CN220807462U - Toggle rod type mechanical arm balancing device - Google Patents
Toggle rod type mechanical arm balancing device Download PDFInfo
- Publication number
- CN220807462U CN220807462U CN202322622325.0U CN202322622325U CN220807462U CN 220807462 U CN220807462 U CN 220807462U CN 202322622325 U CN202322622325 U CN 202322622325U CN 220807462 U CN220807462 U CN 220807462U
- Authority
- CN
- China
- Prior art keywords
- swing arm
- cross beam
- double
- separating device
- piece separating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Abstract
The utility model belongs to the technical field of automatic production lines of large stamping parts in automobiles, and relates to a toggle rod type mechanical arm balancing device which comprises a cross beam, a balancing component and a first swing arm, wherein the balancing component is arranged above the cross beam through a bracket, the first swing arm is connected with the balancing component and the cross beam at the same time, one end of the first swing arm is rotationally connected with the balancing component through a connecting seat, a sliding module is arranged between one side of the other end of the first swing arm and the cross beam, the other side of the first swing arm is slidingly connected with a feeding shaft, the feeding shaft is rotationally connected with a second swing arm, the second swing arm is rotationally connected with a double-piece separating device through a tail end rotating shaft, and the double-piece separating device comprises a left double-piece separating device and a right double-piece separating device which are symmetrically arranged on two sides of the tail end rotating shaft. Compared with the traditional special stamping robots (connecting rod manipulators, linear manipulators and the like), the utility model has higher carrying efficiency (maximum 18 times/min), smoother running current and smaller impact on a power grid; meanwhile, the motor utilization rate is better, and the carrying efficiency is higher.
Description
Technical Field
The utility model belongs to the technical field of automatic production lines of large stamping parts in automobiles, and particularly relates to a toggle rod type mechanical arm balancing device.
Background
Along with the development of the stamping production line, the stamping production line with manual feeding and discharging is gradually eliminated, and the full-automatic stamping line with the robot is developed in the 21 st century, so that the labor is well liberated, and the production line efficiency and the quality of parts are improved.
Robots currently mainly used in the field of automated production lines of large stamping parts in automobiles are: six joint standard industrial robot and special stamping robot (toggle lever manipulator, connecting rod manipulator, sharp robot etc.), the transport efficiency of robot directly influences the beat of production line, six joint standard industrial robot production line efficiency 8-13 times/min, and special robot's efficiency can be higher, and this design is mainly in order to improve the transport efficiency of toggle lever manipulator.
Disclosure of utility model
The utility model aims to improve the conveying efficiency of a toggle rod type manipulator, and designs a toggle rod type manipulator balancing device which is used for improving the running speed of the toggle rod type manipulator so as to improve the conveying efficiency, and aims to improve the efficiency of an automatic production line of large stamping parts in an automobile to 18 times/min.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the utility model provides a toggle lever formula manipulator balancing unit, includes the crossbeam, sets up the balance assembly in the crossbeam top and the first swing arm that is connected with balance assembly and crossbeam simultaneously through the support, first swing arm one end is rotated through the connecting seat and is connected on balance assembly, sets up sliding module between one side and the crossbeam of the other end, opposite side sliding connection pay-off axle, the pay-off axle rotates with the second swing arm to be connected, and the second swing arm passes through terminal rotation axis and rotates and connect two separator.
Preferably, the balance assembly comprises a rocker arm, one end of the rocker arm is connected with a first servo motor, a planetary reducer is further arranged between the first servo motor and the rocker arm, the other end of the rocker arm is connected with a connecting seat through a bearing seat, and a bearing is arranged between the bearing seat and the rocker arm.
Preferably, the sliding module comprises a transverse sliding block capable of sliding left and right along the cross beam and a rotating block capable of sliding up and down along the first swing arm, and the rotating block is installed on the transverse sliding block through a crossed roller bearing.
Preferably, the transverse sliding block is arranged on a synchronous belt of the cross beam, and two ends of the synchronous belt are respectively connected with the second servo motor and the third servo motor.
Preferably, the cross beam is provided with a first linear guide rail which is in sliding fit with the transverse sliding block.
Preferably, the first swing arm is provided with a second linear guide rail in sliding fit with the rotary slide block.
Preferably, the double-piece separating device comprises a left double-piece separating device and a right double-piece separating device which are symmetrically arranged at two sides of the tail end rotating shaft.
After the technical scheme is adopted, the toggle rod type manipulator balancing device provided by the utility model has the following beneficial effects:
Compared with the traditional special stamping robots (connecting rod manipulators, linear manipulators and the like), the toggle rod manipulator with the balance assembly has higher carrying efficiency (maximum 18 times/min), smoother running current and smaller impact on a power grid; meanwhile, compared with a toggle rod type mechanical flashlight machine without the balance component, the toggle rod type mechanical hand with the balance component has better utilization rate and higher carrying efficiency.
