CN208930299U - A kind of plate high speed transfer robot - Google Patents
A kind of plate high speed transfer robot Download PDFInfo
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- CN208930299U CN208930299U CN201821462027.2U CN201821462027U CN208930299U CN 208930299 U CN208930299 U CN 208930299U CN 201821462027 U CN201821462027 U CN 201821462027U CN 208930299 U CN208930299 U CN 208930299U
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Abstract
A kind of plate high speed transfer robot, including suspended structure, big arm configuration and forearm structure, Y-axis structure is installed in suspended structure, big arm configuration is installed in Y-axis structure, Y-axis structure drives big arm configuration to do mobile and rotation, the lower end of big arm configuration and connects forearm structure；The forearm structure includes the first rotational structure, and the first rotational structure connects the second rotational structure, and the second rotational structure connects third rotational structure, and third rotational structure connects terminal-collecting machine structure.The utility model realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm by the linkage of each shaft portion, and then realizes plate high speed, high load, steady conveying between press machine.Both the production needs for having met high beat press machine in turn ensure the quality and stability of product, meet the plate between high-speed blanking press and convey the fast and high-efficient demand of beat.
Description
Technical field
The utility model relates to high speed stamping automatic field, specifically a kind of plate high speed transfer robot.
Background technique
In vehicle cladding element punching industry, the production of a workpiece, usually more press machine progressive stampings, therefore
The conveying of plate is vital between press machine, directly affects the quality of stamping products and the effect of whole stamping line
Rate.
Traditional artificial stamping line, although put into first stage of construction it is relatively small, with the expansion of the market demand,
The disadvantages of intrinsic efficiency is low, stable product quality is poor, labor intensity is high and there are different degrees of security risks
The development of enterprise is increasingly influenced, therefore, more and more auto vendors are replaced using robot stamping automatic line at present
Traditional artificial production line, robot stamping automatic line can be realized the automatic conveying of plate between press machine, reach robot
Instead of artificial, guarantee the quality and stability of product, robot used in robot automation's line common at present is automatic
Metaplasia producing line productive temp is general, can satisfy the primary demand of production substantially.But with the development of automobile industry rapidly and efficiently,
Automobile annual output constantly increases, and the transmission of plate restricts the whole productive temp of punching automation line between press machine, at present
Common robot automation's line production efficiency has been unable to meet the demand efficiently produced.
Utility model content
In order to solve the above-mentioned technical problem deficiency, the utility model provide a kind of plate high speed transfer robot, this
Utility model realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm by the linkage of each shaft portion, into
And plate high speed, high load, steady conveying between press machine are realized, the production needs of high beat press machine had not only been met, but also
The quality and stability that ensure that product meet the plate between high-speed blanking press and convey the fast and high-efficient demand of beat.
To achieve the goals above, the technical solution adopted in the utility model are as follows: including suspended structure, big arm configuration and small
Arm configuration installs Y-axis structure in suspended structure, installs big arm configuration in Y-axis structure, big arm configuration can be with respect to Y-axis knot
Structure does mobile and rotation, the lower end of big arm configuration and connects forearm structure；The forearm structure include the first rotational structure, first
Rotational structure connects the second rotational structure, and the second rotational structure connects third rotational structure, and third rotational structure connects terminal-collecting machine structure.
