotor; 32nd, reductor;4th, mechanical arm telescoping mechanism;41st, telescopic rail;42nd, timing belt;43rd, telescopic drive servomotor;5th, it is mechanical Hand hand is grabbed;51st, rotation correction driving servomotor;6th, control cabinet.
Embodiment
The utility model is further described in detail below in conjunction with the accompanying drawings, these accompanying drawings are simplified signal Figure, only illustrates basic structure of the present utility model, the direction of this specific implementation is using Fig. 1 directions as standard in a schematic way.
Embodiment one
As Figure 1-Figure 2, the utility model automatic conveying mechanical arm include support 1, manipulator main body elevating mechanism 2, Mechanical arm rotating mechanism 3, mechanical arm telescoping mechanism 4, manipulator hand grab 5 and control cabinet 6, wherein:
Cushion blocking 11 is provided with the bottom surface of support 1, cushion blocking 11 is arranged on four angles of the bottom surface of support 1, cushion blocking 11 Including rubber damping plate 111 and the spring 112 being arranged in rubber damping plate 111, reduce the vibration of manipulator, so as to reduce machine Noise when tool is made by hand, while improve the service life of manipulator.
Manipulator main body elevating mechanism 2 includes riser guide 21, ball-screw 22 and lifting driving servomotor 23, lifting Guide rail 21, ball-screw 22 and lifting driving servomotor 23 be arranged on the top surface of support 1, lifting driving servomotor 23 with Ball-screw 22 is connected.
Mechanical arm rotating mechanism 3 is arranged on riser guide 21 and can slided up and down along riser guide 21, mechanical arm Rotating mechanism 3 includes rotation driving servomotor 31 and reductor 32, and rotation driving servomotor 31 connects with the transmission of reductor 32 Connect.
Mechanical arm telescoping mechanism 4 is arranged on the top of reductor 32, mechanical arm telescoping mechanism 4 include telescopic rail 41, Timing belt 42 and telescopic drive servomotor 43, telescopic drive servomotor 43 are connected with timing belt 42.
Manipulator hand grabs 5 and is arranged on telescopic rail 41 and can be horizontally slipped along telescopic rail 41, and manipulator hand grabs 5 uses Vacuum cup or electromagnet, manipulator hand, which is grabbed, is provided with rotation correction driving servomotor 51 on 5 top surfaces.
Control cabinet 6 is arranged on the top surface of support 1, lifting driving servomotor 23, rotation driving servomotor 31, flexible drive Dynamic servomotor 43 and rotation correction driving servomotor 51 is electrically connected with control cabinet 6.
In use, the origin position of setting manipulator, elevation and subsidence mechanical hand main body do original for the high 10mm in falling-threshold position Point, the median for rotation position of arm rotation do origin (270 ° of angle rotatable), and what arm stretched is to retract distance Limit point 10mm does position origin, and the median that manipulator hand grabs the rotation position of 5 rotations does origin (210 ° of angle rotatable), Manipulator can wait before signal is received in origin, when a signal is received, start lifting driving servomotor 23 and drive ball wire Thick stick 22 is raised to manipulator main body the height of setting, then rotation driving servomotor 31, telescopic drive servomotor 43 and rotation Transfer to another school and just drive servomotor 51 while start, drive associated joint point to be moved on the position of respective settings (in the position of feeding Directly over putting), lifting driving servomotor 23 drives, and manipulator main body drops on relevant position (in the upper table of converted products Above face), product is fixed using vacuum cup or electromagnet, lifting driving servomotor 23 starts, and manipulator main body rises Onto corresponding position, four servomotors drive startup simultaneously, and driving corresponding joint point returns to origin position, and another punching press is set Standby to prepare that four servomotors are started in place, driving corresponding joint point sends the product on vacuum cup or electromagnet to separately Directly over the mould of one pressing equipment, start lifting driving servomotor 23, collection, which is met main body by chance and dropped on relevant position, (to be added Chemical product is in diel upper surface), converted products is put into above mould, lifting driving servomotor 23 starts, by machinery Hand main body rises to safe altitude, and four servomotors start simultaneously, driving corresponding joint return to origin can complete one it is dynamic Make the cycle;Product automatic transporting is realized, contrasts existing production technology, existing manually-operated operation can be substituted, use model Same metal punching product can extensively be corresponded to by enclosing, so as to reduce cost of labor while improve product quality and the stabilization of production Property.
Better embodiment of the present utility model is the foregoing is only, the utility model is not limited to above-mentioned embodiment party Formula, local small structural modification is there may be in implementation process, if various changes or modifications to the utility model are not Depart from spirit and scope of the present utility model, and belong within the scope of the claims and equivalents of the utility model, then originally Utility model is also intended to comprising these changes and modification.

