CN101386172B - Tool conveying mechanical arm - Google Patents
Tool conveying mechanical arm Download PDFInfo
- Publication number
- CN101386172B CN101386172B CN2008101954825A CN200810195482A CN101386172B CN 101386172 B CN101386172 B CN 101386172B CN 2008101954825 A CN2008101954825 A CN 2008101954825A CN 200810195482 A CN200810195482 A CN 200810195482A CN 101386172 B CN101386172 B CN 101386172B
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- frame
- manipulator
- hand
- mechanical arm
- linear guide
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Abstract
The invention discloses a workpiece conveying manipulator used for forging mechanical automatic equipment in the technical field of forging mechanical automatic equipment. The workpiece conveying manipulator comprises a frame, a linear motor, a horizontal linear guide way, a manipulator and a take-up hand, wherein, the manipulator is arranged on the upper surface of the frame; the linear guide way is connected with the frame in a sliding way through the horizontal linear guide way; the linear motor is arranged between the manipulator and the frame so as to drive the manipulator to reciprocate along the horizontal linear guide way; and the take-up hand is connected on the manipulator. The workpiece conveying manipulator has the advantages of simple driving structure and high driving efficiency, and is applicable to burden high-speed occasions.
Description
Technical field
The invention belongs to metal forming machinery automated assembly technology field, relate in particular to a kind of tool conveying mechanical arm that is used for the metal forming machinery automated arm.
Background technology
The tool conveying mechanical arm that uses on the existing metal forming machinery drives the conveying that executing agencies such as ball-screw, timing belt, rack-and-pinion finish workpiece by servomotor or stepper motor usually.The drive mechanism complexity of above-mentioned tool conveying mechanical arm, transmission efficiency is low, is only applicable to the occasion of underloading low speed.
Summary of the invention
It is simple that the technical problem to be solved in the present invention provides a kind of drive mechanism, and the transmission efficiency height is applicable to the tool conveying mechanical arm of heavily loaded high speed situation.
The present invention includes frame, linear electric motors, horizontal linear guide rail, manipulator and the hand that connects material; Manipulator is arranged in the upper surface of frame, and line slideway is by being slidingly connected between horizontal linear guide rail and the frame; Linear electric motors are arranged between manipulator and the frame, move back and forth along the horizontal linear guide rail with the driving device hand; The hand that connects material is connected on the manipulator.
As improvement of the present invention, be installed in the clamping device that is used for fixing workpiece in the conveying work pieces process at the upper surface of the described hand that connects material.
Improve as of the present invention, described clamping device is magnechuck and/or vacuum cup again.
As improvement of the present invention, between frame and manipulator, arrange a grating chi.
As improvement of the present invention, damping buffer is installed respectively at the front and rear of frame.
As improvement of the present invention, described frame comprises first fixing frame and the second movable frame, and the second movable frame is slidingly connected by between several vertical line slideways and first frame of fixing; On the first fixing frame, arrange one can the control activity second frame along the upper and lower reciprocating lowering or hoisting gear of vertical line slideway; Linear electric motors, horizontal linear guide rail, manipulator and the hand that connects material are arranged in the upper surface of the second movable frame.
Improve as of the present invention, described lowering or hoisting gear comprises a motor, two steering boxs and four screw elevators again; Two outputs of described motor connect the input of two steering boxs respectively, and two outputs of each steering box connect the input of a screw elevator respectively, the screw rod of each screw elevator be fixedly connected on second frame on nut by being threaded.
More existing tool conveying mechanical arm, linear electric motors among the present invention directly change into straight-line mechanical energy with electric energy, transmission device without any need for intermediate conversion mechanism, cancelled the complicated mechanical transmission link, is power source to the driving-chain contraction in length of manipulator zero, this structure has not only farthest been simplified drive mechanism, has alleviated the weight of manipulator greatly, realized manipulator efficiently, at a high speed, heavy duty.The present invention has been owing to adopted the direct driving device hand of linear electric motors, do not resemble can be subjected to centrifugal action the electric rotating machine, so its space rate is unrestricted, and manipulator drives by the electromagnetic push of linear electric motors, so system noise is very little, has improved working environment.The inertia of linear drives only depends on that linear electric motors are elementary, the weight of manipulator and workpiece itself, therefore when motion very high acceleration can be arranged.Linear electric motors can be controlled acceleration (acceleration is to the first derivative of time) when quickening operation, make the acceleration of motor keep certain slope (being uniform acceleration) to increase or reduce rather than infinitely great, the intense impact that causes with regard to the sudden change of having avoided owing to acceleration makes the hand that connects material steady relatively in high speed reciprocating motion process like this.