Drawings
FIG. 1 is a schematic view of a balance device for a toggle lever type manipulator according to the present utility model;
FIG. 2 is a schematic diagram of a balance assembly according to the present utility model;
FIG. 3 is a schematic diagram of a balance assembly according to a second embodiment of the present utility model;
FIG. 4 is a schematic view of the structure of the cross beam of the present utility model;
Fig. 5 is a schematic structural view of a first swing arm in the present utility model.
Wherein: the balance assembly 1, a first swing arm 2, a traversing slide block 3, a rotating slide block 4, a feeding shaft 5, a second swing arm 6, a left double-piece separating device 7, a tail end rotating shaft 8, a right double-piece separating device 9, a rocker arm 10, a connecting seat 11, a first servo motor 12, a planetary reducer 13, a bearing 14, a bearing seat 15, a second servo motor 16, a third servo motor 17, a cross beam 18, a synchronous belt 19, a first linear guide 20, a second linear guide 21 and a crossed roller bearing 22.
Detailed Description
The present utility model now will be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the utility model are shown, and in which embodiments of the utility model are shown, by way of illustration only, and not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.
The utility model relates to a toggle rod type mechanical arm balancing device, which is shown in figures 1-5, and comprises a cross beam 18, a balancing component 1 arranged above the cross beam 18 through a bracket, and a first swing arm 2 connected with the balancing component 1 and the cross beam 18 at the same time, wherein one end of the first swing arm 2 is rotationally connected to the balancing component 1 through a connecting seat 11, a sliding module is arranged between one side of the other end and the cross beam 18, the other side is slidingly connected with a feeding shaft 5, namely the feeding shaft 5 can slide up and down along the first swing arm 2, the feeding shaft 5 is rotationally connected with a second swing arm 6, the second swing arm 6 is rotationally connected with a double-piece separating device through a tail end rotating shaft 8, and the double-piece separating device comprises a left double-piece separating device 7 and a right double-piece separating device 9 which are symmetrically arranged at two sides of the tail end rotating shaft 8.
The balance assembly 1 comprises a rocker arm 10, one end of the rocker arm 10 is connected with a first servo motor 12, a planetary reducer 13 is further arranged between the first servo motor 12 and the rocker arm 10, the other end of the rocker arm 10 is connected with a connecting seat 11 through a bearing seat 15, a bearing 14 is arranged between the bearing seat 15 and the rocker arm 10, and the connecting seat 11 can rotate freely.
The sliding module comprises a transverse sliding block 3 capable of sliding left and right along a cross beam 18 and a rotating block 4 capable of sliding up and down along a first swing arm 2, the rotating block 4 is mounted on the transverse sliding block 3 through a cross roller bearing 22, the transverse sliding block 3 is mounted on a synchronous belt 19 of the cross beam 18, two ends of the synchronous belt 19 are respectively connected with a second servo motor 16 and a third servo motor 17, the synchronous belt 19 is driven by the second servo motor 16 and the third servo motor 17 to drive the transverse sliding block 3 to move left and right, further, a first linear guide rail 20 in sliding fit with the transverse sliding block 3 is arranged on the cross beam 18, a second linear guide rail 21 in sliding fit with the rotating block 4 is arranged on the first swing arm 2, and left and right swinging of the first swing arm 2 can be realized when the first servo motor 12, the second servo motor 16 and the third servo motor 17 are driven together.
When the toggle rod type mechanical arm balancing device is used, the left double-piece separating device 7 and the right double-piece separating device 9 which are arranged on the tail end rotating shaft 8 are responsible for sucking stamping parts, the whole set of toggle rod type mechanical arm system is responsible for conveying the stamping parts from an upstream stamping station to a downstream stamping station, the process directly influences the production efficiency of an automatic stamping line, the force increasing capability of a lever and a connecting rod system with multiple degrees of freedom are skillfully utilized, and the dynamic response capability and the running speed of the mechanical arm are improved by optimizing the coordination curves among the first servo motor 12, the second servo motor 16 and the third servo motor 17.
In summary, compared with the traditional special stamping robots (connecting rod manipulators, linear manipulators and the like), the toggle rod type manipulator balancing device provided by the utility model has higher carrying efficiency (maximum 18 times/min), smoother running current and smaller impact on a power grid; meanwhile, the motor has better utilization rate and higher carrying efficiency, has great market value and is worthy of wide popularization and application.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (7)
1. The utility model provides a toggle lever formula manipulator balancing unit, includes crossbeam (18), sets up balance assembly (1) in crossbeam (18) top through the support to and first swing arm (2) that are connected with balance assembly (1) and crossbeam (18) simultaneously, its characterized in that: one end of the first swing arm (2) is rotationally connected to the balance assembly (1) through the connecting seat (11), a sliding module is arranged between one side of the other end and the cross beam (18), the other side of the first swing arm is in sliding connection with the feeding shaft (5), the feeding shaft (5) is rotationally connected with the second swing arm (6), and the second swing arm (6) is rotationally connected with the double-piece separating device through the tail end rotating shaft (8).
