CN106180455B - Three axis pressing robots - Google Patents
Three axis pressing robots Download PDFInfo
- Publication number
- CN106180455B CN106180455B CN201610738971.5A CN201610738971A CN106180455B CN 106180455 B CN106180455 B CN 106180455B CN 201610738971 A CN201610738971 A CN 201610738971A CN 106180455 B CN106180455 B CN 106180455B
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- CN
- China
- Prior art keywords
- axis
- shaft member
- slide
- fixed
- pedestal
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- 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
- 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
- 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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/06—Stripping-off devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of three axis pressing robots, including pedestal, three shaft members that are vertically fixed on two shaft members of the pedestal a side and are slidably connected in two shaft member；Wherein, electric appliance box is equipped in the pedestal；Two shaft member is railroad, and railroad is equipped with the take-up housing being slidably connected；Three shaft member is equipped with two axis connection seats being fixed on the take-up housing；Three shaft member is additionally provided with the multiple suckers being slidably connected.Present invention displaying pressing robot meets the automation of stamping press by the essentially linear movement model of three power, so as to reach simple in structure, good reliability, low cost, be easy to the advantages that popularization；Three axis pressing robots of the invention are suitable for 63T~250T single-point gap-framepress automatic production lines, which has simple in structure, cost bottom；Reliable in action, movement velocity are fast etc..
Description
Technical field
Technical field more particularly to a kind of three axis pressing robots the present invention relates to robot.
Background technology
As economy continues stable development, the industrial structure constantly upgrades, the increasing of human cost, automatization level constantly carries
Height, industrial robot have with it work continuously, the advantages such as efficient, adaptable are widely used in industrial production, such as
It applies in photovoltaic apparatus, loading and unloading manipulator, transplant apparatus, automatic double surface gluer, patch device, to be engaged in heavy or high duplication
The process of manufacture of high-precision requirement.
Three-axis robot is most widely used, typical case have laser welding machine tool, laser cutting machine tool, glue spreader,
Chip mounter, miniature numerical control lathe, carving and milling machine and 3D printer.
The most common three-axis robot structure of industry is that three axis are orthogonal under rectangular coordinate system, and line rail is oriented to, work department
It is arranged on single shaft.This three-axis robot because its design it is convenient, it is simple in structure be widely used, but it has the following disadvantages：
1st, rectangular coordinate system three-axis robot, each axis is independent, and driving unit often needs to be servo-actuated, and distribution is more discrete, unfavorable
In cost control.
2nd, in medium-sized, high-speed applications, structure type Z axis design is more difficult.Wherein the first situation：It is designed as Z
Axis lifts for work top, and plane positioning at least needs two groups of driving units and transmission guidance set, it is meant that cost increases.
The second situation：Z axis is servo-actuated for work department, and installation accuracy is more demanding, and needs synchronously to improve remaining two axis
Driving unit performance parameter.
Industry typical case's three-axis robot structure also has three axis arm configuration in parallel parallel to each other under rectangular coordinate system.The letter of its structure
Single, each shaft space is evenly distributed with, and is facilitated adjustment and installation, is widely used in every profession and trade in recent years.
The content of the invention
It is an object of the invention to provide it is a kind of by the essentially linear movement model of three power come meet stamping press from
Dynamicization, so as to reaching simple in structure, good reliability, low cost, the three axis pressing robots for being easy to the advantages that popularization.
The present invention provides a kind of three axis pressing robots, including pedestal, is vertically fixed on two axis of the pedestal a side
Component and three shaft members being slidably connected in two shaft member；Wherein, electric appliance box is equipped in the pedestal；Two axis
Component is railroad, and railroad is equipped with the take-up housing being slidably connected；Three shaft member is equipped with and is fixed on the take-up housing
On two axis connection seats；Three shaft member is additionally provided with the multiple suckers being slidably connected.
Preferably, the pedestal is divided into double-layer structure up and down, and upper strata is behaviour area, and lower floor is the electric appliance box, wherein, institute
Electric appliance box is stated in drawer type.
