CN210614912U - Four-shaft material-rotating intelligent manipulator - Google Patents
Four-shaft material-rotating intelligent manipulator Download PDFInfo
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- CN210614912U CN210614912U CN201920853507.XU CN201920853507U CN210614912U CN 210614912 U CN210614912 U CN 210614912U CN 201920853507 U CN201920853507 U CN 201920853507U CN 210614912 U CN210614912 U CN 210614912U
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Abstract
The utility model discloses a four-axis material transferring intelligent manipulator, which comprises a case, a rotating mechanism, a lifting mechanism, a translation mechanism and a workpiece taking and placing mechanism; the rotating mechanism is used for driving the lifting mechanism to rotate; the lifting mechanism is used for driving the translation mechanism to lift; the translation mechanism comprises a rotating arm assembly and a translation arm assembly; the rotating arm assembly comprises a rotating arm support, a rotating arm, a second synchronous belt pulley, a second synchronous belt pressing plate, a translation servo motor, a translation driving wheel, a translation tensioning wheel, a third synchronous belt and a third synchronous belt pressing plate; the translation arm assembly comprises a translation arm and a translation arm support; the workpiece picking and placing mechanism is used for transferring or overturning workpieces. The utility model has the advantages that: compared with the existing manipulator, the manipulator occupies smaller space; the distance and the time for transferring the workpieces between the adjacent stamping stations are shortened; the workpiece picking and placing mechanism has wider universality and can be suitable for more types of workpieces.
Description
Technical Field
The utility model relates to a manipulator technical field specifically indicates a four-axis changes material intelligent mechanical hand.
Background
In an automatic production workshop, a manipulator is often required to be used for assembling, disassembling, transferring and the like on a workpiece, and the manipulator has various different structural designs according to different functions, such as a disassembling manipulator, a transferring manipulator and the like; the application relates to a transfer manipulator mainly applied to a stamping production process, in particular to an existing transfer manipulator which usually comprises a lifting mechanism, a rotating mechanism and a translating mechanism when a stamped workpiece is a sheet material or a coil material workpiece, wherein a part for clamping is usually a simple sucking disc or a clamp; the existing transferring mechanical arm is complex in structure, particularly, if a translation mechanism needs a large stroke, a designed track is long, a large site space is needed, the distance between adjacent stamping stations is large, the transferring distance of workpieces is enlarged, and the transferring efficiency and the site space utilization rate are influenced. And the existing clamping part is usually a single sucker or clamp, so that the universality is poor, the replacement is not facilitated, and the production efficiency is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the problems of large occupied space and poor universality of clamping pieces of the existing stamping workpiece transferring manipulator, and provides a four-axis material transferring intelligent manipulator which comprises a case, a rotating mechanism, a lifting mechanism, a translation mechanism and a workpiece taking and placing mechanism;
the rotating mechanism is used for driving the lifting mechanism to rotate;
the lifting mechanism is used for driving the translation mechanism to lift;
the translation mechanism comprises a rotating arm assembly and a translation arm assembly;
the rotating arm assembly comprises a rotating arm support, a rotating arm, a second synchronous belt pulley, a second synchronous belt pressing plate, a translation servo motor, a translation driving wheel, a translation tensioning wheel, a third synchronous belt and a third synchronous belt pressing plate; the rotating arm is horizontally arranged, at least two horizontal linear guide rails are arranged on the rotating arm, and one linear guide rail is matched with the rotating arm support; the rotating arm support is connected with the lifting mechanism, and a translation servo motor and a translation driving wheel which are matched with each other are installed on the rotating arm support; translation tensioning wheels matched with the translation driving wheels are arranged on two sides of each translation driving wheel; the third synchronous belt is partially wound on the translation driving wheel and the translation tensioning wheel, and third synchronous belt pressing plates connected with the rotating arms are respectively meshed at two ends of the third synchronous belt to drive the rotating arms to move along the horizontal direction; two second synchronous belt pulleys are arranged and are respectively arranged at two ends of the rotating arm; two ends of the second synchronous belt are wound on the second synchronous belt wheel; two second synchronous belt pressing plates are arranged, wherein one of the second synchronous belt pressing plates is connected with the rotating arm support and meshed with a second synchronous belt to drive the second synchronous belt to rotate when the rotating arm moves;
the translation arm assembly comprises a translation arm and a translation arm support; the translation arm is horizontally arranged, and one end of the translation arm is fixed with the translation arm support; the translation arm support is matched with the other linear guide rail on the rotating arm; the other second synchronous belt pressing plate is connected with the translation arm support and meshed with a second synchronous belt to drive the translation arm to move along the horizontal direction when the second synchronous belt rotates;
the workpiece picking and placing mechanism is used for transferring or overturning workpieces.