2. The toggle lever type manipulator balancing device according to claim 1, wherein: the balance assembly (1) comprises a rocker arm (10), one end of the rocker arm (10) is connected with a first servo motor (12), a planetary reducer (13) is further arranged between the first servo motor (12) and the rocker arm (10), the other end of the rocker arm (10) is connected with a connecting seat (11) through a bearing seat (15), and a bearing (14) is arranged between the bearing seat (15) and the rocker arm (10).
3. The toggle lever type manipulator balancing device according to claim 1, wherein: the sliding module comprises a transverse sliding block (3) capable of sliding left and right along the cross beam (18) and a rotating block (4) capable of sliding up and down along the first swing arm (2), and the rotating block (4) is arranged on the transverse sliding block (3) through a crossed roller bearing (22).
4. A toggle lever type robot balancing device as claimed in claim 3, wherein: the transverse sliding block (3) is arranged on a synchronous belt (19) of the cross beam (18), and two ends of the synchronous belt (19) are respectively connected with a second servo motor (16) and a third servo motor (17).
5. A toggle lever type robot balancing device as claimed in claim 3, wherein: the cross beam (18) is provided with a first linear guide rail (20) which is in sliding fit with the transverse sliding block (3).
6. A toggle lever type robot balancing device as claimed in claim 3, wherein: the first swing arm (2) is provided with a second linear guide rail (21) which is in sliding fit with the rotary slide block (4).
7. The toggle lever type manipulator balancing device according to claim 1, wherein: the double-piece separating device comprises a left double-piece separating device (7) and a right double-piece separating device (9) which are symmetrically arranged at two sides of the tail end rotating shaft (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322622325.0U CN220807462U (en) | 2023-09-26 | 2023-09-26 | Toggle rod type mechanical arm balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322622325.0U CN220807462U (en) | 2023-09-26 | 2023-09-26 | Toggle rod type mechanical arm balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220807462U true CN220807462U (en) | 2024-04-19 |
Family
ID=90677823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322622325.0U Active CN220807462U (en) | 2023-09-26 | 2023-09-26 | Toggle rod type mechanical arm balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220807462U (en) |
-
2023
- 2023-09-26 CN CN202322622325.0U patent/CN220807462U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205147699U (en) | Triaxial positioner | |
| CN110508740B (en) | Umbrella rib riveting and assembling machine | |
| CN208681632U (en) | A kind of numerically controlled lathe loading and unloading truss robot device | |
| CN112605577A (en) | Multi-station rotary welding robot and working method thereof | |
| CN203817267U (en) | Single-arm six-shaft manipulator | |
| CN220807462U (en) | Toggle rod type mechanical arm balancing device | |
| CN209189667U (en) | Turntable is used in a kind of processing of sheet metal component | |
| CN208759412U (en) | A kind of aero-engine assembly flexible retainer | |
| CN202079191U (en) | Multi-station feeding device for punch | |
| CN207593214U (en) | A kind of tooth case automatic assembling | |
| CN104960964A (en) | Online lower taking vertical stacking system of float glass | |
| CN100581696C (en) | Winding pipe boring and milling head main driving mechanism | |
| CN209565461U (en) | A kind of forging mold turnover elevating apptss | |
| CN207282632U (en) | Automate thickness measuring weighing-appliance, six surface parts automatic tape-wrapping machines | |
| CN211218386U (en) | Truss type multi-arm robot and truss type multi-station continuous production device | |
| CN209442395U (en) | A kind of air-conditioning copper pipe cuts discharging frame | |
| CN209986468U (en) | Intelligent triple X-Y-S shaft rolling-sliding rotating automatic conveying welding machine | |
| CN108000495A (en) | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle | |
| CN106623993A (en) | Three-freedom-degree parallel spindle head mechanism suitable for horizontal machining | |
| CN210614911U (en) | Double-arm stamping feeding robot and stamping processing assembly line | |
| CN220672656U (en) | Overturning assembly for battery plastic shell of cutting and brushing machine | |
| CN218908975U (en) | Special clamping device for vacuum cup production line | |
| CN219966255U (en) | Discharging device and pipe bending equipment | |
| CN216632140U (en) | Tool for cleaning basket of intelligent cleaning machine | |
| CN110238812A (en) | A kind of express sorter device people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |