CN211218390U - Manipulator is transferred to quadratic element - Google Patents
Manipulator is transferred to quadratic element Download PDFInfo
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- CN211218390U CN211218390U CN201922203169.8U CN201922203169U CN211218390U CN 211218390 U CN211218390 U CN 211218390U CN 201922203169 U CN201922203169 U CN 201922203169U CN 211218390 U CN211218390 U CN 211218390U
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- displacement device
- axis displacement
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 238000004080 punching Methods 0.000 description 6
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a two-dimensional transfer manipulator, which comprises a Y-axis displacement device, an X-axis displacement device and an inverted U-shaped plate; y-axis displacement means: y axle displacement device includes U template, lead screw, guide bar, movable support and servo motor, and Y axle displacement device is equipped with two sets ofly, the bottom of U template is equipped with the fixing base, the mounting hole has been seted up on the fixing base, lead screw and guide bar parallel mount are on the inner wall of U template, and the lead screw rotates with the U template to be connected, and the screw thread at lead screw both ends revolves to opposite, servo motor installs the lateral surface at the U template, servo motor's output shaft and screw connection, movable support is equipped with two, and two movable support symmetries are installed on the guide bar, the utility model provides a manipulator is transferred to quadratic element, this manipulator's simple structure, convenient control, and the suitability is high, is convenient for dismantle the manipulator and the change of part, is favorable to improving stamping efficiency.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a manipulator is transferred to quadratic element.
Background
The manipulator is the automatic operation device who is used for snatching, transport article or operation tool, can accomplish various anticipated operations through the programming, in stamping process, some metalwork need one set of mould to carry out a lot of continuous punching presses many times, the process is numerous, consequently, it catches material and pay-off to need the quick completion of feeding manipulator, its structure of present mainly used manipulator is complicated, the suitability is relatively poor, in the high-speed punching process, the damage of manipulator takes place easily, it is not convenient to dismantle the renewal part, when breaking down, often need to change a large amount of parts, serious reduction punching press efficiency, economic loss has been increased.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome current defect, provide a manipulator is transferred to quadratic element, the simple structure of this manipulator, convenient control, and the suitability is high, is convenient for dismantle the change of reaching the part to the manipulator, is favorable to improving punching press efficiency, can effectively solve the problem in the background art.
In order to achieve the above object, the utility model provides a following technical scheme: a two-dimensional transfer manipulator comprises a Y-axis displacement device, an X-axis displacement device and an inverted U-shaped plate;
y-axis displacement means: the Y-axis displacement device comprises a U-shaped plate, a lead screw, two guide rods, two movable supports and a servo motor, the Y-axis displacement device is provided with two groups, the bottom end of the U-shaped plate is provided with a fixed seat, the fixed seat is provided with a mounting hole, the lead screw and the guide rods are parallelly mounted on the inner wall of the U-shaped plate, the lead screw is rotatably connected with the U-shaped plate, the screw threads at the two ends of the lead screw are opposite in rotation direction, the servo motor is mounted on the outer side surface of the U-shaped plate, the output shaft of the servo motor is connected with the lead screw, the two movable supports are symmetrically mounted on the guide rods, and the two movable supports are slidably connected with;
an X-axis displacement device: the X-axis displacement device comprises two groups of linear motors and guide rails, the guide rails are fixed on two movable supports on different guide rods through screws, and the linear motors are arranged on the guide rails;
and (3) reversing the U-shaped plate: the inverted U-shaped plate is installed at the top end of the linear motor, fixture installation grooves are uniformly formed in the top end of the inverted U-shaped plate, and clamping devices are installed in the fixture installation grooves;
the input ends of the servo motor and the linear motor are electrically connected with the output end of the external single chip microcomputer.
Further, clamping device includes splint and slide, the slide is installed in the anchor clamps mounting groove, just splint are fixed on the slide, and splint can dismantle the change at will, are convenient for centre gripping different shapes and the work piece of size, increase equipment's application scope.