Claims (5)

1. a kind of automatic conveying mechanical arm, it is characterised in that including support, manipulator main body elevating mechanism, mechanical arm rotation Mechanism, mechanical arm telescoping mechanism, manipulator hand is grabbed and control cabinet, the manipulator main body elevating mechanism include riser guide, Ball-screw and lifting driving servomotor, the riser guide, ball-screw and lifting driving servomotor are arranged at machine On seat top surface, the lifting driving servomotor is connected with ball-screw-transmission, and the mechanical arm rotating mechanism is arranged on liter It can slide up and down on drop guide rail and along riser guide, the mechanical arm rotating mechanism includes rotation driving servomotor and deceleration Machine, the rotation driving servomotor are connected with speed reducer drive, and the mechanical arm telescoping mechanism is arranged on above reductor, The mechanical arm telescoping mechanism includes telescopic rail, timing belt and telescopic drive servomotor, telescopic drive servomotor with Toothed belt transmission is connected, and the manipulator hand, which is grabbed, to be arranged on telescopic rail and can be horizontally slipped along telescopic rail, the control Case is arranged on support top surface, and the lifting driving servomotor, rotation driving servomotor and telescopic drive servomotor are equal It is electrically connected with control cabinet.
2. automatic conveying mechanical arm according to claim 1, it is characterised in that be provided with vibration damping on the support bottom surface Pad.
3. automatic conveying mechanical arm according to claim 2, it is characterised in that the cushion blocking is arranged on support bottom surface On four angles, the cushion blocking includes rubber damping plate and the spring being arranged in rubber damping plate.
4. automatic conveying mechanical arm according to claim 1, it is characterised in that the manipulator hand is grabbed using vacuum cup Or electromagnet.
5. automatic conveying mechanical arm according to claim 1, it is characterised in that the manipulator hand is grabbed to be provided with top surface Rotation correction drives servomotor, and the rotation correction driving servomotor is electrically connected with control cabinet.
CN201720923273.2U 2017-07-27 2017-07-27 Automatic conveying mechanical arm Active CN207014393U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720923273.2U CN207014393U (en) 2017-07-27 2017-07-27 Automatic conveying mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720923273.2U CN207014393U (en) 2017-07-27 2017-07-27 Automatic conveying mechanical arm

Publications (1)

Publication Number Publication Date
CN207014393U true CN207014393U (en) 2018-02-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720923273.2U Active CN207014393U (en) 2017-07-27 2017-07-27 Automatic conveying mechanical arm

Country Status (1)

Country Link
CN (1) CN207014393U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109013963A (en) * 2018-07-13 2018-12-18 佛山市百明实业有限公司 A kind of stamping mechanical arm
CN110344571A (en) * 2019-07-26 2019-10-18 马鞍山市诸子百家机械设备科技有限公司 A kind of large-scale cement mortar levelling robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109013963A (en) * 2018-07-13 2018-12-18 佛山市百明实业有限公司 A kind of stamping mechanical arm
CN110344571A (en) * 2019-07-26 2019-10-18 马鞍山市诸子百家机械设备科技有限公司 A kind of large-scale cement mortar levelling robot

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