Preferably, the behaviour area includes：Positioned at external module baffle, the servomotor in the module baffle,
The retarder that is connected in the module baffle and with the servomotor, the leading screw being connected with the servomotor and by the silk
At least line rail that thick stick drives.
Preferably, two shaft member includes：Two axis bottom plates are fixed on the first cunning on the two axis bottom plate and being oppositely arranged
Rail and the second slide, the connecting rod between first slide and the second slide, the fixed plate being fixed on the two axis bottom plate, with
The shaft coupling of fixed plate connection, wherein, connecting rod one end is connected with the shaft coupling；The take-up housing is slidably connected at the first slide
It is connected on the second slide and with the rod slide.
Preferably, the arm being fixed on two axis bottom plates is further included, the leading screw other end is connected with the arm.
Preferably, two axis retarders being connected with the fixed plate are further included, two axis being connected with the two axis retarder are watched
Take motor and the servo motor seat being connected with the two axis servomotor.
Preferably, further include positioned at the take-up housing bottom and the two Axle mould groups that are connected with the leading screw.
Preferably, three shaft member includes：Three axis frames are fixed on the one or three on the three axis frame and be oppositely arranged
Axis rail and the two or three axis rail, two synchronous belts between the one or three axis rail and the two or three axis rail, positioned at this two
It rack, support base between a synchronous belt, the gear set being connected with the support base one side and is connected with the support base opposite side
Supporting rod；Wherein, the sucker is connected on the supporting rod；The support base is slidably connected on synchronous belt.
Preferably, the gear set includes the gear, tensioning wheel and the synchronous pulley that are connected with the support base one side, the tooth
Wheel and rack engages, and synchronous pulley drives the support base to be slided on synchronous belt.
Preferably, three shaft member further include three spindle motors, the motor support plate being connected with three spindle motor, by this three
Driving wheel, the driven wheel including being engaged with the driving wheel of spindle motor driving, the driven wheel are engaged with the synchronous pulley；
Wherein, the two axis connections seat is connected with the motor support plate.
Present invention displaying pressing robot meets the automation of stamping press by the essentially linear movement model of three power,
So as to reach simple in structure, good reliability, low cost, be easy to the advantages that popularization；Three axis pressing robots of the invention are suitable for 63T
~250T single-point gap-framepress automatic production lines, the robot have simple in structure, cost bottom；Reliable in action, movement speed
It spends fast etc..
Description of the drawings
Fig. 1 is the structure diagram of three axis pressing robots of the invention；
Fig. 2 is the front view of three axis pressing robots shown in Fig. 1；
Fig. 3 is the front view of the pedestal of three axis pressing robots shown in Fig. 1；
Fig. 4 is pedestal shown in Fig. 3 in the sectional view in A-A directions；
Fig. 5 is the structure diagram of two shaft members of three axis pressing robots shown in Fig. 1；
Fig. 6 is the front view of two shaft members shown in Fig. 5；
Fig. 7 is the top view of two shaft members shown in Fig. 5；
Fig. 8 is the structure diagram of three shaft members of three axis pressing robots shown in Fig. 1；
Fig. 9 is the front view of three shaft members shown in Fig. 8.
Specific embodiment
As depicted in figs. 1 and 2, three axis pressing robots 100 include：Pedestal 10 is vertically fixed on 10 a side of pedestal
Two shaft members 20 and three shaft members 30 that are slidably connected in two shaft member 20；Wherein, pedestal 10 is moved as an axis
Mechanism is combined with electric appliance box；Two shaft members, 20 one end is fixedly connected with the pedestal 10, which is slide
Device, three shaft members 30 are equipped with multiple suckers 31 for being slidably connected, complete the capturing of workpiece by sucker 31, move, put down
And the homing action of handgrip.
Three axis pressing robots 100 of the invention meet the automatic of stamping press by the essentially linear movement of three power
Change, so as to reach simple in structure, good reliability, low cost, be easy to the advantages that popularization.
As shown in Figure 3 and Figure 4, pedestal 10 is divided into double-layer structure up and down, and upper strata is a shaft member behaviour area 11, and lower floor is electricity
Device case 12, the electric appliance box 12 is in drawer type, convenient for appliance maintenance.
