CN209774639U - Four-axis robot for stamping feeding - Google Patents
Four-axis robot for stamping feeding Download PDFInfo
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- CN209774639U CN209774639U CN201920546665.0U CN201920546665U CN209774639U CN 209774639 U CN209774639 U CN 209774639U CN 201920546665 U CN201920546665 U CN 201920546665U CN 209774639 U CN209774639 U CN 209774639U
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Abstract
The utility model provides a four-axis robot for punching press material loading, it includes: the lifting mechanism comprises a base, a first mechanical arm, a second mechanical arm, a lifting mechanism and a gripper, wherein one end of the first mechanical arm is in pivot connection with the base and performs pivot motion relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is in pivot connection with the rear end of the second mechanical arm, and the second mechanical arm performs pivot motion relative to the first mechanical arm by taking a second shaft as a rotating shaft; the front end of second arm with elevating system pivotal connection, elevating system is relative the second arm uses the third axle to carry out pivotal motion as the pivot, elevating system drives the tongs along with the fourth axle that the third axle is parallel carries out elevating system. The utility model discloses a design elevating system in the anterior position that is used for the four-axis robot of punching press material loading, be favorable to reduce cost to simplify holistic structure, alleviate the whole weight that is used for the four-axis robot of punching press material loading.
Description
Technical Field
The utility model relates to a robot especially relates to a four-axis robot for punching press material loading with low costs, light in weight that is suitable for material loading.
Background
In industrial production, it is often necessary to complete a workpiece loading operation to load a workpiece to a station requiring processing, such as stamping. With the development of automation technology, in order to achieve high feeding efficiency, workpiece feeding is usually performed by a hand-arm robot. When the arm type robot is used for feeding, the feeding is required to be completed through pivoting action and lifting action. Therefore, in the face of the practical requirements of simplified structure, low cost and light weight of the robot, a further solution is necessary.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a four-axis robot for punching press material loading to overcome the not enough that exists among the prior art.
In order to solve the technical problem, the technical scheme of the utility model is that:
A four-axis robot for stamping charging, comprising: the device comprises a base, a first mechanical arm, a second mechanical arm, a lifting mechanism and a gripper;
One end of the first mechanical arm is pivotally connected with the base and pivotally moves relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is pivotally connected with the rear end of the second mechanical arm, and the second mechanical arm pivotally moves relative to the first mechanical arm by taking a second shaft as a rotating shaft;
the front end of the second mechanical arm is in pivot connection with the lifting mechanism, the lifting mechanism performs pivot motion relative to the second mechanical arm by taking a third shaft as a rotating shaft, and the lifting mechanism drives the gripper to perform lifting motion along a fourth shaft parallel to the third shaft;
the lifting mechanism comprises: the four-axis synchronous wheel mechanism comprises four-axis guide posts, a four-axis motor, a four-axis synchronous wheel mechanism, a ball screw, a gripper fixing plate and a four-axis outer cover;
The ball screw and the four-axis guide post are positioned in the four-axis outer cover, and the ball screw is in transmission connection with the four-axis motor through the four-axis synchronous wheel mechanism;
the gripper fixing plate is sleeved on the ball screw and the four-axis guide post, driven by the ball screw, and capable of lifting in the direction of the fourth axis along the four-axis guide post, and the gripper is connected to the gripper fixing plate.
As the utility model discloses a four-axis robot's improvement for punching press material loading, a four-axis robot for punching press material loading still includes: the first mechanical arm is fixedly connected with the first mechanical arm through the first shaft speed reducer, and one end of the first mechanical arm is connected with the first shaft speed reducer through the arm fixing hoop.
as the utility model discloses a four-axis robot's improvement for punching press material loading, a four-axis robot for punching press material loading still includes: the two-arm fixing hoop, the two-shaft speed reducer, the two-shaft motor and the two-shaft speed reducer fixing sleeve are arranged on the two-arm fixing hoop;
The other end of the first mechanical arm is fixedly connected to the lower end of the two-shaft speed reducer fixing sleeve, the two-shaft speed reducer fixing sleeve is arranged in a hollow mode, the two-shaft motor is located in the two-shaft speed reducer fixing sleeve, the two-shaft motor is connected with one end of the second mechanical arm through the two-shaft speed reducer, and one end of the second mechanical arm is connected with the two-shaft speed reducer through the two-arm fixing hoop.
As the utility model discloses a four-axis robot's improvement for punching press material loading, a four-axis robot for punching press material loading still includes: the three-shaft speed reducer fixing sleeve comprises a three-shaft speed reducer fixing sleeve, a three-shaft motor and a three-shaft speed reducer;
The other end fixed connection of second arm in the lower extreme of triaxial speed reducer fixed sleeve, the fixed sleeve cavity of triaxial speed reducer sets up, the triaxial motor is located in the triaxial speed reducer fixed sleeve, the triaxial motor pass through the triaxial speed reducer with elevating system's lower extreme is connected.
As the utility model discloses a four-axis robot's improvement for punching press material loading, elevating system still includes: a four-axis bottom plate and a four-axis top plate;
four-axis dustcoat lower extreme opening, the upper end seals the setting, the four-axis bottom plate seals the opening of four-axis dustcoat lower extreme, the four-axis roof is located in the four-axis dustcoat, and is close to four-axis dustcoat upper end sets up, installation space is injectd to four-axis dustcoat, four-axis bottom plate.
As the utility model discloses an improvement that is used for four-axis robot of punching press material loading, ball screw's lower extreme connect in on the four-axis bottom plate, the upper end runs through the four-axis roof, and extend to in the space between four-axis roof and the four-axis dustcoat, four-axis motor is located in the four-axis dustcoat, its motor shaft runs through the four-axis roof, and pass through four-axis synchronizing wheel mechanism with ball screw's upper end transmission is connected.
As the utility model discloses a four-axis robot's improvement for punching press material loading, four-axis synchronizing wheel mechanism includes: synchronous wheels respectively sleeved at the upper ends of the motor shaft and the ball screw and a belt for linking the two synchronous wheels.
As the utility model discloses a four-axis robot's improvement for punching press material loading, elevating system still includes: the upper end and the lower end of the four-axis guide pillar are fixedly connected with the four-axis top plate and the four-axis bottom plate through the four-axis guide pillar fixing seats respectively.
As the utility model discloses a four-axis robot's improvement for punching press material loading, elevating system still includes: the gripper upper pressing plate and the gripper four-axis connecting plate are arranged on the gripper upper pressing plate;
The hand grab is fixed by the hand grab upper press plate, the hand grab upper press plate is connected to the hand grab fixing plate through the hand grab four-axis connecting plate, and an opening for the hand grab four-axis connecting plate to pass through is formed in the four-axis outer cover.
As the utility model discloses a four-axis robot's improvement for punching press material loading, the tongs includes: the sucking disc fixed plate and set up in a plurality of sucking discs on the sucking disc fixed plate.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a four-axis robot for punching press material loading is through designing elevating system in the anterior position of the four-axis robot that is used for punching press material loading, is favorable to reduce cost to simplify holistic structure, alleviate the whole weight of the four-axis robot that is used for punching press material loading. And simultaneously, the utility model discloses a triaxial, four-axis integration setting for four-axis robot that punching press was loaded on is in elevating system department, is favorable to improving the efficiency of robot motion to reduce the volume of robot. Furthermore, the utility model discloses a rotary motion that is used for four-axis robot of punching press material loading to accomplish the tongs through the third axle, unique guide pillar linear motion from top to bottom, can accurate positioning through interior concealed trachea tongs gets into stamping die, has exempted from the tongs and has adopted the exposed hidden danger of a series of problems of produced of plastics trachea, and the advantage lies in compact structure and optimizes, and the quality is little, and intensity is high, the cost, and the standardization level is strong, is convenient for make standardized production.
Drawings
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of a four-axis robot for stamping charging according to the present invention;
FIG. 2 is a front view of the four-axis robot for stamping charging of FIG. 1;
FIG. 3 is a top view of the four-axis robot for stamping charging of FIG. 1;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
Fig. 5 is a cross-sectional view taken along the line B-B in fig. 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a four-axis robot for punching press material loading, its applicable turnover, the material loading etc. in panel, the utility model discloses a four-axis robot for punching press material loading designs elevating system in the anterior position that is used for the four-axis robot of punching press material loading, is favorable to reduce cost to simplify holistic structure, alleviate the whole weight that is used for the four-axis robot of punching press material loading.
as shown in fig. 1 to 5, the utility model discloses a four-axis robot for punching press material loading of an embodiment includes: the mechanical arm comprises a base 1, a first shaft motor 2, a first shaft speed reducer 3, a first arm fixing hoop 4, a first mechanical arm 5, a second arm fixing hoop 6, a second shaft speed reducer 7, a second shaft motor 8, a second shaft speed reducer fixing sleeve 9, a second mechanical arm 10, a third shaft speed reducer fixing sleeve 11, a third shaft motor 12, a third shaft speed reducer 13, a lifting mechanism 14 and a gripper 15.
the base 1 is arranged in a hollow mode, the shaft motor 2 is contained in the base 1, and the shaft motor 2 is fixedly connected with one end of the first mechanical arm 5 through the shaft speed reducer 3. One end of the first mechanical arm 5 is connected with the one-shaft speed reducer 3 through the one-arm fixing hoop 4. The arm fixing hoop comprises an upper part and a lower part which are buckled together to connect and fix one end of the first mechanical arm 5 with the shaft speed reducer 3. In this way, the first robot arm 5 can rotate around the first axis under the driving of the axis motor 2.
the other end of the first mechanical arm 5 is connected with one end of the second mechanical arm 10 through the two-arm fixing hoop 6, the two-shaft speed reducer 7, the two-shaft motor 8 and the two-shaft speed reducer fixing sleeve 9.
Specifically, the other end of the first mechanical arm 5 is fixedly connected to the lower end of the two-axis speed reducer fixing sleeve 9, the two-axis speed reducer fixing sleeve 9 is arranged in a hollow manner, and the two-axis motor 8 is located in the two-axis speed reducer fixing sleeve 9. Meanwhile, the two-axis motor 8 is connected with one end of the second mechanical arm 10 through the two-axis reducer 7. One end of the second mechanical arm 10 is connected with the two-axis speed reducer 7 through the two-arm fixing hoop 6. The two-arm fixing hoop 6 is similar to the one-arm fixing hoop in structure and comprises an upper part and a lower part, and the upper part and the lower part are buckled together to connect and fix one end of the second mechanical arm 10 with the two-shaft speed reducer 7. In this way, the second mechanical arm 10 can rotate around the second shaft under the driving of the two-shaft motor 8.
The other end of the second mechanical arm 10 is connected with the lifting mechanism 14 through the three-axis speed reducer fixing sleeve 11, the three-axis motor 12 and the three-axis speed reducer 13.
Specifically, the other end of the second mechanical arm 10 is fixedly connected to the lower end of the three-axis speed reducer fixing sleeve 11, the three-axis speed reducer fixing sleeve 11 is hollow, and the three-axis motor 12 is located in the three-axis speed reducer fixing sleeve 11. Meanwhile, the three-axis motor 12 is connected with the lower end of the lifting mechanism 14 through the three-axis reducer 13. In this way, the lifting mechanism 14 can rotate around the third axis under the driving of the three-axis motor 12.
The lifting mechanism 14 is configured to drive the gripper 15 to lift along a fourth axis, and the fourth axis and the third axis are parallel to each other. The lifting mechanism 14 is arranged at the front end of the second mechanical arm 10, so that the whole structure is simplified, the whole weight of the four-axis robot for stamping feeding is reduced, and the whole cost is reduced.
specifically, the lift mechanism 14 includes: the four-axis synchronous mechanism comprises a four-axis bottom plate 141, a four-axis guide post 142, a linear bearing 143, a four-axis motor 144, a four-axis guide post fixing seat 145, a four-axis synchronous wheel mechanism 146, a four-axis top plate 147, a ball screw 148, a gripper fixing plate 149, a four-axis outer cover 1410, a gripper upper pressing plate 1411 and a gripper four-axis connecting plate 1412.
Wherein, four-axis dustcoat 1410 lower extreme opening, the upper end seals the setting, four-axis bottom plate 141 seals the opening of four-axis dustcoat 1410 lower extreme, four-axis roof 147 is located in the four-axis dustcoat 1410, and be close to four-axis dustcoat 1410 upper end sets up. The four-shaft outer cover 1410 and the four-shaft bottom plate 141 limit installation spaces of other structures. The built-in structural design mode has the advantages of compact and optimized structure, small mass, high strength, low cost, strong standardization degree and convenience for manufacturing standardized production.
the ball screw 148 has a lower end connected to the four-axis base plate 141 and an upper end penetrating through the four-axis top plate 147 and extending into a space between the four-axis top plate 147 and the four-axis housing 1410. The four-axis motor 144 is positioned in the four-axis housing 1410, and a motor shaft thereof penetrates through the four-axis top plate 147 and is in transmission connection with the upper end of the ball screw 148 through the four-axis synchronous wheel mechanism 146. The four-axis synchronizing wheel mechanism 146 specifically includes: synchronous wheels respectively sleeved at the upper ends of the motor shaft and the ball screw 148 and a belt for linking the two synchronous wheels.
The upper end and the lower end of the four-axis guide post 142 are respectively fixedly connected with a four-axis top plate 147 and a four-axis bottom plate 141 through a four-axis guide post fixing seat 145. In this embodiment, the number of the four-axis guide posts 142 is two, and the two four-axis guide posts 142 and the ball screw 148 are distributed at three vertex positions of a triangle. The grip fixing plate 149 is sleeved on the ball screw 148 and the four-axis guide post 142, and the grip fixing plate 149 is driven by the ball screw 148 to move up and down along the four-axis guide post 142 in the direction of the fourth axis. In order to facilitate the lifting movement of the hand fixing plate 149, the linear bearing 143 is further disposed between the hand fixing plate 149 and the ball screw 148 and the four-axis guide post 142.
The fingers 15 are fixed by the finger upper pressing plate 1411, and the finger upper pressing plate 1411 is further connected to the finger fixing plate 149 through the finger four-axis connecting plate 1412. Correspondingly, an opening for the four-shaft connecting plate 1412 to pass through is formed in the four-shaft outer cover 1410.
the gripper 15 is used for gripping a workpiece of the sheet type, and specifically, the gripper 15 includes: a suction cup fixing plate 151 and a plurality of suction cups 152 disposed on the suction cup fixing plate 151. The two suction cup fixing plates 151 are arranged, any one of the suction cup fixing plates 151 is a strip-shaped plate, the two suction cup fixing plates 151 are connected to the gripper upper pressing plate 1411, and the two suction cup fixing plates 151 and the gripper fixing plate 149 connecting the two suction cup fixing plates form a U-shaped structure. A plurality of suction cups 152 are fixed to any one of the suction cup fixing plates 151, and any one of the suction cups 152 is disposed downward.
The utility model discloses a four-axis robot for punching press material loading is with work piece material loading to punching press position time, after first arm, second arm moved appointed position, the third axle also prepares next instruction wait state in the motion simultaneously so that the beat in order can get into the mould fast in order to get into, the fourth axle has begun to descend when getting into after the mould good position, loosens to breathe in through built-in trachea tongs sucking disc fast and puts into the locating area of mould to the machined part. The utility model discloses a four-axis robot for punching press material loading has the advantage of low cost, structure lightweight, steelframe compactedness, the reasonable overall arrangement of high rigidity, enables positioning accuracy higher, improves life.
To sum up, the utility model discloses a four-axis robot for punching press material loading is favorable to reduce cost through designing elevating system in the anterior position that is used for the four-axis robot of punching press material loading to simplify holistic structure, alleviate the whole weight that is used for the four-axis robot of punching press material loading. And simultaneously, the utility model discloses a triaxial, four-axis integration setting for four-axis robot that punching press was loaded on is in elevating system department, is favorable to improving the efficiency of robot motion to reduce the volume of robot. Furthermore, the utility model discloses a rotary motion that is used for four-axis robot of punching press material loading to accomplish the tongs through the third axle, unique guide pillar linear motion from top to bottom, can accurate positioning through interior concealed trachea tongs gets into stamping die, has exempted from the tongs and has adopted the exposed hidden danger of a series of problems of produced of plastics trachea, and the advantage lies in compact structure and optimizes, and the quality is little, and intensity is high, the cost, and the standardization level is strong, is convenient for make standardized production.
it is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. the utility model provides a four axis robot for punching press material loading which characterized in that, a four axis robot for punching press material loading includes: the device comprises a base, a first mechanical arm, a second mechanical arm, a lifting mechanism and a gripper;
One end of the first mechanical arm is pivotally connected with the base and pivotally moves relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is pivotally connected with the rear end of the second mechanical arm, and the second mechanical arm pivotally moves relative to the first mechanical arm by taking a second shaft as a rotating shaft;
The front end of the second mechanical arm is in pivot connection with the lifting mechanism, the lifting mechanism performs pivot motion relative to the second mechanical arm by taking a third shaft as a rotating shaft, and the lifting mechanism drives the gripper to perform lifting motion along a fourth shaft parallel to the third shaft;
The lifting mechanism comprises: the four-axis synchronous wheel mechanism comprises four-axis guide posts, a four-axis motor, a four-axis synchronous wheel mechanism, a ball screw, a gripper fixing plate and a four-axis outer cover;
The ball screw and the four-axis guide post are positioned in the four-axis outer cover, and the ball screw is in transmission connection with the four-axis motor through the four-axis synchronous wheel mechanism;
the gripper fixing plate is sleeved on the ball screw and the four-axis guide post, driven by the ball screw, and capable of lifting in the direction of the fourth axis along the four-axis guide post, and the gripper is connected to the gripper fixing plate.
2. the four-axis robot for press loading according to claim 1, further comprising: the first mechanical arm is fixedly connected with the first mechanical arm through the first shaft speed reducer, and one end of the first mechanical arm is connected with the first shaft speed reducer through the arm fixing hoop.
3. the four-axis robot for press loading according to claim 1, further comprising: the two-arm fixing hoop, the two-shaft speed reducer, the two-shaft motor and the two-shaft speed reducer fixing sleeve are arranged on the two-arm fixing hoop;
The other end of the first mechanical arm is fixedly connected to the lower end of the two-shaft speed reducer fixing sleeve, the two-shaft speed reducer fixing sleeve is arranged in a hollow mode, the two-shaft motor is located in the two-shaft speed reducer fixing sleeve, the two-shaft motor is connected with one end of the second mechanical arm through the two-shaft speed reducer, and one end of the second mechanical arm is connected with the two-shaft speed reducer through the two-arm fixing hoop.
4. The four-axis robot for press loading according to claim 1, further comprising: the three-shaft speed reducer fixing sleeve comprises a three-shaft speed reducer fixing sleeve, a three-shaft motor and a three-shaft speed reducer;
the other end fixed connection of second arm in the lower extreme of triaxial speed reducer fixed sleeve, the fixed sleeve cavity of triaxial speed reducer sets up, the triaxial motor is located in the triaxial speed reducer fixed sleeve, the triaxial motor pass through the triaxial speed reducer with elevating system's lower extreme is connected.
5. The four-axis robot for punching feeding according to claim 1, wherein said lifting mechanism further comprises: a four-axis bottom plate and a four-axis top plate;
Four-axis dustcoat lower extreme opening, the upper end seals the setting, the four-axis bottom plate seals the opening of four-axis dustcoat lower extreme, the four-axis roof is located in the four-axis dustcoat, and is close to four-axis dustcoat upper end sets up, installation space is injectd to four-axis dustcoat, four-axis bottom plate.
6. the four-axis robot for punching feeding according to claim 5, wherein the lower end of the ball screw is connected to the four-axis bottom plate, the upper end of the ball screw penetrates through the four-axis top plate and extends into a space between the four-axis top plate and a four-axis housing, the four-axis motor is located in the four-axis housing, and a motor shaft of the four-axis motor penetrates through the four-axis top plate and is in transmission connection with the upper end of the ball screw through the four-axis synchronizing wheel mechanism.
7. Four-axis robot for stamping charging according to claim 6, characterized in that the four-axis synchronizing wheel mechanism comprises: synchronous wheels respectively sleeved at the upper ends of the motor shaft and the ball screw and a belt for linking the two synchronous wheels.
8. the four-axis robot for punching feeding according to claim 5, wherein said lifting mechanism further comprises: the upper end and the lower end of the four-axis guide pillar are fixedly connected with the four-axis top plate and the four-axis bottom plate through the four-axis guide pillar fixing seats respectively.
9. the four-axis robot for punching feeding according to claim 1, wherein said lifting mechanism further comprises: the gripper upper pressing plate and the gripper four-axis connecting plate are arranged on the gripper upper pressing plate;
The hand grab is fixed by the hand grab upper press plate, the hand grab upper press plate is connected to the hand grab fixing plate through the hand grab four-axis connecting plate, and an opening for the hand grab four-axis connecting plate to pass through is formed in the four-axis outer cover.
10. The four-axis robot for stamping charging of claim 1, wherein the gripper comprises: the sucking disc fixed plate and set up in a plurality of sucking discs on the sucking disc fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546665.0U CN209774639U (en) | 2019-04-22 | 2019-04-22 | Four-axis robot for stamping feeding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546665.0U CN209774639U (en) | 2019-04-22 | 2019-04-22 | Four-axis robot for stamping feeding |
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| Publication Number | Publication Date |
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| CN209774639U true CN209774639U (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920546665.0U Active CN209774639U (en) | 2019-04-22 | 2019-04-22 | Four-axis robot for stamping feeding |
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| Country | Link |
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| CN (1) | CN209774639U (en) |
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2019
- 2019-04-22 CN CN201920546665.0U patent/CN209774639U/en active Active
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