Further, still include spring and straight-bar, the straight-bar is connected with the slide with the inner wall horizontal sliding of anchor clamps mounting groove, the one end and the slide of straight-bar are connected, and the other end of straight-bar is connected with the limiting plate, the spring cup joints in the side of straight-bar, and is located between the inner wall of slide and anchor clamps mounting groove, the side of slide is equipped with the draw runner, be equipped with the spout on the inner wall of anchor clamps mounting groove, draw runner and spout sliding connection utilize the spring structure, can reduce the impact force at the centre gripping in-process, prolong the life of equipment.
Further, still include travel switch, travel switch installs on the anchor clamps mounting groove inner wall with straight-bar sliding connection, and travel switch's output is connected with the input electricity of outside singlechip, and travel switch can be when the centre gripping work piece, fully detect whether the centre gripping, when avoiding appearing not centre gripping work piece, and stamping equipment damages the occurence of failure of manipulator.
Further, still include the round bar, the round bar is installed in the both sides of guide rail, the bottom and two round bar sliding connection of the template of falling the U, the round bar can improve the fixed stability of the template of falling the U, improves linear electric motor's life.
Compared with the prior art, the beneficial effects of the utility model are that: this quadratic element transfers manipulator has following advantage:
this manipulator is transferred to quadratic element can carry out quick centre gripping to a plurality of work pieces, and realize transferring in certain direction, be favorable to improving the efficiency of punching press technology, utilize the lead screw principle to control the closure between the splint, press from both sides the work piece and get, distance between two splint of control that can be accurate, avoid appearing crushing the work piece or damaging the splint and the occurence of failure, be equipped with straight-bar and spring on the slide, can cushion the impact force when contacting with the work piece, alleviate the damage that receives at high-speed punching press in-process equipment, improve equipment's life, the relation of connection between each part of equipment is simple, be convenient for dismantle and install, and holistic simple structure, conveniently fix, splint can be changed, can be applicable to the work piece use of different size different shapes, the application scope of manipulator is transferred in the improvement.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of the local enlarged structure at a position of the present invention.
In the figure: the device comprises a 1 round rod, a 2X axis displacement device, a 21 linear motor, a 22 guide rail, a 3Y axis displacement device, a 31U-shaped plate, a 32 lead screw, a 33 guide rod, a 34 movable support, a 35 servo motor, a 4 fixed seat, a 5 clamping device, a 51 clamping plate, a 52 sliding plate, a 53 spring, a 54 straight rod, a 55 travel switch, a 6 inverted U-shaped plate and a 7 clamp installation groove.
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.
Referring to fig. 1-2, the present invention provides a technical solution: a two-dimensional transfer manipulator comprises a Y-axis displacement device 3, an X-axis displacement device 2 and an inverted U-shaped plate 6;
y-axis displacement device 3: the Y-axis displacement device 3 comprises two groups of U-shaped plates 31, a lead screw 32, guide rods 33, movable supports 34 and a servo motor 35, the Y-axis displacement device 3 is provided with two groups, a fixed seat 4 is arranged at the bottom end of each U-shaped plate 31, a mounting hole is formed in each fixed seat 4, the two U-shaped plates 31 can be fixed at a proper position by using the fixed seats 4, a manipulator is conveniently fixed, the lead screw 32 and the guide rods 33 are parallelly installed on the inner wall of each U-shaped plate 31, the lead screw 32 is rotatably connected with the U-shaped plates 31, the screw threads at two ends of the lead screw 32 are opposite in rotation direction, the lead screws 32 with opposite rotation directions can drive the two movable supports 34 to be close to or far away from each other when rotating, the servo motor 35 is installed on the outer side face of each U-shaped plate 31, the output shaft of the servo motor 35 is connected with the lead screw 32, the Y-axis displacement device 3 is arranged, so that material grabbing and discharging operations can be realized, the servo motor 35 is started, an output shaft of the servo motor 35 drives the screw rod 32 to rotate, and the two movable supports 34 are driven to approach or leave along the guide rod 33;
the X-axis displacement device 2: the X-axis displacement device 2 comprises a linear motor 21 and guide rails 22, the X-axis displacement device 2 is provided with two groups, the guide rails 22 are fixed on two movable brackets 34 positioned on different guide rods 33 through screws and can move along with the movement of the two movable brackets 34, the linear motor 21 is installed on the guide rails 22, and the linear motor 21 can move along the guide rails 22;
an inverted U-shaped plate 6: the inverted U-shaped plate 6 is arranged at the top end of the linear motor 21, the mechanical arm further comprises round rods 1, the round rods 1 are arranged at two sides of the guide rail 22, the bottom end of the inverted U-shaped plate 6 is connected with the two round rods 1 in a sliding mode, the round rods 1 can support the inverted U-shaped plate 6 to prevent the linear motor 21 from being damaged after being stressed, the service life of the linear motor 21 can be prolonged, loss in the high-speed moving process of a stamping process is reduced, clamp mounting grooves 7 are uniformly formed in the top end of the inverted U-shaped plate 6, clamping devices 5 are arranged in the clamp mounting grooves 7, each clamping device 5 comprises a clamping plate 51 and a sliding plate 52, each sliding plate 52 is arranged in each clamp mounting groove 7, each clamping plate 51 is fixed on each sliding plate 52, the shape of each clamping plate 51 can be selected according to the type of a workpiece, the application range of the mechanical arm can, the straight rod 54 is connected with the inner wall of the fixture mounting groove 7 in a left-right sliding manner, one end of the straight rod 54 is connected with the sliding plate 52, the other end of the straight rod 54 is connected with the limiting plate, the spring 53 is sleeved on the side surface of the straight rod 54 and is positioned between the sliding plate 52 and the inner wall of the fixture mounting groove 7, the side surface of the sliding plate 52 is provided with a sliding strip, the inner wall of the fixture mounting groove 7 is provided with a sliding groove, the sliding strip is connected with the sliding groove in a sliding manner, the spring 53 can be extruded after the clamping plate 51 contacts with a workpiece, the pressure is buffered, the service life of the clamping plate and each device can be prolonged in a stamping process of high-speed movement, the stamping device further comprises a travel switch 55, the travel switch 55 is arranged on the inner wall of the fixture mounting groove 7 connected with the straight rod 54 in a sliding manner, the output, the contact of the travel switch 55 is closed, and the information is transmitted to an external singlechip and is used for detecting whether the workpiece is fixed;
wherein, the input ends of the servo motor 35 and the linear motor 21 are electrically connected with the output end of the external singlechip.
When in use: the servo motor 35 is started, an output shaft of the servo motor 35 drives the screw rod 32 to rotate, and further drives the two movable supports 34 to slide along the guide rod 33, the two movable supports 34 approach each other, the two movable supports 34 drive the two guide rails 22 and the inverted U-shaped plate 6 to approach slowly, then the clamping plates 51 on the two sides contact with the workpiece and extrude the spring 53, the sliding plate 52 and the straight rod 54 slide in the direction away from the workpiece, the sliding plate 52 extrudes the travel switch 55, the contact of the travel switch 55 is closed, information is transmitted to the external single chip microcomputer, the servo motor 35 stops rotating at the moment to complete clamping of the workpiece, then the linear motor 21 is controlled to move on the guide rails 22 to change the position of the workpiece, and the blanking principle is opposite to the clamping principle of the.