Behaviour area 11 includes：Positioned at external module baffle 111, the servomotor 112 in the module baffle 111,
Interior and the retarder 113 being connected with the servomotor 112, the leading screw being connected with the servomotor 112 positioned at the module baffle 111
114th, the four parallel lines rails 115 driven by the leading screw 114 and the support plate 116 being connected with the module baffle 111, the branch
Fagging 116 is located at outside module baffle 111.
Four line rails 115 are arranged in parallel.
Screw 114 drives four parallel lines rails 115 to make horizontal motion, and motion range is 0~800mm, movement speed
It spends for 0~800mm/ seconds, completes the elemental motion of workpiece disengaging mold.
Pedestal of the present invention realizes the axis movement of three axis pressing robots in the horizontal direction.
As shown in Figures 5 to 7, two shaft members 20 are vertically connected on the side of pedestal 10, which includes：Two axis
Bottom plate 21 is fixed on the first slide 22 on the two axis bottom plate 21 and being oppositely arranged and the second slide 23, positioned at first slide
It 22 and second leading screw 24 between slide 23, is slidably connected on the first slide 22 and the second slide 23 and is slided with the leading screw 24
The take-up housing 25 of connection, the fixed plate 26 being fixed on the two axis bottom plate 21, two axis retarders 27 being connected with the fixed plate 26,
The two axis servomotors 28 that are connected with the two axis retarder 27, the shaft coupling 28 being connected with the fixed plate 26, positioned at the two axis bottom
Arm 29 on plate 21 and positioned at 25 bottom of take-up housing and the two Axle mould groups 251 that are connected with leading screw 24.
Wherein, two axis servomotors 28 are externally provided with servo motor seat 281, and servo motor seat 281 is connected with pedestal 10.
24 one end of leading screw is connected with shaft coupling 28, and 24 other end of leading screw is connected with arm 29.
28 and two axis retarder 27 of shaft coupling is separately fixed at the opposite end of fixed plate 26.
Three shaft members 30 are fixed on take-up housing 25, sliding between the first slide 22 and the second slide 23 by take-up housing 25
It is dynamic, three shaft members 30 is driven to move together.
This two shaft member makes take-up housing 25 along the first slide 22 and the by servomotor 28, retarder 27, leading screw 24
Two slides 23 move up and down, and displacement distance is ± 0~300mm, and movement velocity is 0~1000mm/ seconds, moving range 0
~600mm, movement velocity are 0~800mm/ seconds.
The present invention first adjusts position of the take-up housing between the first slide and the second slide, then three shaft members are fixed on cunning
On block, take-up housing moves up and down with three shaft members between the first slide and the second slide.
As shown in Figure 8 and Figure 9, three shaft members 30 include：Three axis frames 32 are fixed on the three axis frame 32 and set relatively
The one or three axis rail 33 put and the two or three axis rail 34, two between the one or three axis rail 33 and the two or three axis rail 34
A synchronous belt 35, the rack 36 between two synchronous belts 35, support base 37, the gear being connected with 37 one side of support base
Group, the supporting rod 41 being connected with 37 opposite side of support base, are connected with three spindle motor 42 and intermeshing three spindle motors 42
It driving wheel 43 and driven wheel 44, the motor support plate 45 being connected with three spindle motor 42 and is connected with the motor support plate 45
Two axis connection seats 46.Wherein, multiple suckers 31 are connected with supporting rod 41；Two axis connection seats 46 are fixed on take-up housing 25.
Gear set includes the gear 39, tensioning wheel 38 and the synchronous pulley 41 that are connected with 37 one side of support base, the gear
39 engage with rack 36, and for tensioning wheel 39 for being tensioned rack 38, synchronous pulley 41 drives the support base 37 sliding on synchronous belt 35
It is dynamic, it is slided by the gear set drive support base 37 in three axis frames 32.
Three spindle motors 42 operate, and driving driving wheel 43 moves, and driving wheel 43 and driven wheel 44 engage, 44 cooperating teeth of driven wheel
Item 36 and gear 39 engage, and three axis frames 32 is made to be moved left and right corresponding to two shaft members 20, and displacement distance is ± 0~750mm.