In order to further realize the utility model, the technical solution that can also use are as follows: the suspended structure includes extremely
Few four fixing seats, at least six connecting rods and triangle attachment base, the triangle attachment base pass through six connecting rods and four
Fixing seat connection, spherical plain bearing rod end is respectively set in the both ends of connecting rod；Positive and negative silk knot is respectively adopted in the spherical plain bearing rod end at both ends
Structure, and be respectively hinged in fixing seat and triangle attachment base；Triangle attachment base has X-axis movement, Y-axis rotation and Z axis rotation
Three degree of freedom.The Y-axis structure includes Y-axis pedestal and is mounted on Y-axis pedestal and first straight line guide rail disposed in parallel
With second straight line guide rail, Y-axis pedestal is mounted on triangle attachment base by the first connector；First straight line guide rail and second is directly
Driving structure and drive mechanism, sliding setting first respectively on first straight line guide rail and second straight line guide rail are respectively provided on line guide rail
The first rotating seat and the are arranged by bearing rotary respectively on lower slider and the second lower slider, the first lower slider and the second lower slider
Two rotating seats.The big arm configuration includes large arm pedestal, transmission mechanism and two groups of driving mechanisms, and large arm pedestal uses aluminium alloy
Material is made, and the upper end of large arm pedestal is arranged on the first rotating seat, and preceding linear guide is arranged on large arm pedestal and rear straight line is led
Rail is coupled the second rotating seat by sliding block in rear linear guide, sliding setting slide in preceding linear guide；Two groups of driving machines
Structure is symmetrically mounted on the two sides of large arm pedestal, two groups of driving mechanism mating connection transmission mechanisms.The first rotational structure packet
The first mounting base is included, driving mechanism is arranged in the upper end of the first mounting base, and the output end of driving mechanism is mounted on slide.Described
Second rotational structure includes driving mechanism, and the lower end of the first mounting base opens up blind hole, and driving mechanism is located in blind hole, driving mechanism
Output end inner sleeve is set, outer tube is installed by bearing in the periphery of inner sleeve, and the upper end of outer tube, which cooperates, is fixed on first
In mounting base.The third rotational structure includes the second mounting base, and the second mounting base is mounted on inner sleeve, the second mounting base
Lower end open up blind hole, cylinder, mounting bracket on cylinder, bracket is arranged in the built-in driving mechanism of blind hole, the two sides of the second mounting base
Two tensioning wheels of upper installation install drag chain on tensioning wheel；The output end of driving mechanism fills terminal-collecting machine mounting base.The driving machine
Structure includes servo motor and speed reducer, and speed reducer is mounted on servo motor；Transmission mechanism uses V belt translation mode, driving structure
The output shaft of speed reducer connects the transmission shaft of transmission mechanism.The terminal-collecting machine structure includes two groups of pick-up structures, every group of pickup knot
Structure includes quick change socket, and quick change socket is mounted in terminal-collecting machine mounting base, and cooperation inserting fast switching plug, inserts fastly on quick change socket
Mobile jib is set on head, the two sides of mobile jib pass through the second connector and strut connecting sucker respectively.
The utility model has the following beneficial effects:
1. the utility model high speed robot overall structure uses big arm configuration forearm structure ganged movement, logistics direction
Space is small, and press machine compact layout, plate transmission range is short, saves plant area.The utility model passes through Y-axis structure
The swing of big arm configuration is driven, small arm section moves in a straight line on big arm configuration and rotary motion, passes through each shaft portion
Linkage, realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm, has reached plate high speed, height between press machine
Load, smoothly conveying.Forearm structure in the utility model realizes forearm end high speed, stable reciprocally swinging, prominent
High speed robot's high-speed and high-efficiency, run smoothly, compact layout the features such as, meet punching automation industry to high-grade, efficiently
The urgent need of rate, high beat；
2. in the utility model suspended structure use six-bar linkage oscillating bearing structure fixed form, can weaken press machine and
The vibration generated when each self-operating of robot avoids generating resonance, is conducive to the high-speed smooth operation of high speed transfer robot；
3. the utility model suspended structure may be implemented three using six-bar linkage suspended structure by adjusting the length of connecting rod
Angle connection seat X-axis is mobile, and the movement of Y-axis rotation and Z axis rotation three degree of freedom not only can satisfy Multiple Type press machine
The installation requirement of size, and facilitate the adjustment of high speed robot's geometric tolerance.
4. the utility model high speed robot's large arm major part material uses aluminium alloy, the weight of moving component is alleviated
Amount, reduces movement inertia, and operating cost is saved in corresponding whole driving energy consumption decline；
It, can be quick convenient for optimizing geometric locus by kinematics analysis 5. each component motion profile of the utility model is simple
The track of different molds, adaptable at optimization, the debugging efforts after being easily installed；
6. the second rotational structure has rotation function in the utility model forearm structure, compact-sized and intensity is high, not only
Suitable for the conveying of heavy duty material, and it can satisfy material between press machine and favour the conveying of logistics direction.
7. the rotary motion of the small arm section third rotational structure of the utility model makes to convey plate during transportation always
It keeps horizontal, reduces air drag, avoid and interfere the risk fallen with surrounding objects.