Further, the workpiece picking and placing mechanism comprises a rotary seat, a rotary seat servo motor, a fourth synchronous belt, a rotary seat synchronous wheel and a workpiece picking and placing device; the rotary seat and the rotary seat servo motor are arranged on the translation arm; one end of the fourth synchronous belt is wound on an output shaft of the rotary seat servo motor, and the other end of the fourth synchronous belt is wound on a synchronous wheel of the rotary seat; the lower end of the rotating seat synchronizing wheel is connected with a workpiece taking and placing device, a hollow shaft is arranged in the center of the rotating seat and connected with the translation arm, and a second bearing is arranged between the hollow shaft and the rotating seat; the workpiece taking and placing device comprises a vacuum chuck, a pneumatic clamp or an electromagnetic chuck.
Further, the lifting mechanism comprises a lifting servo motor, a ball screw, a guide rod, a screw nut, an upper connecting plate and a lower connecting plate; the ball screw and the guide rod are vertically arranged, and two ends of the ball screw are respectively connected with the upper connecting plate and the lower connecting plate; the screw rod nut is sleeved on the ball screw rod and matched with the ball screw rod; and the lifting servo motor drives the ball screw to coaxially rotate.
Further, the chassis includes sidewalls and a deck; the rotating mechanism comprises a rotating servo motor, a rotating driving wheel, a rotating driven wheel, a first synchronous belt, a movable cover, a fixed ring and a first bearing; the rotary servo motor is fixed in the case through a rotary motor base and is matched with the rotary driving wheel; the rotary driven wheel is matched with the rotary driving wheel through the first synchronous belt; the rotary driven wheel is connected with the movable cover; the lower connecting plate is connected with the lifting servo motor; the screw rod nut is fixed on the movable cover; the movable cover is connected with the fixed ring through a first bearing; the fixed ring is connected with the bedplate.
Further, the workpiece taking and placing device comprises a plurality of sucker frames arranged along the circumferential direction of the rotating seat synchronizing wheel and a pneumatic sucker arranged at the tail end of each sucker frame.
Further, the workpiece taking and placing device comprises a plurality of separable connecting rods arranged along the circumferential direction of the rotating seat synchronizing wheel and a pneumatic clamp or an electromagnetic chuck arranged at the tail ends of the connecting rods; the connecting rod is separated into at least two sections in a pull-plug type manner, and the sections are connected through connecting bolts.
Furthermore, the workpiece taking and placing mechanism also comprises two rubber wheels which are arranged on the rotating seat in parallel at intervals; the fourth synchronous belt part is wound or abutted on the rubber wheel.
Furthermore, the guide rods are multiple and are evenly arranged on the periphery of the ball screw.
Further, the rotating arm assembly further comprises a second synchronous belt tensioning device; one end of the second synchronous belt tensioning device is connected with the rotating arm, and the other end of the second synchronous belt tensioning device is connected with the second synchronous belt wheel.
Further, the lifting servo motor is connected with the lower connecting plate through a lifting motor base; an output shaft of the lifting servo motor is connected with the ball screw through a coupler.