Driven wheel 44 is coaxial another equipped with the synchronous pulley 41 engaged with the synchronous belt 35 of self-movement in three axis frames 32, this is same
Step band 35 couples with support base 37, mobile in the same direction with three axis frames 32, and translational speed is 2 times of three axis frames 32, and displacement distance is ± 0
~1500mm, mobile speed are ± 0~1500mm/ seconds.
The present invention is moved left and right by three axis frames, under the drive of lazy-tongs of the support base in three axis frames, with three axis
Frame make in the same direction movement, complete workpiece capture, move, putting down and the homing action of handgrip.
Present invention displaying pressing robot meets the automation of stamping press by the essentially linear movement model of three power,
So as to reach simple in structure, good reliability, low cost, be easy to the advantages that popularization.
Three axis pressing robots of the invention are suitable for 63T~250T single-point gap-framepress automatic production lines, the machine
People has simple in structure, cost bottom；Reliable in action, movement velocity are fast etc..
The implementation that the merely exemplary principles and effects for illustrating the invention of the above embodiments and part use
Example, and is not intended to limit the present invention；It should be pointed out that for those of ordinary skill in the art, wound of the present invention is not being departed from
On the premise of making design, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (8)
1. a kind of three axis pressing robots, which is characterized in that it includes pedestal, two axle portions for being vertically fixed on the pedestal a side
Part and three shaft members being slidably connected in two shaft member；Wherein, electric appliance box is equipped in the pedestal；Two axle portion
Part is railroad, and railroad is equipped with the take-up housing being slidably connected；Three shaft member is equipped with and is fixed on the take-up housing
Two axis connection seats；Three shaft member is additionally provided with the multiple suckers being slidably connected；The pedestal is divided into double-layer structure up and down, on
Layer is behaviour area, and lower floor is the electric appliance box, wherein, the electric appliance box is in drawer type；The behaviour area includes：Positioned at outside
Module baffle, the servomotor in the module baffle, in the module baffle and the deceleration that is connected with the servomotor
Device, the leading screw being connected with the servomotor and at least line rail driven by the leading screw.
2. three axis pressing robot according to claim 1, it is characterised in that：Two shaft member includes：Two axis bottom plates,
Be fixed on the two axis bottom plate and the first slide being oppositely arranged and the second slide, between first slide and the second slide
Connecting rod, the fixed plate being fixed on the two axis bottom plate, the shaft coupling that is connected with the fixed plate, wherein, connecting rod one end and the connection
Axis device connects；The take-up housing is slidably connected on the first slide and the second slide and is connected with the rod slide.
3. three axis pressing robot according to claim 2, it is characterised in that：Further include the arm being fixed on two axis bottom plates
Portion, the leading screw other end are connected with the arm.
4. three axis pressing robot according to claim 3, it is characterised in that：Further include two be connected with the fixed plate
Axis retarder, two axis servomotors being connected with the two axis retarder and the servomotor being connected with the two axis servomotor
Seat.
5. three axis pressing robot according to claim 4, it is characterised in that：Further include positioned at the take-up housing bottom and
Two Axle mould groups being connected with the leading screw.
6. three axis pressing robot according to claim 1, it is characterised in that：Three shaft member includes：Three axis frames,
It is fixed on the one or three axis rail on the three axis frame and being oppositely arranged and the two or three axis rail, positioned at the one or three axis rail and
Two synchronous belts between two or three axis rails, the rack between two synchronous belts, support base and the support base one side connect
The gear set connect and the supporting rod being connected with the support base opposite side；Wherein, the sucker is connected on the supporting rod；
The support base is slidably connected on synchronous belt.
7. three axis pressing robot according to claim 6, it is characterised in that：The gear set include with the support base
Gear, tensioning wheel and the synchronous pulley of one side connection, wheel and rack engagement, synchronous pulley drive the support base in synchronous belt
Upper slip.