8. the small arm section third rotational structure of the utility model directly drives T type speed reducer mode using servo motor, whole
A running part is hidden in the second mounting base, reduces the size of forearm leading portion, occurs to do with mold when avoiding pick-and-place material
It relates to.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the utility model high speed transfer robot structural schematic diagram；
Fig. 2 is the utility model suspended structure structural schematic diagram；
Fig. 3 is the utility model Y-axis structural upright schematic diagram；
Fig. 4 is Fig. 3 main view；
Fig. 5 is the big arm configuration structural schematic diagram of the utility model；
Fig. 6 is the utility model forearm structure schematic diagram；
Fig. 7 is Fig. 6 partial sectional view；
Fig. 8 is the utility model terminal-collecting machine structure structural schematic diagram.
Appended drawing reference
Big 4 first 5 second rotational structure of rotational structure of arm configuration, the 6 third rotation of 1 suspended portion, 2 Y-axis structure 3
7 terminal-collecting machine structure of structure, 8 fixing seat, 9 pin shaft, 10 spherical plain bearing rod end, 11 connecting rod, 12 triangle attachment base 13 first connect
The installation of 17 first speed reducer of fitting 14 15 first guide-rail brake of Y-axis pedestal, 16 first servo motor, 18 first speed reducer
19 second servo motor of seat, 20 second 21 second speed reducer mounting base of speed reducer, 22 first straight line guide rail, 23 second straight line is led
27 first lower slider of rail 24 second guide-rail brake, 25 first driving shaft, 26 first driving pulley, 28 first rotating seat 29
30 first 31 first synchronous belt of driven pulley, 32 second driven shaft, 33 limited block of first driven shaft, 34 second driven pulley
35 second rotating seat, 36 second lower slider, 37 second synchronous belt, 38 second 39 second driving shaft of driving pulley, 40 third is slowed down
44 large arm pedestal of linear guide, 45 third guide-rail brake after 41 third speed reducer of machine mounting base, 42 third servo motor 43
The 4th servo of 51 third driving pulley 52 of linear guide 49 limited block, 50 third synchronous belt before 46 buffer, 47 slide 48
58 outer tube 59 of the 4th 56 the 5th speed reducer of bearing 57 of the 5th servo motor of speed reducer 55 of 53 first mounting base 54 of motor
65 drag chain of the 6th 64 cylinder of servo motor 62T type 63 terminal-collecting machine mounting base of speed reducer of 60 second mounting base 61 of inner sleeve
66 bracket, 67 tensioning wheel, 68 shield, 69 quick change socket, 70 fast switching plug, 71 72 second connector of mobile jib, 73 strut 74 is inhaled
Disk.
Specific embodiment
Below in conjunction with the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear, complete
Site preparation description, it is clear that the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, fall within the protection scope of the utility model.
A kind of plate high speed transfer robot hangs as shown in Figure 1, including suspended structure 1, big arm configuration 3 and forearm structure
Y-axis structure 2 is installed on hanging hang structure 1, big arm configuration 3 is installed in Y-axis structure 2, big arm configuration 3 in the Z-axis direction, large arm
Structure 3 can do mobile and rotation, the lower end of big arm configuration 3 relative to Y axial arrangement 2 and connect forearm structure；The forearm structure
Including the first rotational structure 4, the first rotational structure 4 connects the second rotational structure 5, and the second rotational structure 5 connects third rotational structure 6,
Third rotational structure 6 connects terminal-collecting machine structure 7.
The utility model can drive big arm configuration 3 to move in a straight line and rotary motion by Y-axis structure 2, by each
The linkage of a shaft portion realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm, has reached plate in pressure
High speed, high load, smoothly conveying between machine.The utility model high speed robot overall structure uses big arm configuration 3 and forearm
Structure ganged movement, logistics direction space is small, and press machine compact layout shortens plate transmission range, saved workshop
Area.The utility model realizes forearm end high speed, stable reciprocally swinging, highlights high speed robot's high-speed and high-efficiency, fortune
The features such as row is steady, compact layout, meets punching automation industry and is essential to production top grade, high efficiency, the urgent of high beat
It asks.
