CN105856206A - Intelligent connecting rod type manipulator - Google Patents
Intelligent connecting rod type manipulator Download PDFInfo
- Publication number
- CN105856206A CN105856206A CN201610455961.0A CN201610455961A CN105856206A CN 105856206 A CN105856206 A CN 105856206A CN 201610455961 A CN201610455961 A CN 201610455961A CN 105856206 A CN105856206 A CN 105856206A
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- CN
- China
- Prior art keywords
- reductor
- gear
- horizontal
- elevating bracket
- transmission shaft
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an intelligent connecting rod type manipulator. The intelligent connecting rod type manipulator comprises an engine base, wherein a horizontal transferring mechanism and a lifting mechanism are arranged on the engine base; the lifting mechanism comprises a left lifting seat, a right lifting seat and a gearbox; the horizontal transferring mechanism comprises a transmission shaft, a transmission gear, a horizontal guiderail, an arm moving rod and a material suction arm; a horizontal transferring motor drives the transmission shaft to rotate; the transmission gear is connected with the transmission shaft in a sleeving manner and meshed with the transmission shaft for transmission; the arm moving rod is arranged on the left and right lifting seats in a sliding manner; the arm moving rod is provided with a rack in the horizontal direction; the transmission gear is meshed with the rack for transmission. According to the intelligent connecting rod type manipulator provided by the invention, the lifting mechanism and the horizontal transferring mechanism are matched with each other, and can run at the same time to integrate the reclaiming, feeding and discharging, so that workpieces can be conveyed and transferred between two worktables without pause, the workpiece transferring efficiency is high, the machine production efficiency is improved and the full-automatic continuous high-speed production is realized.
Description
Technical field
The present invention relates to a kind of stamping mechanical arm, especially a kind of intelligent linkage formula mechanical hand.
Background technology
At present, workpiece (such as: mould) between two pressing equipments transmits, it mostly is manual operations, had both constrained the production efficiency of enterprise, produce to again industry labor safety and bring hidden danger, and, the mode of production of this heavy dependence labour intensive, it is elastic that enterprise lacks recruitment, it is difficult to organizes recruitment in time according to order dull and rush season and adjusts rhythm of production, so, the enterprise of punching press industry is in the critical point changed from manual machinery punching press alignment automatic production line.
Although in some industry, workpiece transmission between mechanical hand Already in two production equipment, as: electric cooker industry, see Chinese invention patent number: 201420652041.1, entitled: a kind of stand alone type line mechanical hand, it includes support, intermediate station, electric cabinet, elevating mechanism, horizontal mobile mechanism and mechanical arm, this mechanical hand, by elevating mechanism and horizontal mobile mechanism, mechanical arm is made to realize lifting and move horizontally, and by the intermediate station of himself setting, temporarily park as what workpiece transmitted between two production equipment, even can overturn on intermediate station, workpiece is made to be suitable for subsequent processing；Above-mentioned mechanical hand, to a certain extent two production equipment are together in series, realize certain automatization's line to produce, but, this mechanical hand still suffers from following weak point: (1) workpiece need by way of intermediate station transmission, centre to pause, and punch press cannot realize continuous punching, its workpiece transmission efficiency is relatively low, it is impossible to meet requirements of mass production.
Summary of the invention
It is an object of the invention to the deficiency overcoming above-mentioned prior art to exist, and provide a kind of simple and reasonable for structure, workpiece transmission efficiency can be significantly improved, and production efficiency is high, the intelligent linkage formula mechanical hand that full-automatic continuous high speed produces can be realized.
The object of the present invention is achieved like this:
nullA kind of intelligent linkage formula mechanical hand，Including support，Described support is provided with horizontal transfer mechanism and elevating mechanism，Described elevating mechanism includes lifting motor、Left reductor、Right reductor、Left elevating bracket、Right elevating bracket and gear-box，Left、Right reductor one the first from left right side is arranged on support，Lifting motor drives a left side、Right reductor rotates，A described left side、The outfan of right reductor connects lifter cam，A described left side、Right two elevating brackets slide up and down and are arranged on support，Lifter cam drives respective elevating bracket to slide up and down respectively，Described gear-box is arranged on a left side、Between right two elevating brackets and with a left side、Right two elevating brackets are fixing to be connected，Horizontal transfer mechanism includes horizontal feeding motor、Move horizontally reductor、Power transmission shaft、Travelling gear、Horizontal guide rail、Arm moves bar and suction arm,Horizontal feeding motor is connected with transmission shaft driven by moving horizontally reductor，Travelling gear and power transmission shaft socket engaged transmission，Described travelling gear rotates and is arranged in gear-box，Horizontal guide rail is horizontally set on a left side、On right elevating bracket,Described arm moves bar and is slidably arranged on horizontal guide rail，Arm moves bar and is provided with tooth bar in the horizontal direction，The engagement of described driving cog wheel and rack connects,Described suction arm is located at arm and is moved on bar.