The utility model has the advantages that: under the condition that the total translation stroke of a translation mechanism consisting of the rotating arm assembly and the translation arm assembly is not changed, the occupied space of the manipulator is smaller than that of the existing manipulator; the distance and the time for transferring workpieces between adjacent stamping stations are shortened, and more manipulators can be placed in the field with the same area; in addition, the workpiece taking and placing mechanism is not a single sucker or clamp any more, but a plurality of vacuum suckers or pneumatic clamps or electromagnetic suckers can be arranged, and the plurality of vacuum suckers or pneumatic clamps or electromagnetic suckers can be replaced, so that the universality is wider, and the workpiece taking and placing mechanism is suitable for more types of workpieces.
Drawings
Fig. 1 is a schematic view of the structure of the four-axis material-rotating intelligent manipulator of the present invention.
Fig. 2 is a schematic top view of the structure of fig. 1.
Fig. 3 is a left side view of the structure of fig. 1.
Fig. 4 is a schematic sectional view of the plane a-a in fig. 2.
Fig. 5 is a schematic structural view of the lifting mechanism and the translation mechanism of fig. 1 when they are minimized.
Fig. 6 is a partial structural schematic view of the workpiece picking and placing device in fig. 1, which is a pneumatic clamp.
Fig. 7 is a schematic top view of the structure of fig. 6.
Fig. 8 is a partially enlarged schematic view of fig. 1.
Fig. 9 is a schematic diagram showing the arrangement positions of the robot and the two punches in fig. 1.
In the figure, 1, a chassis; 1.1. a platen; 2. a rotating mechanism; 2.1. rotating the servo motor; 2.2. rotating the driving wheel; 2.3. rotating the driven wheel; 2.4. a first synchronization belt; 2.5. a movable cover; 2.6. a fixing ring; 2.7. a first bearing; 3. a lifting mechanism; 3.1. a lifting servo motor; 3.2. a ball screw; 3.3. a guide bar; 3.4. a feed screw nut; 3.5. an upper connecting plate; 3.6. a lower connecting plate; 4. a rotating arm assembly; 4.1. a rotating arm support; 4.2. a rotating arm; 4.3. a second synchronous belt; 4.4. a second timing pulley; 4.5. a second synchronous belt pressing plate; 4.6. a second synchronous belt tensioning device; 4.7. a translation servo motor; 4.8. a translation driving wheel; 4.9. translating the tension wheel; 4.10. a third synchronous belt; 4.11. a third synchronous belt pressing plate; 5. a translation arm assembly; 5.1. a translation arm; 5.2. a translation arm support; 6. a workpiece pick and place mechanism; 6.1. a rotating base; 6.2. a rotary seat servo motor; 6.3. a fourth synchronous belt; 6.4. a rotating base synchronizing wheel; 6.5. a workpiece pick-and-place device; 6.5.1. a suction cup holder; 6.5.2. a pneumatic suction cup; 6.5.3. a connecting rod; 6.5.4. pneumatic clamps; 6.6. a rubber wheel; 6.7. a sensor; 6.8. a hollow shaft; 6.9. a second bearing; 7. punching; 8. and (5) a workpiece.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The four-axis material transferring intelligent manipulator shown in fig. 1-9 comprises a case 1, a rotating mechanism 2, a lifting mechanism 3, a translation mechanism and a workpiece picking and placing mechanism 6;
the translation mechanism comprises a rotating arm assembly 4 and a translation arm assembly 5;