As shown in Fig. 2, the suspended structure selected in the utility model includes at least four fixing seats 8, at least six connecting rods
11 and triangle attachment base 12, the triangle attachment base 12 is connect by six connecting rods 11 with four fixing seats 8, connecting rod 11
Both ends spherical plain bearing rod end 10 is respectively set；Positive and negative silk structure is respectively adopted in the spherical plain bearing rod end 10 at both ends, and cuts with scissors respectively
It connects in fixing seat 8 and triangle attachment base 12；Triangle attachment base 12 has X-axis movement, and Y-axis rotation and Z axis rotate three certainly
By spending.The length of connecting rod 11 is adjusted, triangle attachment base 12 can do mobile X-axis, Y-axis rotation and Z axis rotation three degree of freedom
Movement.Spherical plain bearing rod end 10 is respectively set in the both ends of connecting rod 11, and positive and negative silk is respectively adopted in the spherical plain bearing rod end 10 at both ends
Structure, the i.e. spherical plain bearing rod end 10 of one end use forward screw thread, and the spherical plain bearing rod end 10 of the other end uses reverse thread, into
One step, the centre on connecting rod 11 can open up hole, facilitate insertion extension bar swivel link 11 to adjust its length, and then adjust
The specific location of 12 mounting surface of triangle attachment base, fixing seat 8 are mounted on press machine column, and spherical plain bearing rod end 10 is preferably adopted
It is connected with pin shaft 10 with fixing seat 8, since spherical plain bearing rod end 10 has the characteristics that swing, inclination, rotary motion, passes through adjusting
The position of fixing seat 8, and then the specific location of adjustable triangle attachment base 12, meet the installation of different pressures machine size
It is required that；Triangle attachment base 12 uses six-bar linkage hang, can the work of offset pressure machine when the vibration that generates, meanwhile, can also
Weaken the vibration of high speed conveying robot man-hour.The six-bar linkage structure of this suspended portion, not only can satisfy Multiple Type pressure
It is the installation requirement of power machine, easy to adjust, and be conducive to the even running of high speed transfer robot.
Y-axis structure 2 includes Y-axis pedestal 14 and is mounted on Y-axis pedestal 14 and disposed in parallel first in the utility model
Linear guide 22 and second straight line guide rail 23, Y-axis pedestal 14 are mounted on triangle attachment base 12 by connector 13；First
Driving structure and drive mechanism, first straight line guide rail 22 and second straight line are respectively provided in linear guide 22 and second straight line guide rail 23
The first lower slider 27 and the second lower slider 36 is arranged in sliding respectively on guide rail 23, divides on the first lower slider 27 and the second lower slider 36
The first rotating seat 28 and the second rotating seat 35 are not arranged by bearing rotary.
Y-axis pedestal 14 is fixed on triangle attachment base 12 by the first connector 13, on Y-axis pedestal 14 from top to bottom according to
Secondary setting first straight line guide rail 22 and second straight line guide rail 23；In order to indicate clear, as shown in Figure 3 and Figure 4, first straight line guide rail
Driving structure on 22 uses first servo motor 16 and the first speed reducer 17, and first servo motor 16 and the first speed reducer 17 connect
It is mounted on after connecing on the first speed reducer mounting base 18, the first speed reducer mounting base 18 is coupled with Y-axis pedestal 14；First is straight
Transmission mechanism on line guide rail 22 includes the first driving shaft 25, and 17 output shaft of the first speed reducer and the first driving shaft 25 use locking plate
Locking connection；First driving shaft, 25 both ends are mounted on Y-axis pedestal 14 by bearing, and it is main that first is equipped on the first driving shaft 25
Movable belt pulley 26, the first driving pulley 26 drive the first driven pulley 30 by the first synchronous belt 31, and the first driven pulley 30 passes through
Bearing is mounted in first driven shaft 29, and first driven shaft 29 is mounted on Y-axis pedestal 14, and the first synchronous belt 31 and first glides
Seat 27 connects, therefore the driving mechanism on first straight line guide rail 22 can drive the first lower slider 27 first by transmission mechanism
It is moved in a straight line in linear guide 22, is connected by bearing with the first rotating seat 28 among the first lower slider 27, forms one
Passive revolute, the structure make passive revolute not only and can move along a straight line but also can be with rotary motion；In order to indicate clear, such as Fig. 3
With shown in Fig. 4, the driving mechanism of second straight line guide rail 23 uses the second servo motor 19 and the second speed reducer 20, the second servo
Motor 19 is mounted on the second speed reducer mounting base 21 after connecting with the second speed reducer 20, the second speed reducer mounting base 21 and Y-axis
Pedestal 14 is coupled, and 21 output shaft of the second speed reducer and the second driving shaft 39 are locked with locking plate and connected；Second driving shaft 39
Both ends are mounted on Y-axis pedestal 14 by bearing, and the second driving pulley 38, the second main belt are equipped on the second driving shaft 39
Wheel 38 drives the second driven pulley 34 by the second synchronous belt 37, and the second driven pulley 34 is mounted on second driven shaft by bearing
On 32, second driven shaft 32 is mounted on Y-axis pedestal 14, and the second synchronous belt 37 is connect with the second lower slider 36, therefore second is straight
Driving mechanism on line guide rail 23 can drive the second lower slider 36 to do straight line along second straight line guide rail 23 by transmission mechanism
