CN212794962U - Robot type manipulator for conveying sheet metal parts - Google Patents
Robot type manipulator for conveying sheet metal parts Download PDFInfo
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- CN212794962U CN212794962U CN202021786339.6U CN202021786339U CN212794962U CN 212794962 U CN212794962 U CN 212794962U CN 202021786339 U CN202021786339 U CN 202021786339U CN 212794962 U CN212794962 U CN 212794962U
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- sheet metal
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- adsorption plate
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Abstract
The utility model relates to a robot type manipulator for conveying sheet metal component belongs to the sheet metal working field, and it includes the base, it is connected with the arm to rotate on the base, be provided with in the base and order about the rotatory slewing mechanism of arm, the one end that the base was kept away from to the arm is provided with vacuum adsorption mechanism, vacuum adsorption mechanism includes the adsorption plate, be provided with the sucking disc on the adsorption plate, the sucking disc is the matrix on the adsorption plate and is provided with the multiunit, the adsorption plate inner chamber is provided with the exhaust passage with the sucking disc intercommunication, be provided with the blast pipe with the exhaust passage intercommunication on the adsorption plate, the blast pipe is connected with the vacuum pump. This application has the effect that reduces the damage of transfer in-process manipulator to the sheet metal component.
Description
Technical Field
The application relates to the field of sheet metal machining, in particular to a robot type manipulator for conveying sheet metal parts.
Background
At present, the processing manipulator becomes one of the indispensable equipment in the panel beating processing equipment, in panel beating shaping automatic production line, need use the manipulator to replace the manpower and transmit the work piece between different processes, promotes work efficiency.
Patent of No. CN207447170U discloses a panel beating processing manipulator, including lower base, the top of base is provided with the stand down, the top of stand is fixed with swivel seat, the arm is installed to the top of swivel seat, one side of arm is provided with the hydraulic pump, one side of hydraulic pump is provided with the protective housing, the inside of protective housing is provided with the hydraulic stem, the one end of hydraulic stem is connected with the gripper, the side below of arm is fixed with the lift slide bar, the inside of base is provided with the hydraulic tank down, the hydraulic stem can drive gripper work when using, make the gripper carry out the centre gripping to panel.
To the correlation technique among the above-mentioned, the inventor thinks orders about the gripper through the hydraulic stem when carrying out the centre gripping to the sheet metal component, because the sheet metal component is mostly the sheet metal, easily leads to the sheet metal component to produce the crushing deformation in the centre gripping process.
SUMMERY OF THE UTILITY MODEL
In order to reduce the damage of manipulator to the sheet metal component among the transmission process, this application provides a robot formula manipulator for conveying sheet metal component.
The application provides a robot type manipulator for conveying sheet metal component adopts following technical scheme:
the utility model provides a robot type manipulator for conveying sheet metal component, includes the base, it is connected with the arm to rotate on the base, be provided with the slewing mechanism who orders about the arm rotation in the base, the one end that the base was kept away from to the arm is provided with vacuum adsorption mechanism, vacuum adsorption mechanism includes the adsorption plate, be provided with the sucking disc on the adsorption plate, the sucking disc is the matrix on the adsorption plate and is provided with the multiunit, the adsorption plate inner chamber is provided with the exhaust passage with the sucking disc intercommunication, be provided with the blast pipe with the exhaust passage intercommunication on the adsorption plate, the blast pipe is connected with the vacuum pump.
Through adopting above-mentioned technical scheme, when the transmission sheet metal component, slewing mechanism orders about the arm rotatory, make the vacuum adsorption mechanism on the arm aim at the sheet metal component, the sucking disc pastes and leans on at the sheet metal component upper surface, then start the vacuum pump, the gas in the vacuum pump extraction sucking disc, make the sucking disc tightly adsorb on the sheet metal component, then order about the arm rotation through slewing mechanism once more, and then drive the sheet metal component and remove, carry out the centre gripping to the sheet metal component through vacuum adsorption's mode, can reduce the damage of manipulator to the sheet metal component among the transmission process.
Preferably, the arm includes support arm and the flexible arm of sliding connection on the support arm, the one end of support arm is kept away from at flexible arm to the vacuum adsorption mechanism setting, be provided with first lead screw along length direction on the support arm, first lead screw and flexible arm threaded connection, be provided with the first motor of being connected with first lead screw transmission on the support arm.
Through adopting above-mentioned technical scheme, first motor can drive first lead screw and rotate, and then drives flexible arm and slide along the support arm, realizes the extension of arm and shortens, makes the arm can stretch out and draw back in rotatory to avoid the barrier, application scope is wider, can adapt to the synchronous working environment in the actual processing production.