8. three axis pressing robot according to claim 7, it is characterised in that：Three shaft member further includes three axis electricity
Machine, the motor support plate being connected with three spindle motor, by three spindle motor driving driving wheel, including being engaged with the driving wheel
Driven wheel, the driven wheel engages with the synchronous pulley；Wherein, the two axis connections seat is connected with the motor support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610738971.5A CN106180455B (en) | 2016-08-26 | 2016-08-26 | Three axis pressing robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610738971.5A CN106180455B (en) | 2016-08-26 | 2016-08-26 | Three axis pressing robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106180455A CN106180455A (en) | 2016-12-07 |
| CN106180455B true CN106180455B (en) | 2018-06-01 |
Family
ID=57526856
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610738971.5A Active CN106180455B (en) | 2016-08-26 | 2016-08-26 | Three axis pressing robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106180455B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598001A (en) * | 2017-10-17 | 2018-01-19 | 柳州市万达汽车配件厂 | A kind of punch press charging and discharging mechanism |
| CN209699107U (en) * | 2018-10-12 | 2019-11-29 | 苏州神运机器人有限公司 | It is a kind of to adapt to the big pressing robot of height difference between working faces |
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|---|---|---|---|---|
| US3951271A (en) * | 1974-05-03 | 1976-04-20 | Mette Klaus Hermann | Robot control device |
| DE3315057A1 (en) * | 1982-04-30 | 1983-11-03 | Aida Engineering, Ltd., Sagamihara, Kanagawa | DEVICE FOR TRANSFERRING WORKPIECES TO BE MACHINED IN A PRESS |
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN201833367U (en) * | 2010-09-13 | 2011-05-18 | 刘济任 | Full-automatic grasping and laying system on X-axis, Y-axis and Z-axis |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN204278014U (en) * | 2014-10-31 | 2015-04-22 | 亿和精密工业（苏州）有限公司 | Punching press conveying robot |
| CN105014661A (en) * | 2015-08-03 | 2015-11-04 | 亿和精密工业（苏州）有限公司 | Novel connecting-rod type mechanical arm |
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
| CN105500344A (en) * | 2016-01-19 | 2016-04-20 | 珠海格力电器股份有限公司 | Three-axis robot |
| CN205217837U (en) * | 2015-12-21 | 2016-05-11 | 浙江理工大学 | A manipulator is got to punch press |
| CN105731063A (en) * | 2016-03-15 | 2016-07-06 | 广东韦达尔科技有限公司 | Efficient fetching manipulator capable of realizing three-axle linkage |
| CN105750441A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Integrated swing arm punching robot for punch |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206455101U (en) * | 2016-08-26 | 2017-09-01 | 苏州神运机器人有限公司 | Three axle pressing robots |
-
2016
- 2016-08-26 CN CN201610738971.5A patent/CN106180455B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3951271A (en) * | 1974-05-03 | 1976-04-20 | Mette Klaus Hermann | Robot control device |
| DE3315057A1 (en) * | 1982-04-30 | 1983-11-03 | Aida Engineering, Ltd., Sagamihara, Kanagawa | DEVICE FOR TRANSFERRING WORKPIECES TO BE MACHINED IN A PRESS |
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN201833367U (en) * | 2010-09-13 | 2011-05-18 | 刘济任 | Full-automatic grasping and laying system on X-axis, Y-axis and Z-axis |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN204278014U (en) * | 2014-10-31 | 2015-04-22 | 亿和精密工业（苏州）有限公司 | Punching press conveying robot |
| CN105014661A (en) * | 2015-08-03 | 2015-11-04 | 亿和精密工业（苏州）有限公司 | Novel connecting-rod type mechanical arm |
| CN205217837U (en) * | 2015-12-21 | 2016-05-11 | 浙江理工大学 | A manipulator is got to punch press |
| CN105459105A (en) * | 2016-01-14 | 2016-04-06 | 苏州神运机器人有限公司 | Seven-axis five-power robot applying parallelogram principle |
| CN105500344A (en) * | 2016-01-19 | 2016-04-20 | 珠海格力电器股份有限公司 | Three-axis robot |
| CN105731063A (en) * | 2016-03-15 | 2016-07-06 | 广东韦达尔科技有限公司 | Efficient fetching manipulator capable of realizing three-axle linkage |
| CN105750441A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Integrated swing arm punching robot for punch |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106180455A (en) | 2016-12-07 |
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