It moves, is connected by bearing with the second rotating seat 35 among the second lower slider 36, form a passive revolute, which makes
Passive revolute can not only move along a straight line but also can be with rotary motion；Tensioning apparatus is also set up on the toothed belt transmission of transmission mechanism,
Tensioning apparatus includes fixed block and the movable block for having through-hole, synchronous belt one end and the fixation for having threaded hole for having threaded hole
Block connection, the synchronous belt other end are connect with the movable block with through-hole, and the through-hole that long spiro nail passes through movable block is screwed onto fixed block
Threaded hole in；The tensioning apparatus of toothed belt transmission is installed in the inside of the first lower slider 27 and the second lower slider 36, passes through
The long spiro nail of tensioning apparatus is adjusted to adjust the elastic of synchronous belt, can reduce reciprocal gap error；22 He of first straight line guide rail
Transmission mechanism on second straight line guide rail 23 is separately installed with disconnected band detection on the first lower slider 27, the second lower slider 36 and opens
It closes, there is limited block 33 at the both ends on first straight line guide rail 22 and second straight line guide rail 23, and first straight line guide rail 22 and second is directly
The first guide-rail brake 15 and the second guide-rail brake 24 are respectively provided on line guide rail 23, when detection switch detects that synchronous belt is disconnected
When band, guide-rail brake locking guide rail immediately avoids the disconnected damage with rear equipment.
As shown in figure 5, big arm configuration 3 includes large arm pedestal 44, transmission mechanism and two groups of driving mechanisms in the utility model,
Large arm pedestal 44 is made of aluminum alloy material, and the upper end of large arm pedestal 44 is arranged on the first rotating seat 28, large arm pedestal 44
The preceding linear guide 48 of upper setting and rear linear guide 43 are coupled the second rotating seat by sliding block in rear linear guide 43
35, sliding setting slide 47 in preceding linear guide 48；Two groups of driving mechanisms are symmetrically mounted on the two sides of large arm pedestal 44, two groups of drives
Motivation structure mating connection transmission mechanism.
Big arm configuration 3 is located in Z-direction；Large arm pedestal 44 is connected to alleviate the quality of motion parts using aluminium sheet
It connects, reduces the power configuration of Y-axis structure 2 in this way；It is clear in order to describe, as shown in figure 5, the transmission of big arm configuration 3
Mechanism uses third driving pulley 51 and third synchronous belt 50, the third driving pulley 51 of transmission mechanism, third synchronous belt 50 etc.
Transmission parts are mounted on large arm pedestal 44；The upper end of large arm pedestal 44 and the first rotating seat 28 are fixed, large arm pedestal 44 it is upper
End can be moved in a straight line along first straight line guide rail 22, and can be around 27 rotary motion of the first lower slider；44 front-back of large arm pedestal is each
Linear guide, such large arm fixed by sliding block and the second rotating seat 35 of Y-axis structure 2 in rear linear guide 43 are installed
Pedestal 44 can not only be moved in a straight line along the second straight line guide rail 23 of Y-axis structure 2, but also can be under the second of Y-axis structure 2
Slide 36 rotates, and guarantees big arm configuration 3 in first straight line guide rail 22 and second straight line guide rail 23 formation of Y-axis structure 2 in this way
Flat in-plane moving, by adjusting the movement velocity and direction of the first lower slider 27 and the second lower slider 36 in Y-axis structure 2,
To determine the motion conditions of big arm configuration 3: when the first lower slider 27 is opposite with 36 direction of motion of the second lower slider, large arm knot
Structure 3 does reciprocally swinging, and when the first lower slider 27 is with 36 direction of motion of the second lower slider and identical speed, big arm configuration 3 does water
Flat conveying；Preceding linear guide 48 is connected by sliding block with slide 47, and slide 47 can along the preceding linear guide 48 on big arm configuration 3
To move in a straight line；Third guide-rail brake 45 is also installed, third guide-rail brake 45 is in shutdown or synchronous belt on slide 47
When disconnected band can linear guide 48 before locking immediately, reduce motor braking power suffered under shutdown status, avoid slide 47
It is damaged in disconnected band；Limited block 49 and buffer 46 can also be installed, which prevents slide 47 pacifying on large arm pedestal 44
Dress or linear guide 48 before being detached from when misoperation, to cause casualties and equipment damage.The structure substantially increases
Safety avoids security risk.In order to indicate clear, as shown in figure 5, the driving structure of big arm configuration 3 uses two groups of drivings
Mechanism, driving mechanism use third servo motor 42 and third speed reducer 41, and third servo motor 42 is matched with third speed reducer 41
It is mounted on third speed reducer mounting base 40 after closing connection, large arm pedestal 44 is fitted on third speed reducer mounting base 40
On, the transmission shaft of transmission mechanism is locked with locking plate and is connected in 41 output shaft of third speed reducer and this structure, this structure can pass
Pass big torque, and easy disassembly；For driving structure in this structure using two groups of driving mechanism drivings, two groups of driving mechanisms are symmetrical
On big arm configuration 3, center of gravity is maintained on the plane of symmetry distributing installation, and unbalance stress when avoiding big 3 reciprocally swinging of arm configuration is right
The driving when swing of big arm configuration 3 and running smoothly impacts.
Robot forearm part in the utility model includes the first rotational structure 4, the second rotational structure 5 and third rotation
Structure 6, three rotational structures realize the various functions of forearm respectively；As shown in Figure 6 and Figure 7, first rotational structure 4
Including the first mounting base 53, driving mechanism is arranged in the upper end of the first mounting base 53, and the output end of driving mechanism is mounted on slide 47
On.In order to indicate clear, the driving structure of the first rotational structure 4 uses the 4th servo motor 52 and the 4th speed reducer 54, and the 4th
Speed reducer 54 uses RV speed reducer, and the first mounting base 53 in the first rotational structure 4 is mounted on slide 47 by RV speed reducer
On, RV output end of reducer is fixed on slide 47, and when the 4th servo motor 52 starts, the first mounting base 53 makes rotating motion.
RV speed reducer has the characteristics that size is small, light-weight in this structure, and the entirety of the first rotational structure 4 is made using RV speed reducer
Outer dimension, weight reduce；RV speed reducer is mounted on the slide 47 of big arm configuration 3, is driven after the starting of the 4th servo motor 52
RV speed reducer is rotated because RV output end of reducer is fixed on slide 47, then RV speed reducer connection the first mounting base
53 rotate with it, and then entire first rotational structure 4 is driven to swing, and realize the reciprocally swinging function of small arm section, it is preferred that
RV speed reducer mounting base is process using aluminum alloy material, in the case where meeting intensity requirement, alleviates robot leading portion
The weight of moving component, reduces driving power, has saved operation energy consumption.
Second rotational structure 5 includes driving mechanism, and the lower end of the first mounting base 53 opens up blind hole, and driving mechanism is located at blind hole
Interior, inner sleeve 59 is arranged in the output end of driving mechanism, and outer tube 58, outer tube are installed by bearing 56 in the periphery of inner sleeve 59
58 upper end cooperation is fixed in the first mounting base 53.In order to indicate clear, as shown in Figure 6 and Figure 7, the second rotational structure 5
Driving mechanism uses the 5th servo motor 55, installs the 5th speed reducer 57,55 He of the 5th servo motor on the 5th servo motor 55
It is mounted in the blind hole of 53 lower end of the first mounting base after the connection of 5th speed reducer 57, the output end of the 5th speed reducer 57 is fixedly connected
First mounting base 53 of inner sleeve 59, outer tube 58 and the first rotational structure 4, which cooperates, fixes, and the 5th speed reducer 57 can drive
Inner sleeve 59 makes rotating motion, and adds bearing between inner sleeve 59 and outer tube 58, this architecture enhance the stress of forearm leading portion,
To ensure that the load capacity of high speed robot；5th speed reducer 57 of the second rotational structure 5 and the 5th servo motor 55 peace
In the blind hole of the first mounting base 53 of the first rotational structure 4, make rotating motion relative to the first rotational structure 4, the structure
Leading portion size is reduced, avoids when robot leading portion enters in press machine and interferes phenomenon；The rotation of second rotational structure 5
Function, plate favours logistics direction conveying function between meeting press machine.