the rotating arm assembly 4 comprises a rotating arm support 4.1, a rotating arm, a second synchronous belt pulley, a second synchronous belt pressing plate 4.5, a second synchronous belt tensioning device 4.6, a translation servo motor 4.7, a translation driving wheel 4.8, a translation tensioning wheel 4.9, a third synchronous belt and a third synchronous belt pressing plate 4.11; the rotating arm is horizontally arranged, at least two horizontal linear guide rails are arranged on the rotating arm, and one linear guide rail is matched with the rotating arm support 4.1; the rotating arm support 4.1 is connected with the lifting mechanism 3, and a translation servo motor 4.7 and a translation driving wheel 4.8 which are matched are arranged on the rotating arm support 4.1; two sides of the translation driving wheel 4.8 are provided with translation tension wheels 4.9 matched with the translation driving wheel; the third synchronous belt is partially wound on the translation driving wheel 4.8 and the translation tension wheel 4.9, and third synchronous belt pressing plates 4.11 connected with the rotating arm are respectively meshed at two ends of the third synchronous belt to drive the rotating arm to move along the horizontal direction; two second synchronous belt pulleys are arranged at two ends of the rotating arm respectively; two ends of the second synchronous belt are wound on the second synchronous belt wheel; two second synchronous belt pressing plates 4.5 are provided, one of which is connected with the rotating arm support 4.1 and is meshed with a second synchronous belt for driving the second synchronous belt to rotate when the rotating arm moves; one end of a second synchronous belt tensioning device 4.6 is connected with the rotating arm, and the other end of the second synchronous belt tensioning device is connected with a second synchronous belt wheel. In this embodiment, there is one second synchronous belt tensioning device 4.6, which is connected to only one second synchronous belt pulley, of course, the second synchronous belt pulley should be movably connected to the rotating arm, and can be locked by the second synchronous belt tensioning device 4.6, so as to realize tensioning adjustment of the second synchronous belt.
The translation arm assembly 5 comprises a translation arm and a translation arm support 5.2; the translation arm is horizontally arranged, and one end of the translation arm is fixed with the translation arm support 5.2; the translation arm support 5.2 is matched with the other linear guide rail on the rotating arm; and the other second synchronous belt pressing plate 4.5 is connected with the translation arm support 5.2 and meshed with a second synchronous belt to drive the translation arm to move along the horizontal direction when the second synchronous belt rotates.
When a workpiece needs to be translated, the translation servo motor 4.7 works to drive the translation driving wheel 4.8 to rotate, the translation driving wheel 4.8 drives the third synchronous belt to move in the horizontal direction, and the third synchronous belt pressing plate 4.11 meshed with the third synchronous belt is connected with the rotating arm which is connected with the rotating arm supporting seat through a horizontal linear guide rail, so that the rotating arm can move in the horizontal direction, and the workpiece can translate for a certain distance; when the rotating arm moves, the second synchronous belt rotates under the action of a second synchronous belt pressing plate 4.5 connected with the rotating arm support 4.1; when the second synchronous belt rotates, the translation arm connected with the translation arm support 5.2 moves along with the second synchronous belt pressing plate 4.5 connected with the translation arm support 5.2 in the horizontal direction, and at the moment, the workpiece further moves for a certain distance. The state shown in fig. 1 is the position where the workpiece is farthest from the machine box 1, and fig. 5 is the position where the workpiece is closest to the machine box 1, and in this distance range, the position of the manipulator of this embodiment can be arbitrarily placed as required, because the manipulator shown in fig. 5 occupies a small space, especially when the rotating mechanism 2 drives the lifting mechanism 3 to rotate in this state, the workpiece rotating radius is the smallest and is far smaller than the rotating radius shown in fig. 1.