Preferably, the adsorption plate is provided with a threaded hole communicated with the exhaust channel, and the sucker is in threaded fit with the threaded hole.
Through adopting above-mentioned technical scheme, can pull down the sucking disc of single damage when the sucking disc takes place to damage and change, need not to change whole vacuum adsorption mechanism, it is comparatively convenient during the use, when having the plane of highly nonconformity on the sheet metal component simultaneously, can correspond the sucking disc of changing different length, adsorption effect is better.
Preferably, the threaded hole of sheet metal component in the projection area on the adsorption plate is connected with the sucking disc, lies in the outer threaded hole threaded connection of projection area and seals up the jam.
Through adopting above-mentioned technical scheme, can install the corresponding sucking disc according to the shape of sheet metal component at the during operation to the sucking disc that will not contact the sheet metal component is changed for the shutoff head, can reduce in the outside gas gets into the adsorption plate, can reduce the power of vacuum pump under the circumstances of guaranteeing the adsorption effect, reduces the energy consumption.
Preferably, the end of the blocking plug far away from the adsorption plate is provided with a buffer pad.
Through adopting above-mentioned technical scheme, when vacuum adsorption mechanism removed on the sheet metal component, the blotter can cushion, avoids the distance undersize between adsorption plate and the sheet metal component to lead to the sucking disc to be damaged.
Preferably, the base is provided with a stand column, the mechanical arm is arranged on the stand column, the rotating mechanism comprises a third motor arranged on the base, and the third motor is in transmission connection with the stand column through a gear transmission mechanism.
Through adopting above-mentioned technical scheme, the third motor can drive the stand rotation through gear drive mechanism, and then drives the arm and rotate.
Preferably, the third motor is horizontally arranged, an output shaft of the third motor is provided with a first bevel gear, and the bottom end of the upright post is provided with a second bevel gear meshed with the first bevel gear.
Through adopting above-mentioned technical scheme, the meshing through first bevel gear and second bevel gear can convert the rotation of horizontal direction into the rotation of vertical direction, and third motor horizontal installation is on the base, and stability is better.
Preferably, a chute is formed in the vertical direction of the stand column, the mechanical arm is connected in the chute in a sliding mode, a second motor is arranged on the stand column, an output shaft of the second motor is connected with a second lead screw which is vertically arranged, and the mechanical arm is connected to the second lead screw in a threaded mode.
Through adopting above-mentioned technical scheme, the second motor can drive the second lead screw rotatory, and then drives mechanical arm support and along the vertical removal of lead screw, makes vacuum adsorption mechanism lift thereupon to get to put to the sheet metal component on the not co-altitude workstation.
In summary, the present application includes at least one of the following beneficial technical effects:
by arranging the vacuum adsorption mechanism, the sheet metal part is clamped in a vacuum adsorption mode, so that the damage of the manipulator to the sheet metal part in the transfer process can be reduced;
through with flexible arm sliding connection on the support arm to drive through first motor and first lead screw, can make the arm can stretch out and draw back in the rotatory while, in order to avoid the barrier.
Drawings
FIG. 1 is a front view of a robotic manipulator for transferring sheet metal parts in accordance with an embodiment of the present application;
FIG. 2 is a schematic view of the rotating mechanism of FIG. 1;
FIG. 3 is a schematic view of the telescopic arm of FIG. 1;
FIG. 4 is a schematic structural view of the vacuum adsorption mechanism of FIG. 1;
fig. 5 is a schematic sectional structure view of the adsorption plate in fig. 4.
Description of reference numerals: 1. a base; 2. a column; 3. a rotating mechanism; 31. a third motor; 32. a first bevel gear; 33. a second bevel gear; 4. a vacuum adsorption mechanism; 41. an adsorption plate; 42. an exhaust pipe; 43. a vacuum pump; 5. a mechanical arm; 51. a support arm; 52. a telescopic arm; 53. a first lead screw; 54. a guide groove; 55. a first motor; 6. a chute; 7. a second motor; 8. a second lead screw; 9. an exhaust passage; 10. a threaded hole; 11. a suction cup; 12. blocking; 13. a cushion pad.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
The embodiment of the application discloses a robot manipulator for conveying sheet metal parts, and referring to fig. 1,
including base 1, the last rotation of base 1 is connected with stand 2 to be provided with the slewing mechanism 3 that drives stand 2 rotation, there is arm 5 along vertical direction sliding connection on stand 2, and the one end that stand 2 was kept away from to arm 5 is provided with vacuum adsorption mechanism 4.