Third rotational structure 6 includes the second mounting base 60, and the second mounting base 60 is mounted on the inner sleeve of the second rotational structure 5
On 59, gas is arranged in the two sides of the vertically arranged blind hole in lower end of the second mounting base 60, the built-in driving mechanism of blind hole, the second mounting base 60
Cylinder 64, mounting bracket 66 on cylinder 64 install two tensioning wheels 67 on bracket 66, install drag chain 65 on tensioning wheel 67；Driving machine
The output end of structure fills terminal-collecting machine mounting base 63, and the second mounting base 60 is mounted on the inner sleeve 59 of the second rotational structure 5, the second peace
Dress seat 60 is welded using profile with plate, in order to indicate clear, as shown in figure 8, the driving mechanism in third rotational structure 6
Using the 6th servo motor 61 and T-type speed reducer 62, the 6th servo motor 61 and T-type speed reducer 62 after connection are hidden in second
In the blind hole of mounting base 60, the geometries shrink size of forearm leading portion is avoided when picking and placing material and the interference of mold；Terminal-collecting machine
Mounting base 63 is fixed on the output shaft of T-type speed reducer 62, can be rotated with the rotation of T-type speed reducer 62, can be according to end
The connection type of terminal-collecting machine replaces terminal-collecting machine mounting base 63, convenient for the connection of end terminal-collecting machine；Cylinder 64 is mounted on the second peace
The two sides of seat 60 are filled, bracket 66 is mounted on cylinder 64, and tensioning wheel 67 is mounted on bracket 66, and the drag chain 65 of two sides bypasses respectively
The drag chain 65 of tensioning wheel 67, two sides remains tensioning state, and the structure is convenient for the arrangement of tracheae and route, and third turns herein
The turning effort of dynamic structure 6 keeps horizontal for plate during transportation, and then reduces air drag, it is therefore prevented that plate with
Surrounding objects interference.
Terminal-collecting machine structure in the utility model includes two groups of pick-up structures, as shown in figure 8, every group of pick-up structure includes fast
Seat 69 is inserted, quick change socket 69 is mounted in terminal-collecting machine mounting base 63, cooperation inserting fast switching plug 70 on quick change socket 69, fastly
Setting mobile jib 71 on first 70 is inserted, the two sides of mobile jib 71 pass through 73 connecting sucker 74 of the second connector 72 and strut respectively.It is described
Quick change socket 69 is mounted in the terminal-collecting machine mounting base 63 of third rotational structure 6, and fast switching plug 70 is directly inserted in quick change socket 69
On, convenient for the quick-replaceable of terminal-collecting machine；It is mounted on mobile jib 71 by the second connector 72 and strut 73, according to the shape of plate
And weight adjusts the arrangement of strut 73 quantity and position, sucker 74 is mounted on strut 73, for drawing plate.
Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of plate high speed transfer robot, including suspended structure (1), big arm configuration (3) and forearm structure, feature exist
In: Y-axis structure (2) are installed in suspended structure (1), are installed big arm configuration (3) in Y-axis structure (2), big arm configuration (3) can
Mobile and rotation, the lower end of big arm configuration (3), which are done, relative to Y-axis structure (2) connects forearm structure；The forearm structure includes
First rotational structure (4), the first rotational structure (4) connect the second rotational structure (5), and the second rotational structure (5) connects third rotation knot
Structure (6), third rotational structure (6) connect terminal-collecting machine structure (7).
2. a kind of plate high speed transfer robot according to claim 1, it is characterised in that: the suspended structure includes extremely
Few four fixing seats (8), at least six connecting rods (11) and triangle attachment base (12), the triangle attachment base (12) pass through
Six connecting rods (11) connect with four fixing seats (8), and spherical plain bearing rod end (10) are respectively set in the both ends of connecting rod (11)；Both ends
Positive and negative silk structure is respectively adopted in spherical plain bearing rod end (10), and is respectively hinged in fixing seat (8) and triangle attachment base (12)；
Triangle attachment base (12) has X-axis movement, and Y-axis rotation and Z axis rotate three degree of freedom.
3. a kind of plate high speed transfer robot according to claim 2, it is characterised in that: the Y-axis structure (2)
Including Y-axis pedestal (14) and it is mounted on Y-axis pedestal (14) and first straight line guide rail disposed in parallel (22) and second straight line guide rail
(23), Y-axis pedestal (14) is mounted on triangle attachment base (12) by the first connector (13)；First straight line guide rail (22) and
Driving structure and drive mechanism, first straight line guide rail (22) and second straight line guide rail (23) are respectively provided on second straight line guide rail (23)
The first lower slider (27) and the second lower slider (36) is arranged in upper slide respectively, on the first lower slider (27) and the second lower slider (36)
Pass through bearing rotary setting the first rotating seat (28) and the second rotating seat (35) respectively.
4. a kind of plate high speed transfer robot according to claim 3, it is characterised in that: the big arm configuration (3)
Including large arm pedestal (44), transmission mechanism and two groups of driving mechanisms, large arm pedestal (44) is made of aluminum alloy material, large arm bottom
The upper end of seat (44) is arranged on the first rotating seat (28), and preceding linear guide (48) is arranged on large arm pedestal (44) and rear straight line is led
Rail (43) is coupled the second rotating seat (35) on rear linear guide (43) by sliding block, slides and set on preceding linear guide (48)
Set slide (47)；Two groups of driving mechanisms are symmetrically mounted on the two sides of large arm pedestal (44), and two groups of driving mechanisms, which are cooperatively connected, to be driven
Mechanism.
5. a kind of plate high speed transfer robot according to claim 4, it is characterised in that: first rotational structure
It (4) include the first mounting base (53) that driving mechanism is arranged in the upper end of the first mounting base (53), and the output end of driving mechanism is mounted on
On slide (47).
6. a kind of plate high speed transfer robot according to claim 5, it is characterised in that: second rotational structure
(5) include driving mechanism, the lower end of the first mounting base (53) opens up blind hole, and driving mechanism is located in blind hole, driving mechanism it is defeated
Inner sleeve (59) are arranged in outlet, the periphery of inner sleeve (59) by bearing (56) installation outer tube (58), outer tube (58) it is upper
End cooperation is fixed on the first mounting base (53).
7. a kind of plate high speed transfer robot according to claim 6, it is characterised in that: the third rotational structure
It (6) include the second mounting base (60) that the second mounting base (60) is mounted on inner sleeve (59), and the lower end of the second mounting base (60) is opened
If blind hole, cylinder (64) are arranged in the two sides of the built-in driving mechanism of blind hole, the second mounting base (60), mounting bracket on cylinder (64)
(66), two tensioning wheels (67) are installed on bracket (66), drag chain (65) are installed on tensioning wheel (67)；The output end of driving mechanism fills
Terminal-collecting machine mounting base (63).
8. a kind of plate high speed transfer robot according to claim 7, it is characterised in that: the driving mechanism includes
Servo motor and speed reducer, speed reducer are mounted on servo motor；Transmission mechanism uses V belt translation mode, driving structure speed reducer
Output shaft connect the transmission shaft of transmission mechanism.
9. a kind of plate high speed transfer robot according to claim 8, it is characterised in that: the terminal-collecting machine structure packet
Two groups of pick-up structures are included, every group of pick-up structure includes quick change socket (69), and quick change socket (69) is mounted on terminal-collecting machine mounting base
(63) on, cooperation inserts fast switching plug (70) on quick change socket (69), mobile jib (71) is arranged on fast switching plug (70), mobile jib (71)
Two sides pass through the second connector (72) and strut (73) connecting sucker (74) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462027.2U CN208930299U (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821462027.2U CN208930299U (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208930299U true CN208930299U (en) | 2019-06-04 |
Family
ID=66720222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821462027.2U Withdrawn - After Issue CN208930299U (en) | 2018-09-07 | 2018-09-07 | A kind of plate high speed transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208930299U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789485A (en) * | 2018-09-07 | 2018-11-13 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN111923083A (en) * | 2020-07-21 | 2020-11-13 | 江苏亚威机床股份有限公司 | Workpiece conveying manipulator |
-
2018
- 2018-09-07 CN CN201821462027.2U patent/CN208930299U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789485A (en) * | 2018-09-07 | 2018-11-13 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN108789485B (en) * | 2018-09-07 | 2024-09-13 | 济南昊中自动化有限公司 | High-speed transfer robot of sheet material |
| CN111923083A (en) * | 2020-07-21 | 2020-11-13 | 江苏亚威机床股份有限公司 | Workpiece conveying manipulator |
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| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A High Speed Plate Handling Robot Effective date of registration: 20230619 Granted publication date: 20190604 Pledgee: Rizhao Bank Co.,Ltd. Jinan Jiefang Road Branch Pledgor: JINAN HAOZHONG ELECTRICAL AUTOMATION CO.,LTD. Registration number: Y2023370000092 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190604 Effective date of abandoning: 20240913 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190604 Effective date of abandoning: 20240913 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |