CN207372181U - A kind of punching press multiaxis swing arm manipulator - Google Patents
A kind of punching press multiaxis swing arm manipulator Download PDFInfo
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- CN207372181U CN207372181U CN201721210806.9U CN201721210806U CN207372181U CN 207372181 U CN207372181 U CN 207372181U CN 201721210806 U CN201721210806 U CN 201721210806U CN 207372181 U CN207372181 U CN 207372181U
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- punching press
- lifting seat
- gauge
- swing arm
- seat
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Abstract
A kind of punching press multiaxis swing arm manipulator of the utility model, including electronic box engine base, elevating mechanism, swing mechanism, telescoping mechanism and the gauge for being used to pick and place product for being arranged on telescoping mechanism, swing mechanism is rotatably arranged in the top of elevating mechanism, and telescoping mechanism is arranged on swing mechanism and by swing mechanism rotation driving；Elevating mechanism includes hollow square lifting seat and for driving the drive component that lifting seat moves up and down, and lifting seat is longitudinally arranged and can be pierced by the top of electronic box engine base；Telescoping mechanism includes fixed seat, telescopic arm, flexible servomotor；Gauge is arranged on the end of telescopic arm.Compared with prior art, for the elevating mechanism of the manipulator of the utility model as a result of the lifting seat of square hollow, rigidity is strong, can ensure the stationarity of manipulator complete machine when running at high speed, possibility is provided for high speed operation and high load；Due to being provided with telescopic arm, gauge is arranged on the end of telescopic arm, therefore working range is wide, improves work efficiency.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of punching press multiaxis swing arm manipulator.
Background technology
Manipulator be it is a kind of can replace the cumbersome duplication of labour of manual work to realize the mechanical full-automatic of production, can be
Working at high speed under various environment, and also ensure the automation of personal safety.With the development and industry of mechanical industry
The popularization and application of automation, the use of manipulator is more and more extensive, is related to all trades and professions.With China's stamping technology
Maturation, various stamping equipments are quickly grown, and the prior art is to operate by hand mostly in punching apparatus punching parts, i.e. human hand
It puts the workpiece on the mold of punching machine, takes out stamping forming workpiece after upper die of punching press completes punching press, then with hand, not only
Operating efficiency is relatively low, and there is also security risk, so applicability and practicability are restricted.So punching press industry is for certainly
The demand of dynamicization is more urgent, and stamping mechanical arm at this stage, and generally existing load is smaller, arm is shorter, speed is slower, logical
With property it is poor the shortcomings of.
Utility model content
For the prior art there are above-mentioned technical problem, the utility model provides a kind of load greatly, and working range is wide, speed
Fast punching press multiaxis swing arm manipulator.
To achieve the above object, the utility model provides following technical scheme：
A kind of punching press multiaxis swing arm manipulator is provided, including electronic box engine base, elevating mechanism, swing mechanism, telescoping mechanism and
The gauge for being used to pick and place product of the telescoping mechanism is arranged on, the swing mechanism is rotatably arranged in the upper of elevating mechanism
Side, telescoping mechanism are arranged on the swing mechanism and by the swing mechanism rotation drivings；
The elevating mechanism includes movably being threaded through the hollow square lifting seat of electronic box engine base and for driving
The drive component that the lifting seat moves up and down, the lifting seat are longitudinally arranged and can be pierced by the top of electronic box engine base；
The swing mechanism includes rotary servovalve motor, harmonic wave speed reducing machine and installed part, the rotary servovalve motor and institute
It states and is drivingly connected by synchronizing wheel between harmonic wave speed reducing machine, the rotary servovalve motor is fixed on the lifting seat, the harmonic wave
Speed reducer is arranged at lifting seat by the installed part；
The fixed seat of the telescoping mechanism including strip, the telescopic arm for being slidably mounted on the fixed seat, for driving
The flexible servomotor that the telescopic arm is slided along the fixed seat, the servomotor are arranged at the fixed seat；It is described to control
Tool is arranged on the end of the telescopic arm.
Wherein, the telescoping mechanism is provided with the feeding servomotor that the gauge is driven to rotate and feeding synchronous belt
Wheel assembly is connected between the gauge and the feeding servomotor by the feeding synchronous pulley component.