Referring to fig. 2, the rotating mechanism 3 includes a third motor 31 horizontally fixed on the base 1, the third motor 31 is in transmission connection with the upright 2 through a gear transmission mechanism, a bearing is arranged between the upright 2 and the base 1, the gear transmission mechanism includes a first bevel gear 32 arranged on an output shaft of the third motor 31, and a second bevel gear 33 engaged with the first bevel gear 32 is coaxially fixed at the bottom end of the upright 2.
When the third motor 31 is connected to an external power source, the first bevel gear 32 is driven to rotate, and the first bevel gear 32 drives the upright post 2 to rotate through meshing with the second bevel gear 33.
Referring to fig. 3, the mechanical arm 5 includes a support arm 51 slidably connected to the column 2 along the vertical direction, a telescopic arm 52 slidably connected to the support arm 51 along the horizontal direction, the vacuum adsorption mechanism 4 is disposed at one end of the telescopic arm 52 far away from the support arm 51, a first lead screw 53 is disposed on the support arm 51 along the length direction, the first lead screw 53 is in threaded connection with the telescopic arm 52, and a first motor 55 coaxially connected to the first lead screw 53 is disposed on the support arm 51.
The support arm 51 is provided with a guide groove 54 arranged in parallel with the first lead screw 53, and the telescopic arm 52 is slidably connected in the guide groove 54.
When the first motor 55 is switched on and started by an external power supply, the first lead screw 53 is driven to rotate, the first lead screw 53 drives the telescopic arm 52 to slide along the support arm 51 through threaded fit, and the guide groove 54 guides the telescopic arm 52 to prevent the telescopic arm 52 from deflecting.
The stand 2 is gone up and has been seted up spout 6 along vertical direction, and support arm 51 sliding connection is in spout 6, and 2 top fixed mounting of stand have the second motor 7 of vertical setting, and second motor 7 output shaft coaxial coupling has the second lead screw 8 of vertical setting, and support arm 51 threaded connection is on second lead screw 8, and support arm 51's both sides and 6 two vertical lateral walls of spout slip butt.
When the second motor 7 is switched on and started by an external power supply, the second screw rod 8 is driven to rotate, the second screw rod 8 drives the supporting arm 51 to vertically slide along the sliding groove 6 through threaded fit, and the lifting of the supporting arm 51 is realized.
Referring to fig. 4, the vacuum adsorption mechanism 4 includes an adsorption plate 41 horizontally disposed, an exhaust pipe 42 is disposed on an upper surface of the adsorption plate 41, a vacuum pump 43 is disposed at an end of the exhaust pipe 42 away from the adsorption plate 41, and the vacuum pump 43 is disposed on the base 1 and connected to an external power source through a power line.
Referring to fig. 5, an exhaust passage 9 is formed in an inner cavity of the adsorption plate 41, the exhaust passage 9 communicates with the exhaust pipe 42, threaded holes 10 communicating with the exhaust passage 9 are formed in a lower surface of the adsorption plate 41, and the threaded holes 10 are arranged in a matrix. The threaded hole 10 of the sheet metal part in the projection area on the adsorption plate 41 is connected with a sucker 11, and the threaded hole 10 outside the projection area is connected with a plug 12 in a threaded manner.
The air in the sucking disc 11 is extracted when the vacuum pump 43 starts, so that the sucking disc 11 is tightly adsorbed on the sheet metal part, and the plugging part can reduce the external gas entering the adsorption plate 41, so that the adsorption of the sucking disc 11 on the sheet metal part is more stable.
The end of the sealing plug 12 away from the adsorption plate 41 is provided with a buffer pad 13, and the buffer pad 13 is made of rubber and fixed on the sealing plug 12 by gluing.
The implementation principle of the robot type manipulator for conveying the sheet metal part in the embodiment of the application is as follows: when the sheet metal part is transferred, the upright post 2 is driven to rotate through the rotating mechanism 3, and then the mechanical arm 5 is driven to rotate; then, the second motor 7 drives the second screw rod 8 to rotate, and the second screw rod 8 drives the support arm 51 to vertically slide along the chute 6 through thread fit, so that the support arm 51 is lifted; and then the first screw 53 is driven to rotate by the first motor 55, the first screw 53 drives the telescopic arm 52 to slide along the supporting arm 51 through screw-thread fit, the stretching of the mechanical arm 5 is realized, the vacuum adsorption mechanism 4 on the mechanical arm 5 can be aligned to the sheet metal part, and finally the sheet metal part is adsorbed by the vacuum adsorption mechanism 4.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. The utility model provides a robot type manipulator for conveying sheet metal component, includes base (1), it is connected with arm (5) to rotate on base (1), be provided with in base (1) and order about slewing mechanism (3) that arm (5) are rotatory, its characterized in that: one end that base (1) was kept away from in arm (5) is provided with vacuum adsorption mechanism (4), vacuum adsorption mechanism (4) are including adsorption plate (41), be provided with sucking disc (11) on adsorption plate (41), sucking disc (11) are the matrix on adsorption plate (41) and are provided with the multiunit, adsorption plate (41) inner chamber is provided with exhaust passage (9) with sucking disc (11) intercommunication, be provided with blast pipe (42) with exhaust passage (9) intercommunication on adsorption plate (41), blast pipe (42) are connected with vacuum pump (43).