The present invention can also improve further below.
The outer wall of described power transmission shaft is provided with straight raised line along its axial direction, and the inwall of described travelling gear is provided with straight groove, straight raised line and straight groove along the axial direction of power transmission shaft and engages each other.
The outer wall of described power transmission shaft is provided with external splines, the inwall of described travelling gear is provided with internal spline, described external splines and internal spline engage each other, owing to power transmission shaft and travelling gear are to use external splines and the intermeshing mode of internal spline, it is achieved thereby that arm of the present invention moves bar while making elevating movement, also can move horizontally.
Described lifting motor drives left reductor or right reductor to rotate by belt component, is connected by shaft coupling transmission between left reductor and right reductor, and belt component includes belt pulley and belt.
Described left and right elevating bracket is provided with guide supporting seat, and two guide supporting seats are arranged in parallel, and horizontal guide rail is horizontally set on two guide supporting seats, and described arm moves the both sides up and down of bar and is provided with horizontal guide sheave, and horizontal guide sheave is arranged on guide supporting seat.
Described support is provided with up and down balance system cylinder, up and down balance system cylinder is positioned at the lower section of gear-box, the cylinder rod of up and down balance system cylinder is fixing with gear-box to be connected, up and down balance system air cylinder driven gearbox hi/local, up and down balance system cylinder plays the effect of assistance for lifting mechanism lifting, alleviate the load of elevating mechanism, extend the service life of the present invention.
Described support is vertically provided with left and right slide rail, and left and right elevating bracket is slidably arranged on respective slide rail respectively.
Described travelling gear is rotated by bearing and is arranged in gear-box.
Described gear-box both sides outwards each extend over out left and right linking arm, and left and right elevating bracket is fixing with corresponding linking arm to be connected.
Being provided with lifting chute on described left and right elevating bracket in the horizontal direction, described lifter cam is provided with lifting drive block, lifting drive block level is slideably positioned in lifting chute.
Described horizontal feeding motor is vertically arranged in bottom support.
Suction arm is provided with sucker.
Described power transmission shaft is rotated by bearing and is arranged on support.
Beneficial effects of the present invention is as follows:
(1) the intelligent linkage formula mechanical hand of the present invention, coordinated by elevating mechanism and horizontal transfer mechanism, realize feeding, feeding and be discharged to one, thus realize the conveying transferring work piece between two workbench, and without pausing, workpiece transmission efficiency is high thus improves complete machine production efficiency, it is achieved full-automatic continuous high speed produces.
(2) additionally, the intelligent linkage formula mechanical hand of the present invention is in the course of the work, the arm of the present invention moves bar and can move up and down and horizontal movement simultaneously, gear-box band nutating gear raising and lowering together, travelling gear is along while the straight raised line raising and lowering of power transmission shaft, the tooth bar that the straight groove of travelling gear and gear move bar with the straight raised line of power transmission shaft and arm respectively is always maintained at engaged transmission, thus the arm realizing the present invention moves bar and can move horizontally the purpose with elevating movement simultaneously.Comparing existing machinery hands, the present invention can make to lift feeding and straight feeding motion simultaneously, and without pausing, workpiece transmission efficiency is high thus improves complete machine production efficiency further, it is achieved full-automatic continuous high speed produces.
Accompanying drawing explanation
Fig. 1 is the structural representation of intelligent linkage formula mechanical hand of the present invention.
Fig. 2 is the structural representation that Fig. 1 omits support.
Fig. 3 is the front view of Fig. 2.
Fig. 4 is the sectional structure schematic diagram in Fig. 3 at A-A.
Fig. 5 is the decomposition texture schematic diagram of Fig. 2.
Fig. 6 is the structural representation of the elevating mechanism of the present invention.