Wherein, the harmonic wave speed reducing machine is hollow type.
Wherein, the lifting seat and the fixed seat are the square tube socket of aluminium material.
Wherein, the driving component is including elevating screw, the nut being sleeved on outside the elevating screw and described for driving
The lift servo motor that elevating screw rotates, the nut are connected with the lifting seat, and the lifting motor is fixed on the electricity
Punch-out equipment seat.
Wherein, the driving component further includes the lifting sliding rail for being arranged at the electronic box engine base, the lifting seat with it is described
Lifting sliding rail is slidably connected.
Wherein, the gauge is vacuum cup or electromagnet.
Wherein, the gauge includes disk and sets a plurality of aluminum strip on disk, radial arrangement of the aluminum strip along disk
And extend to outside the disk, vacuum slot is provided on a plurality of aluminum strip, the disk is provided with arc groove, the aluminium
Item can adjust and fix along the arc groove, and the aluminum strip is provided with the bar hole set along aluminum strip length direction, described true
Suction mouth can adjust and fix along the strip hole.
Wherein, every aluminum strip is both provided at least two vacuum slots.
The beneficial effects of the utility model：
A kind of punching press multiaxis swing arm manipulator of the utility model including electronic box engine base, elevating mechanism, swing mechanism, is stretched
Contracting mechanism and the gauge for being used to pick and place product for being arranged on telescoping mechanism, swing mechanism are rotatably arranged in the upper of elevating mechanism
Side, telescoping mechanism are arranged on swing mechanism and by swing mechanism rotation drivings；Elevating mechanism includes movably being threaded through electricity
The hollow square lifting seat of punch-out equipment seat and for drive lifting seat move up and down drive component, lifting seat be longitudinally arranged and
It can be pierced by the top of electronic box engine base；Swing mechanism includes rotary servovalve motor, harmonic wave speed reducing machine and installed part, rotary servovalve
It is drivingly connected between motor and harmonic wave speed reducing machine by synchronizing wheel, rotary servovalve motor is fixed on lifting seat, and harmonic wave speed reducing machine leads to
Installed part is crossed to be arranged at lifting seat；Telescoping mechanism includes the fixed seat of strip, the telescopic arm for being slidably mounted on fixed seat, uses
In the flexible servomotor that driving telescopic arm is slided along fixed seat, servomotor is arranged at fixed seat；Gauge is arranged on telescopic arm
End.Compared with prior art, the elevating mechanism of the manipulator of the utility model as a result of square hollow lifting seat,
Rigidity is strong, can ensure the stationarity of manipulator complete machine when running at high speed, possibility is provided for high speed operation and high load；By
In the end for there is provided telescopic arm, gauge being arranged on telescopic arm, therefore working range is wide, improves work efficiency.
Description of the drawings
Fig. 1 is a kind of stereogram of punching press multiaxis swing arm manipulator in embodiment.
Fig. 2 is a kind of exploded view of punching press multiaxis swing arm manipulator in embodiment.
Fig. 3 is a kind of stereogram of the gauge of punching press multiaxis swing arm manipulator in embodiment.
Fig. 4 is a kind of part-structure schematic diagram of the telescoping mechanism of punching press multiaxis swing arm manipulator in embodiment.
Reference numeral：
Electronic box engine base 1, mounting bracket 11, top plate 12, bottom plate 13, shock-absorbing foot cup 14；
Elevating mechanism 2, lifting seat 21, drive component 22, elevating screw 221, nut 222, lift servo motor 223, liter
Slide 224 drops；
Swing mechanism 3, rotary servovalve motor 31, harmonic wave speed reducing machine 32, installed part 33；
Telescoping mechanism 4, fixed seat 41, telescopic arm 42, flexible servomotor 43, feeding servomotor 44, feeding synchronous belt
Wheel assembly 45；
Gauge 5, disk 51, arc groove 511, aluminum strip 52, bar hole 521, vacuum slot 53.
Specific embodiment
The utility model is described in detail below in conjunction with specific embodiment and attached drawing.