2. A robotic manipulator for conveying sheet metal parts, as claimed in claim 1, characterized in that: arm (5) are including support arm (51) and sliding connection telescopic boom (52) on the support arm, vacuum adsorption mechanism (4) set up the one end of keeping away from the support arm in telescopic boom (52), be provided with first lead screw (53) along length direction on the support arm, first lead screw (53) and telescopic boom (52) threaded connection, be provided with first motor (55) of being connected with first lead screw (53) transmission on the support arm.
3. A robotic manipulator for conveying sheet metal parts, as claimed in claim 1, characterized in that: the adsorption plate (41) is provided with a threaded hole (10) communicated with the exhaust channel (9), and the connecting pipe of the sucker (11) is in threaded fit with the threaded hole (10).
4. A robotic manipulator for conveying sheet metal parts as claimed in claim 3, characterized in that: the screw hole (10) of the sheet metal component in the projection area on the adsorption plate (41) is connected with a sucker (11), and the screw hole (10) outside the projection area is connected with a sealing plug (12).
5. A robotic manipulator for conveying sheet metal parts, as claimed in claim 4, characterized in that: and a buffer pad (13) is arranged at one end of the sealing plug (12) far away from the adsorption plate (41).
6. A robotic manipulator for conveying sheet metal parts, as claimed in claim 1, characterized in that: the automatic feeding mechanism is characterized in that a stand column (2) is arranged on the base (1), the mechanical arm (5) is arranged on the stand column (2), the rotating mechanism (3) comprises a third motor (31) arranged on the base (1), and the third motor (31) is in transmission connection with the stand column (2) through a gear transmission mechanism.
7. A robotic manipulator for conveying sheet metal parts, as claimed in claim 6, characterized in that: the third motor (31) is horizontally arranged, a first bevel gear (32) is arranged on an output shaft of the third motor (31), and a second bevel gear (33) meshed with the first bevel gear (32) is arranged at the bottom end of the upright post (2).
8. A robotic manipulator for conveying sheet metal parts, as claimed in claim 7, characterized in that: the vertical shaft is characterized in that a sliding groove (6) is formed in the vertical direction on the stand column (2), the mechanical arm (5) is connected into the sliding groove (6) in a sliding mode, a second motor (7) is arranged on the stand column (2), an output shaft of the second motor (7) is connected with a vertically arranged second screw rod (8), and the mechanical arm (5) is connected onto the second screw rod (8) in a threaded mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021786339.6U CN212794962U (en) | 2020-08-24 | 2020-08-24 | Robot type manipulator for conveying sheet metal parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021786339.6U CN212794962U (en) | 2020-08-24 | 2020-08-24 | Robot type manipulator for conveying sheet metal parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212794962U true CN212794962U (en) | 2021-03-26 |
Family
ID=75085038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021786339.6U Expired - Fee Related CN212794962U (en) | 2020-08-24 | 2020-08-24 | Robot type manipulator for conveying sheet metal parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212794962U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229462A (en) * | 2021-12-17 | 2022-03-25 | 张毅 | Sheet metal component piles up strorage device |
| CN115534279A (en) * | 2022-10-17 | 2022-12-30 | 苏州博大永旺新材股份有限公司 | Multi-dimensional adjustable negative pressure mechanical arm and discharging system |
-
2020
- 2020-08-24 CN CN202021786339.6U patent/CN212794962U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229462A (en) * | 2021-12-17 | 2022-03-25 | 张毅 | Sheet metal component piles up strorage device |
| CN114229462B (en) * | 2021-12-17 | 2024-03-08 | 张毅 | Sheet metal part stacking and storing device |
| CN115534279A (en) * | 2022-10-17 | 2022-12-30 | 苏州博大永旺新材股份有限公司 | Multi-dimensional adjustable negative pressure mechanical arm and discharging system |
| CN115534279B (en) * | 2022-10-17 | 2023-09-22 | 苏州博大永旺新材股份有限公司 | Multi-dimensional adjustable negative pressure mechanical arm and discharging system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210326 |
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| CF01 | Termination of patent right due to non-payment of annual fee |