Fig. 7 is the structural representation of another angle of Fig. 6.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
nullAs shown in Fig. 1 to Fig. 7，A kind of intelligent linkage formula mechanical hand，Including support 1，Described support 1 is provided with horizontal transfer mechanism 2 and elevating mechanism 3，Described elevating mechanism 3 includes lifting motor 31、Left reductor 33、Right reductor 34、Left elevating bracket 35、Right elevating bracket 36 and gear-box 37，Left、Right reductor 33、34 1 the first from left right sides are arranged on support 1，Lifting motor 31 drives a left side、Right reductor 33、34 rotate，A described left side、Right reductor 33、The outfan of 34 connects lifter cam 341，A described left side、Right elevating bracket 35、36 slide up and down and are arranged on support 1，Lifter cam 341 drives respective elevating bracket to slide up and down respectively，Described gear-box 37 is arranged on a left side、Right elevating bracket 35、Between 36 and with a left side、Right elevating bracket 35、36 fixing connections，Horizontal transfer mechanism 2 includes horizontal feeding motor 21、Level transfer reductor 22、Power transmission shaft 23、Travelling gear 24、Horizontal guide rail 26、Arm moves bar 25、And suction arm 27,Horizontal feeding motor 21 is in transmission connection with power transmission shaft 23 by level transfer reductor 22，Travelling gear 24 and power transmission shaft 23 socket engaged transmission，Described travelling gear 24 rotates and is arranged in gear-box 37，Horizontal guide rail 26 is horizontally set on a left side、Right elevating bracket 35、On 36,Described arm moves bar 25 and is slidably arranged on horizontal guide rail 26，Arm moves bar 25 and is provided with tooth bar 251 in the horizontal direction，Described travelling gear 24 is connected with tooth bar 251 engagement,Described suction arm 27 is located at arm and is moved on bar 25.
The purpose of the present invention can also use techniques below measure to solve:
As scheme more specifically, the outer wall of described power transmission shaft 23 is provided with straight raised line 231 along its axial direction, and the inwall of described travelling gear 24 is provided with straight groove 241 along the axial direction of power transmission shaft 23, and straight raised line 231 and straight groove 241 engage each other.
As further scheme, the outer wall of described power transmission shaft 23 is provided with external splines 232, and the inwall of described travelling gear 24 is provided with internal spline 242, and described external splines 232 and internal spline 242 engage each other.
As scheme more specifically, described lifting motor 31 is driven left reductor 33 or right reductor 34 to rotate by belt component 32, is in transmission connection by shaft coupling 38 between left reductor 33 and right reductor 34, and belt component 32 includes belt pulley and belt.
As scheme more specifically, described left and right elevating bracket 35,36 is provided with guide supporting seat 362, two guide supporting seats 362 are arranged in parallel, horizontal guide rail 26 is horizontally set on two guide supporting seats 362, described arm moves the both sides up and down of bar 25 and is provided with horizontal guide sheave 361, and horizontal guide sheave 361 is arranged on guide supporting seat 362.
As scheme more specifically, described support 1 is provided with up and down balance system cylinder 39, and up and down balance system cylinder 39 is positioned at the lower section of gear-box 37, and the cylinder rod of up and down balance system cylinder 39 is fixing with gear-box 37 to be connected, and up and down balance system cylinder 39 drives gear-box 37 to lift.
As scheme more specifically, described support 1 is vertically provided with left and right slide rail 353,363, and left and right elevating bracket 35,36 is slidably arranged on respective slide rail 363 respectively.
As scheme more specifically, described travelling gear 24 is rotated by bearing and is arranged in gear-box 37.
As scheme more specifically, described gear-box 37 both sides outwards each extend over out left and right linking arm 371,372, and left and right elevating bracket 35,36 is fixing with corresponding linking arm 371 to be connected.
Lifting chute 363 it is provided with in the horizontal direction on described left and right elevating bracket 35,36, lifting drive block 342 it is provided with on described lifter cam 341, lifting drive block 342 level is slideably positioned in lifting chute 363, lifting drive block 342 rotates along with lifter cam 341, simultaneously, lifting drive block 342 drives left and right elevating bracket 35,36 elevating bracket to lift by lifting chute 363, and lifting drive block 342 is also as the lifting of elevating bracket, and on lifting chute 363, left and right slidably reciprocates.
Described horizontal feeding motor is vertically arranged in bottom support.
Described suction arm 27 is provided with sucker 271.
Described power transmission shaft is rotated by bearing and is arranged on support.