The workpiece pick and place mechanism 6 is used for transferring or overturning workpieces. The workpiece picking and placing mechanism 6 comprises a rotating seat, a rotating seat servo motor 6.2, a fourth synchronous belt 6.3, a rotating seat synchronous wheel 6.4, a workpiece picking and placing device 6.5 and a rubber wheel 6.6; the rotary seat and a rotary seat servo motor 6.2 are arranged on the translation arm; one end of a fourth synchronous belt 6.3 is wound on an output shaft of the rotary seat servo motor 6.2, and the other end of the fourth synchronous belt is wound on a rotary seat synchronous wheel 6.4; the lower end of a rotating seat synchronizing wheel 6.4 is connected with a workpiece picking and placing device 6.5, the center of the rotating seat is provided with a hollow shaft 6.8, the hollow shaft 6.8 is connected with a translation arm, and a second bearing 6.9 is arranged between the hollow shaft 6.8 and the rotating seat; the rubber wheels 6.6 have two, and parallel interval sets up on the roating seat, and the fourth hold-in range 6.3 part is twined or is supported on rubber wheel 6.6. The workpiece pick-and-place device 6.5 comprises a vacuum chuck or a pneumatic gripper 6.5.4 or an electromagnetic chuck. The workpiece pick-and-place device 6.5 may be a plurality of suction cup holders 6.5.1 arranged along the circumference of the rotating seat synchronizing wheel 6.4 and a pneumatic suction cup 6.5.2 arranged at the end of the suction cup holder 6.5.1. Through the effect of work piece pick-and-place mechanism 6, especially roating seat servo motor 6.2 drive fourth hold-in range 6.3 rotates, thereby drive roating seat synchronizing wheel 6.4 and rotate, thereby drive work piece pick-and-place device 6.5 and rotate, as shown in fig. 2, a plurality of suction disc frame 6.5.1 rotate around hollow shaft 6.8 along with roating seat synchronizing wheel 6.4, suction disc frame 6.5.1 has 4 in this embodiment, roating seat synchronizing wheel 6.4 rotates quarter a week for every turn, pneumatic suction disc 6.5.2 changes a station, consequently, roating seat synchronizing wheel 6.4 rotates a week for every turn, have four work pieces to be absorbed or place by four different pneumatic suction disc 6.5.2, can realize the transportation of these four work pieces through translation mechanism. Of course, as shown in fig. 9, four different pneumatic suction cups 6.5.2 may be used to simultaneously suck and transfer the same workpiece, so as to improve stability and to adapt to workpieces with larger weight or size. The workpiece pick and place mechanism 6 may further include a sensor 6.7 disposed on one side of the suction cup holder 6.5.1 or the pneumatic suction cup 6.5.2, and the distance between the workpiece and the pneumatic suction cup 6.5.2 may be determined by the sensor 6.7, which facilitates automatic control.
As shown in fig. 6 and 7, the workpiece picking and placing device 6.5 may also be a plurality of separable connecting rods 6.5.3 arranged along the circumferential direction of the rotating seat synchronizing wheel 6.4 and a pneumatic clamp 6.5.4 or an electromagnetic chuck arranged at the tail end of the connecting rod 6.5.3; the connecting rod 6.5.3 is separated into at least two sections in a pull-plug type, and the sections are connected through connecting bolts. The connecting rod 6.5.3 is disassembled through the connecting bolt, so that part or all of the pneumatic clamp 6.5.4 can be replaced by the electromagnetic chuck or the pneumatic chuck 6.5.2, and more types of workpieces can be clamped.
The lifting mechanism 3 is used for driving the translation mechanism to lift; the lifting mechanism 3 comprises a lifting servo motor 3.1, a ball screw 3.2, a guide rod 3.3, a screw nut 3.4, an upper connecting plate 3.5 and a lower connecting plate 3.6; the ball screw 3.2 and the guide rod 3.3 are vertically arranged, and two ends of the ball screw are respectively connected with the upper connecting plate 3.5 and the lower connecting plate 3.6; the screw rod nut 3.4 is sleeved on the ball screw rod 3.2 and matched with the ball screw rod; the lifting servo motor 3.1 drives the ball screw 3.2 to rotate coaxially. Wherein, the lifting servo motor 3.1 is connected with the lower connecting plate 3.6 through a lifting motor base; an output shaft of the lifting servo motor 3.1 is connected with the ball screw 3.2 through a coupler; the guide rods 3.3 are multiple and are uniformly arranged on the periphery of the ball screw 3.2. In this embodiment preferably 6 guide rods 3.3 are present.