A kind of punching press multiaxis swing arm manipulator of the present embodiment, as shown in Figures 1 to 4, including electronic box engine base 1, elevator
Structure 2, swing mechanism 3, telescoping mechanism 4 and the gauge 5 for being used to pick and place product for being arranged on telescoping mechanism 4, electronic box engine base 1 include peace
Stent 11, electronic box, the top plate 12 of thickness 20mm ironys and bottom plate 13 are filled, is connected among mounting bracket 11 using 30mm thickness welded plate
It connects, it is solid and reliable, it is set below bottom plate 13 there are four shock-absorbing foot cup 14, the horizontal height of electronic box engine base 1 can be adjusted, and had
The effect of damping, ensure machine operate steadily and high-precision.Swing mechanism 3 is rotatably arranged in the top of elevating mechanism 2,
Telescoping mechanism 4 is arranged on swing mechanism 3 and by 3 rotation driving of swing mechanism；Elevating mechanism 2 includes movably being threaded through electricity
The hollow square lifting seat 21 of punch-out equipment seat 1 and the drive component 22 for driving the up and down motion of lifting seat 21, lifting seat 21
It is longitudinally arranged and can be pierced by from the top of electronic box engine base 1；Swing mechanism 3 includes rotary servovalve motor 31, harmonic wave speed reducing machine 32
With installed part 33, harmonic wave speed reducing machine 32 is hollow type, passes through synchronizing wheel between rotary servovalve motor 31 and harmonic wave speed reducing machine 32
It is drivingly connected, rotary servovalve motor 31 is fixed on lifting seat 21, and harmonic wave speed reducing machine 32 is arranged at lifting seat by installed part 33
21；The fixed seat 41 of telescoping mechanism 4 including strip, the telescopic arm 42 for being slidably mounted on fixed seat 41, for driving telescopic arm
The 42 flexible servomotors 43 slided along fixed seat 41, servomotor are arranged at fixed seat 41, and the stroke of telescopic arm 42 is
550mm；Gauge 5 is arranged on the end of telescopic arm 42.Compared with prior art, the elevating mechanism 2 of the manipulator of the present embodiment by
In the lifting seat 21 for employing square hollow, intensity is high, and rigidity is strong, can ensure manipulator when running at high speed complete machine it is steady
Property, provide possibility for high speed operation and high load；Due to being provided with telescopic arm 42, gauge 5 is arranged on the end of telescopic arm 42
Portion, therefore working range is wide, improves work efficiency.
In the present embodiment, it is synchronous with feeding that telescoping mechanism 4 is provided with the feeding servomotor 44 that gauge 5 is driven to rotate
Pulley assemblies 45 are connected between gauge 5 and feeding servomotor 44 by feeding synchronous pulley component 45, and gauge 5 can turn
It is dynamic, more products can be disposably captured, rotating jig 5 is put into product in punching machine successively.
In the present embodiment, lifting seat 21 and fixed seat 41 are the square tube socket of aluminium material, and lifting seat 21 is
The aluminium square tube of 200x200x10t, rigidity is strong, light-weight, and complete machine is steady when can guarantee high-speed motion.Typical round or L
The support of shape is easily deformed, it is impossible to meet the work requirements of high speed high load.Square lifting seat 21 can overcome torsion, meet
Swing mechanism 3 drives the requirement that telescoping mechanism 4 runs at high speed.
In the present embodiment, drive component 22 includes elevating screw 221, the nut 222 being sleeved on outside elevating screw 221 and is used for
The lift servo motor 223 that elevating screw 221 is driven to rotate, nut 222 are connected with lifting seat 21, and lifting motor is fixed on electronic box
Engine base 1, drive component 22 further include the lifting sliding rail 224 for being arranged at electronic box engine base 1, and lifting seat 21 is slided with lifting sliding rail 224
Connection, using the type of drive more accurate stable of feed screw nut.
In the present embodiment, gauge 5 includes disk 51 and sets four aluminum strips 52 on disk 51, and aluminum strip 52 is along disk 51
It radial arrangement and extends to outside disk 51, every aluminum strip 52 is respectively provided with there are two vacuum slot 53, and disk 51 is provided with arc
Slot 511, aluminum strip 52 arcuately slot 511 can be adjusted and fixed, can opposed discs 51 horizontally rotate adjustment aluminum strip 52, make aluminium
Item 52 is located on the different radiuses of disk 51 or adjustment aluminum strip 52 extends the length of disk 51.Aluminum strip 52 is provided with edge
The bar hole 521 that 52 length direction of aluminum strip is set, vacuum slot 53 can be moved along strip hole and fixed in predeterminated position.Separately
Outside, gauge 5 can also be electromagnet.
Finally it should be noted that above example is only to illustrate the technical solution of the utility model rather than to this reality
With the limitation of novel protected scope, although being explained in detail with reference to preferred embodiment to the utility model, this field it is general
Lead to it will be appreciated by the skilled person that can be modified or replaced equivalently to the technical solution of the utility model, without departing from this
The spirit and scope of utility model technical solution.
Claims (9)
1. a kind of punching press multiaxis swing arm manipulator, it is characterized in that：Including electronic box engine base, elevating mechanism, swing mechanism, telescoping mechanism
With the gauge for being used to pick and place product for being arranged on the telescoping mechanism, the swing mechanism is rotatably arranged in elevating mechanism
Top, telescoping mechanism are arranged on the swing mechanism and by the swing mechanism rotation drivings；
The elevating mechanism includes the hollow square lifting seat for being movably threaded through electronic box engine base and described for driving
The drive component that lifting seat moves up and down, the lifting seat are longitudinally arranged and can be pierced by the top of electronic box engine base；
The swing mechanism include rotary servovalve motor, harmonic wave speed reducing machine and installed part, the rotary servovalve motor with it is described humorous
It is drivingly connected between ripple speed reducer by synchronizing wheel, the rotary servovalve motor is fixed on the lifting seat, the harmonic reduction
Machine is arranged at lifting seat by the installed part；
It is the fixed seat of the telescoping mechanism including strip, the telescopic arm for being slidably mounted on the fixed seat, described for driving
The flexible servomotor that telescopic arm is slided along the fixed seat, the servomotor are arranged at the fixed seat；The gauge is set
It puts in the end of the telescopic arm.
2. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The telescoping mechanism sets useful
In the feeding servomotor and feeding synchronous pulley component that drive the gauge rotation, the gauge and the feeding servomotor
Between connected by the feeding synchronous pulley component.
3. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The harmonic wave speed reducing machine is hollow
Type.
4. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The lifting seat and the fixation
Seat is the square tube socket of aluminium material.
5. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The driving component includes lifting
Screw, the nut being sleeved on outside the elevating screw and the lift servo motor for driving the elevating screw rotation, the spiral shell
Female to be connected with the lifting seat, the lifting motor is fixed on the electronic box engine base.
6. a kind of punching press multiaxis swing arm manipulator according to claim 5, it is characterized in that：The driving component, which further includes, to be set
The lifting sliding rail of the electronic box engine base is placed in, the lifting seat is slidably connected with the lifting sliding rail.
7. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The gauge for vacuum cup or
Person's electromagnet.
8. a kind of punching press multiaxis swing arm manipulator according to claim 1, it is characterized in that：The gauge includes disk and sets
Put a plurality of aluminum strip on disk, the aluminum strip along disk radial arrangement and extend to outside the disk, a plurality of aluminum strip
On be provided with vacuum slot, the disk is provided with arc groove, and the aluminum strip can adjust and fix along the arc groove, described
Aluminum strip is provided with the bar hole set along aluminum strip length direction, and the vacuum slot can adjust and fix along the strip hole.
9. a kind of punching press multiaxis swing arm manipulator according to claim 8, it is characterized in that：Every aluminum strip is both provided at least
Two vacuum slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721210806.9U CN207372181U (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721210806.9U CN207372181U (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207372181U true CN207372181U (en) | 2018-05-18 |
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ID=62341207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721210806.9U Active CN207372181U (en) | 2017-09-20 | 2017-09-20 | A kind of punching press multiaxis swing arm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207372181U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107716762A (en) * | 2017-09-20 | 2018-02-23 | 广东拓斯达科技股份有限公司 | A kind of punching press multiaxis swing arm manipulator |
-
2017
- 2017-09-20 CN CN201721210806.9U patent/CN207372181U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107716762A (en) * | 2017-09-20 | 2018-02-23 | 广东拓斯达科技股份有限公司 | A kind of punching press multiaxis swing arm manipulator |
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