The operation principle of the present invention is:
When the present invention works, elevating mechanism and the horizontal transfer mechanism of the present invention can be with synchronous averaging, it is also possible to successively start.
nullSuch as，When the present invention works，Elevating mechanism and horizontal transfer mechanism synchronous averaging，Lifting motor 31 drives left reductor 33 and right reductor 34 synchronous axial system by belt component 32，The outfan of left reductor 33 and right reductor 34 drives respective lifter cam to rotate，Lifter cam drives a left side、Right elevating bracket 35、36 raising and lowerings，Left、Right elevating bracket 35、36 drive arm to move bar 25 simultaneously、Suction arm 27 and gear-box 37 decline，Then the workpiece that the sucker on suction arm 27 is drawn on the first workbench then goes up，Meanwhile，Horizontal feeding motor 21 transfers reductor 22 by level、Power transmission shaft 23 drives travelling gear 2 to rotate forward or backwards，Travelling gear 24 drives arm to move bar 25 and slidably reciprocates on horizontal guide rail，Sucker on suction arm 27 is by Workpiece transfer to the second workbench，Then suction arm 27 returns again to the first workbench and draws next part workpiece，In the process，The arm of the present invention moves bar 25 and can move up and down and horizontal movement simultaneously，Gear-box 37 band nutating gear raising and lowering together，Travelling gear is along while the straight raised line raising and lowering of power transmission shaft，The tooth bar 251 that the straight groove 241 of travelling gear and gear 241 move bar 25 with the straight raised line of power transmission shaft 23 and arm respectively is always maintained at engaged transmission，Thus the arm realizing the present invention moves bar 25 and can move horizontally the purpose with elevating movement simultaneously.Certainly, the arm of the present invention moves bar 25 and can also individually move horizontally or elevating movement.
The intelligent linkage formula mechanical hand of the present invention, coordinated by elevating mechanism and horizontal transfer mechanism, realize feeding, feeding and be discharged to one, thus realize the conveying transferring work piece between two workbench, and without pausing, workpiece transmission efficiency is high thus improves complete machine production efficiency, it is achieved full-automatic continuous high speed produces.
Claims (10)
- null1. intelligent linkage formula mechanical hand，It is characterized in that，Including support (1)，Described support (1) is provided with horizontal transfer mechanism (2) and elevating mechanism (3)，Described elevating mechanism (3) includes lifting motor (31)、Left reductor (33)、Right reductor (34)、Left elevating bracket (35)、Right elevating bracket (36) and gear-box (37)，Left、Right reductor (33、34) the first from left right side is arranged on support (1)，Lifting motor (31) drives a left side、Right reductor (33、34) rotate，A described left side、Right reductor (33、34) outfan connects lifter cam (341)，A described left side、Right elevating bracket (35、36) slide up and down and be arranged on support (1)，Lifter cam (341) drives respective elevating bracket to slide up and down respectively，Described gear-box (37) is arranged on a left side、Right elevating bracket (35、36) between and with a left side、Right elevating bracket (35、36) fixing connection，Horizontal transfer mechanism (2) includes horizontal feeding motor (21)、Level transfer reductor (22)、Power transmission shaft (23)、Travelling gear (24)、Horizontal guide rail (26)、Arm moves bar (25) and suction arm (27),Horizontal feeding motor (21) is in transmission connection with power transmission shaft (23) by level transfer reductor (22)，Travelling gear (24) and power transmission shaft (23) socket engaged transmission，Described travelling gear (24) rotates and is arranged in gear-box (37)，Horizontal guide rail (26) is horizontally set on a left side、Right elevating bracket (35、36) on,Described arm moves bar (25) and is slidably arranged on horizontal guide rail (26)，Arm moves bar (25) and is provided with tooth bar (251) in the horizontal direction，Described travelling gear (24) is connected with tooth bar (251) engagement,Described suction arm (27) is located at arm and is moved on bar (25).
- Intelligent linkage formula mechanical hand the most according to claim 1, it is characterized in that, the outer wall of described power transmission shaft (23) is provided with straight raised line (231) along its axial direction, the inwall of described travelling gear (24) is provided with straight groove (241), straight raised line (231) and straight groove (241) along the axial direction of power transmission shaft (23) and engages each other.
- Intelligent linkage formula mechanical hand the most according to claim 2, it is characterized in that, the outer wall of described power transmission shaft (23) is provided with external splines (232), and the inwall of described travelling gear (24) is provided with internal spline (242), described external splines (232) and internal spline (242) and engages each other.