The rotating mechanism 2 is used for driving the lifting mechanism 3 to rotate; the case 1 comprises a side wall and a bedplate 1.1, and the lower end of the case 1 is also provided with adjustable hoof feet. The rotating mechanism 2 comprises a rotating servo motor 2.1, a rotating driving wheel 2.2, a rotating driven wheel 2.3, a first synchronous belt 2.4, a movable cover 2.5, a fixed ring 2.6 and a first bearing 2.7; the rotary servo motor 2.1 is fixed in the case 1 through a rotary motor base and is matched with the rotary driving wheel 2.2; the rotary driven wheel 2.3 is matched with the rotary driving wheel 2.2 through a first synchronous belt 2.4; the rotary driven wheel 2.3 is connected with the movable cover 2.5; the lower connecting plate 3.6 is connected with a lifting servo motor 3.1 through a lifting servo motor base; when the lifting servo motor 3.1 works, the lower connecting plate 3.6 is lifted along with the lifting servo motor; the feed screw nut 3.4 is fixed on the movable cover 2.5; the movable cover 2.5 is connected with the fixed ring 2.6 through a first bearing 2.7; the securing ring 2.6 is connected to the table plate 1.1.
The lifting mechanism 3 and the transfer mechanism are realized through the structure, but can also be realized through other conventional designs, the lifting mechanism 3 can rotate in the horizontal direction only by the rotating mechanism 2, and the lifting mechanism 3 can drive the translation mechanism connected with the lifting mechanism to lift up and down.
Claims (10)
1. The utility model provides a four-axis changes material intelligent mechanical hand which characterized in that: comprises a case, a rotating mechanism, a lifting mechanism, a translation mechanism and a workpiece picking and placing mechanism;
the rotating mechanism is used for driving the lifting mechanism to rotate;
the lifting mechanism is used for driving the translation mechanism to lift;
the translation mechanism comprises a rotating arm assembly and a translation arm assembly;
the rotating arm assembly comprises a rotating arm support, a rotating arm, a second synchronous belt pulley, a second synchronous belt pressing plate, a translation servo motor, a translation driving wheel, a translation tensioning wheel, a third synchronous belt and a third synchronous belt pressing plate; the rotating arm is horizontally arranged, at least two horizontal linear guide rails are arranged on the rotating arm, and one linear guide rail is matched with the rotating arm support; the rotating arm support is connected with the lifting mechanism, and a translation servo motor and a translation driving wheel which are matched with each other are installed on the rotating arm support; translation tensioning wheels matched with the translation driving wheels are arranged on two sides of each translation driving wheel; the third synchronous belt is partially wound on the translation driving wheel and the translation tensioning wheel, and third synchronous belt pressing plates connected with the rotating arms are respectively meshed at two ends of the third synchronous belt to drive the rotating arms to move along the horizontal direction; two second synchronous belt pulleys are arranged and are respectively arranged at two ends of the rotating arm; two ends of the second synchronous belt are wound on the second synchronous belt wheel; two second synchronous belt pressing plates are arranged, wherein one of the second synchronous belt pressing plates is connected with the rotating arm support and meshed with a second synchronous belt to drive the second synchronous belt to rotate when the rotating arm moves;
the translation arm assembly comprises a translation arm and a translation arm support; the translation arm is horizontally arranged, and one end of the translation arm is fixed with the translation arm support; the translation arm support is matched with the other linear guide rail on the rotating arm; the other second synchronous belt pressing plate is connected with the translation arm support and meshed with a second synchronous belt to drive the translation arm to move along the horizontal direction when the second synchronous belt rotates;
the workpiece picking and placing mechanism is used for transferring or overturning workpieces.
2. The four-axis material transferring intelligent manipulator of claim 1, wherein: the workpiece picking and placing mechanism comprises a rotary seat, a rotary seat servo motor, a fourth synchronous belt, a rotary seat synchronous wheel and a workpiece picking and placing device; the rotary seat and the rotary seat servo motor are arranged on the translation arm; one end of the fourth synchronous belt is wound on an output shaft of the rotary seat servo motor, and the other end of the fourth synchronous belt is wound on a synchronous wheel of the rotary seat; the lower end of the rotating seat synchronizing wheel is connected with a workpiece taking and placing device, a hollow shaft is arranged in the center of the rotating seat and connected with the translation arm, and a second bearing is arranged between the hollow shaft and the rotating seat; the workpiece taking and placing device comprises a vacuum chuck, a pneumatic clamp or an electromagnetic chuck.