It should be noted that the preferred model of the servo motor 35 disclosed in this embodiment is ISMG1-30D15CD-R131FA, the preferred model of the linear motor 21 is KYFS5002, the preferred model of the travel switch 55 is LXKI9-111, and the external single chip microcomputer controls the servo motor 35 and the linear motor 21 to work by a method commonly used in the prior art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A two-dimensional transfer manipulator is characterized in that: comprises a Y-axis displacement device (3), an X-axis displacement device (2) and an inverted U-shaped plate (6);
y-axis displacement device (3): the Y-axis displacement device (3) comprises a U-shaped plate (31), a lead screw (32), guide rods (33), movable supports (34) and a servo motor (35), the Y-axis displacement device (3) is provided with two groups, the bottom end of the U-shaped plate (31) is provided with a fixed seat (4), the fixed seat (4) is provided with a mounting hole, the lead screw (32) and the guide rods (33) are parallelly mounted on the inner wall of the U-shaped plate (31), the lead screw (32) is rotatably connected with the U-shaped plate (31), the screw thread rotating directions of two ends of the lead screw (32) are opposite, the servo motor (35) is mounted on the outer side surface of the U-shaped plate (31), the output shaft of the servo motor (35) is connected with the lead screw (32), the movable supports (34) are provided with two, the two movable supports (34) are symmetrically mounted on the guide rods (33), and the two movable supports (34) are slidably connected, and is connected with the screw rod (32) by screw thread;
x-axis displacement device (2): the X-axis displacement device (2) comprises linear motors (21) and guide rails (22), two groups of X-axis displacement devices (2) are arranged, the guide rails (22) are fixed on two movable supports (34) positioned on different guide rods (33) through screws, and the linear motors (21) are arranged on the guide rails (22);
an inverted U-shaped plate (6): the inverted U-shaped plate (6) is installed at the top end of the linear motor (21), fixture installation grooves (7) are uniformly formed in the top end of the inverted U-shaped plate (6), and clamping devices (5) are installed in the fixture installation grooves (7);
the input ends of the servo motor (35) and the linear motor (21) are electrically connected with the output end of the external singlechip.
2. A two-dimensional transfer robot as defined in claim 1, wherein: clamping device (5) include splint (51) and slide (52), slide (52) are installed in anchor clamps mounting groove (7), just splint (51) are fixed on slide (52).
3. A two-dimensional transfer robot as defined in claim 2, wherein: still include spring (53) and straight-bar (54), the inner wall horizontal sliding connection of straight-bar (54) and anchor clamps mounting groove (7), the one end and slide (52) of straight-bar (54) are connected, and the other end of straight-bar (54) is connected with the limiting plate, spring (53) cup joint in the side of straight-bar (54), and lie in between the inner wall of slide (52) and anchor clamps mounting groove (7), the side of slide (52) is equipped with the draw runner, be equipped with the spout on the inner wall of anchor clamps mounting groove (7), draw runner and spout sliding connection.
4. A two-dimensional transfer robot as defined in claim 3, wherein: the clamp is characterized by further comprising a travel switch (55), wherein the travel switch (55) is installed on the inner wall of the clamp installation groove (7) in sliding connection with the straight rod (54), and the output end of the travel switch (55) is electrically connected with the input end of an external single chip microcomputer.
5. A two-dimensional transfer robot as defined in claim 1, wherein: still include round bar (1), the both sides at guide rail (22) are installed in round bar (1), the bottom and two round bar (1) sliding connection of the type of falling U board (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922203169.8U CN211218390U (en) | 2019-12-11 | 2019-12-11 | Manipulator is transferred to quadratic element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922203169.8U CN211218390U (en) | 2019-12-11 | 2019-12-11 | Manipulator is transferred to quadratic element |
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| Publication Number | Publication Date |
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| CN211218390U true CN211218390U (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922203169.8U Active CN211218390U (en) | 2019-12-11 | 2019-12-11 | Manipulator is transferred to quadratic element |
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| CN (1) | CN211218390U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116493502A (en) * | 2023-06-25 | 2023-07-28 | 成都宏明双新科技股份有限公司 | Flexible feeding device and method for stamping battery pole |
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2019
- 2019-12-11 CN CN201922203169.8U patent/CN211218390U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116493502A (en) * | 2023-06-25 | 2023-07-28 | 成都宏明双新科技股份有限公司 | Flexible feeding device and method for stamping battery pole |
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Effective date of registration: 20240218 Address after: 266300 800 meters north of laifuzhuang, Jiulong sub district office, Jiaozhou City, Qingdao City, Shandong Province Patentee after: Qingdao Jiale Intelligent Automation Technology Co.,Ltd. Country or region after: China Address before: 215000 groups 11 and 12, Youyi village, Songling Town, Wujiang District, Suzhou City, Jiangsu Province Patentee before: SUZHOU KESHUANG INTELLIGENT TECHNOLOGY CO.,LTD. Country or region before: China |