- Intelligent linkage formula mechanical hand the most according to claim 1, it is characterized in that, described lifting motor (31) drives left reductor (33) or right reductor (34) to rotate by belt component (32), is in transmission connection by shaft coupling (38) between left reductor (33) and right reductor (34).
- Intelligent linkage formula mechanical hand the most according to claim 1, it is characterized in that, described left and right elevating bracket (35,36) is provided with guide supporting seat (362), two guide supporting seats (362) are arranged in parallel, horizontal guide rail (26) is horizontally set on two guide supporting seats (362), described arm moves the both sides up and down of bar (25) and is provided with horizontal guide sheave (361), and horizontal guide sheave (361) is arranged on guide supporting seat (362).
- Intelligent linkage formula mechanical hand the most according to claim 1, it is characterized in that, described support (1) is provided with up and down balance system cylinder (39), and the cylinder rod of up and down balance system cylinder (39) is fixing with gear-box (37) to be connected, and up and down balance system cylinder (39) drives gear-box (37) lifting.
- The most according to claim 1, intelligent linkage formula mechanical hand, is characterized in that, described support (1) is vertically provided with left and right slide rail (353,363), and left and right elevating bracket (35,36) is slidably arranged on respective slide rail (353,363) respectively.
- The most according to claim 1, intelligent linkage formula mechanical hand, is characterized in that, described travelling gear (24) is rotated by bearing and is arranged in gear-box (37).
- The most according to claim 1, intelligent linkage formula mechanical hand, is characterized in that, described gear-box (37) both sides outwards each extend over out left and right linking arm (371,372), and left and right elevating bracket (35,36) is fixing with corresponding left and right slide rail (371) to be connected.
- Intelligent linkage formula mechanical hand the most according to claim 1, it is characterized in that, lifting chute (363) it is provided with in the horizontal direction on described left and right elevating bracket (35,36), being provided with lifting drive block (342) on described lifter cam (341), lifting drive block (342) level is slideably positioned in lifting chute (363).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455961.0A CN105856206B (en) | 2016-06-22 | 2016-06-22 | Intelligent linkage formula manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455961.0A CN105856206B (en) | 2016-06-22 | 2016-06-22 | Intelligent linkage formula manipulator |
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| CN105856206A true CN105856206A (en) | 2016-08-17 |
| CN105856206B CN105856206B (en) | 2018-12-28 |
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| CN201610455961.0A Active CN105856206B (en) | 2016-06-22 | 2016-06-22 | Intelligent linkage formula manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514621A (en) * | 2016-11-30 | 2017-03-22 | 惠州金源精密自动化设备有限公司 | Shell body transfer manipulator |
| CN106629517A (en) * | 2016-12-30 | 2017-05-10 | 湖南先步信息股份有限公司 | Cam-driven lifting detection mechanism |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
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| CN205685326U (en) * | 2016-06-22 | 2016-11-16 | 广东捷瞬机器人有限公司 | Intelligent linkage formula mechanical hand |
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| CN203779491U (en) * | 2014-01-14 | 2014-08-20 | 东莞市井田自动化设备有限公司 | Independent type transmission mechanical hand equipment |
| CN104526693A (en) * | 2014-11-05 | 2015-04-22 | 东莞市承恩自动化设备有限公司 | Single-machine multi-station stamping manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514621A (en) * | 2016-11-30 | 2017-03-22 | 惠州金源精密自动化设备有限公司 | Shell body transfer manipulator |
| CN106629517A (en) * | 2016-12-30 | 2017-05-10 | 湖南先步信息股份有限公司 | Cam-driven lifting detection mechanism |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
| CN107626807B (en) * | 2017-08-30 | 2023-08-01 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Automatic stamping production line for drawer slide rail |
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| Publication number | Publication date |
|---|---|
| CN105856206B (en) | 2018-12-28 |
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Effective date of registration: 20181113 Address after: 528300 No.5 Tuoye Road, Lintou Residential Committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: GUANGDONG JEHSON ROBOT CO., LTD. Applicant after: Triumphant large precision die automation Science and Technology Ltd. of Shunde District of Foshan City Address before: 528300 No.5 Tuoye Road, Lintou Residential Committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant before: GUANGDONG JEHSON ROBOT CO., LTD. |
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