3. The four-axis material transferring intelligent manipulator of claim 2, wherein: the lifting mechanism comprises a lifting servo motor, a ball screw, a guide rod, a screw nut, an upper connecting plate and a lower connecting plate; the ball screw and the guide rod are vertically arranged, and two ends of the ball screw are respectively connected with the upper connecting plate and the lower connecting plate; the screw rod nut is sleeved on the ball screw rod and matched with the ball screw rod; and the lifting servo motor drives the ball screw to coaxially rotate.
4. The four-axis material transferring intelligent manipulator of claim 3, wherein: the chassis comprises a side wall and a platen; the rotating mechanism comprises a rotating servo motor, a rotating driving wheel, a rotating driven wheel, a first synchronous belt, a movable cover, a fixed ring and a first bearing; the rotary servo motor is fixed in the case through a rotary motor base and is matched with the rotary driving wheel; the rotary driven wheel is matched with the rotary driving wheel through the first synchronous belt; the rotary driven wheel is connected with the movable cover; the lower connecting plate is connected with the lifting servo motor; the screw rod nut is fixed on the movable cover; the movable cover is connected with the fixed ring through a first bearing; the fixed ring is connected with the bedplate.
5. The four-axis material transferring intelligent manipulator of claim 2, wherein: the workpiece taking and placing device comprises a plurality of sucker frames arranged along the circumferential direction of the rotating seat synchronizing wheel and a pneumatic sucker arranged at the tail end of each sucker frame.
6. The four-axis material transferring intelligent manipulator of claim 2, wherein: the workpiece taking and placing device comprises a plurality of separable connecting rods arranged along the circumferential direction of the rotating seat synchronizing wheel and a pneumatic clamp or an electromagnetic chuck arranged at the tail ends of the connecting rods; the connecting rod is separated into at least two sections in a pull-plug type manner, and the sections are connected through connecting bolts.
7. The four-axis material transferring intelligent manipulator of claim 2, wherein: the workpiece taking and placing mechanism also comprises two rubber wheels which are arranged on the rotating seat in parallel at intervals; the fourth synchronous belt part is wound or abutted on the rubber wheel.
8. The four-axis material transferring intelligent manipulator of claim 3, wherein: the guide rod has a plurality ofly, and evenly locates ball screw periphery.
9. The four-axis material transferring intelligent manipulator of claim 1, wherein: the rotating arm assembly further comprises a second synchronous belt tensioning device; one end of the second synchronous belt tensioning device is connected with the rotating arm, and the other end of the second synchronous belt tensioning device is connected with the second synchronous belt wheel.
10. The four-axis material transferring intelligent manipulator of claim 4, wherein: the lifting servo motor is connected with the lower connecting plate through a lifting motor base; an output shaft of the lifting servo motor is connected with the ball screw through a coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920853507.XU CN210614912U (en) | 2019-06-06 | 2019-06-06 | Four-shaft material-rotating intelligent manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920853507.XU CN210614912U (en) | 2019-06-06 | 2019-06-06 | Four-shaft material-rotating intelligent manipulator |
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| CN210614912U true CN210614912U (en) | 2020-05-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922666A (en) * | 2020-08-12 | 2020-11-13 | 温州职业技术学院 | Assembly line production system for motor vehicle parts |
| CN114751004A (en) * | 2022-02-16 | 2022-07-15 | 上海应用技术大学 | Full-automatic liquid crystal sucking disc mechanical device |
-
2019
- 2019-06-06 CN CN201920853507.XU patent/CN210614912U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922666A (en) * | 2020-08-12 | 2020-11-13 | 温州职业技术学院 | Assembly line production system for motor vehicle parts |
| CN114751004A (en) * | 2022-02-16 | 2022-07-15 | 上海应用技术大学 | Full-automatic liquid crystal sucking disc mechanical device |
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