For remain on connect material and the process of defeated material in workpiece steadily, so clamping device is installed on hand connecting material, clamping apparatus is magnechuck and/or vacuum cup preferably.
The grating chi can detect the positional information of the hand that connects material, and gives the control system circuit with above-mentioned feedback information, is adjusted the duty of linear electric motors in real time by the control system circuit.
Damping buffer is used to prevent that the manipulator of high-speed cruising breaks away from orbit when machine from breaking down.
The second movable frame can be along the upper and lower reciprocating motion of vertical line slideway under the driving of lowering or hoisting gear, and hand connects material under different mold heights smoothly thereby order connects material.
Description of drawings
Fig. 1 is the main TV structure schematic diagram among the present invention;
Fig. 2 is the plan structure schematic diagram among the present invention;
Fig. 3 is the cutaway view along A-A line among Fig. 1.
The specific embodiment
As shown in Figure 1, tool conveying mechanical arm comprises that first frame 1 and second frame, 2, the second frames 2 are connected on first frame 1.
As shown in Figure 2, the two horizontal linear guide rails 3 that are parallel to each other of upper surface connection in described second frame 2 connect manipulator 4 on above-mentioned horizontal linear guide rail 3, and described manipulator 4 can reciprocatingly slide along horizontal linear guide rail 3.
Comprise that in addition but a driving device hand 4 is along horizontal linear guide rail 3 reciprocating linear electric motors 5.The elementary 5-1 of described linear electric motors 5 is connected the lower surface of manipulator 4, and the secondary 5-2 of linear electric motors 5 is connected on the upper surface of second frame 2.
Connect the hand 6 that connects material on manipulator 4, be installed in the clamping device 7 that is used for fixing workpiece in the transport process at the described upper surface that connects material hand 6, preferably, the clamping device in the present embodiment is a sucker, for example magnechuck and/or vacuum cup.
On second frame 2, connect four damping buffers 8.Wherein two damping buffers 8 are arranged in the front portion of second frame 2, are connected to the both sides of second frame 2; Two other damping buffer 8 is arranged in the rear portion of second frame 2, is connected to the both sides of second frame 2.
Arrange a grating chi 9 between second frame 2 and manipulator 4, the quiet chi 9-1 of described grating chi 9 is fixedly connected on the upper surface of second frame 2, and the moving chi 9-2 of grating chi 9 is fixedly connected on the lower surface of manipulator 4.
Get back to Fig. 1, first frame 1 in the present embodiment is fixed, and second frame 2 is movable, and second frame 2 interconnects by two vertical line slideways 10 and two the guide and limit member 11 and first frames 1 that are made of guide pad and stopper slot.Above-mentioned two guide and limit members 11 that are made of guide pad and stopper slot also can be replaced by other two vertical line slideways 10.
Arrange that on first frame 1 one can control second frame 2 along vertical line slideway 12 upper and lower reciprocating lowering or hoisting gears 12.As described in Figure 3, described lowering or hoisting gear 12 comprises a motor 12-1, two steering box 12-2 and four screw elevator 12-3, two outputs of described motor 12-1 connect the input of two steering box 12-2 respectively, two outputs of each steering box 12-2 connect the input of a screw elevator 12-3 respectively, the screw rod of each screw elevator 12-3 be fixedly connected on second frame 2 on nut by being threaded.
Claims (5)
1. a tool conveying mechanical arm is characterized in that: comprise frame, linear electric motors, horizontal linear guide rail, manipulator and the hand that connects material; Manipulator is arranged in the upper surface of frame, by being slidingly connected between horizontal linear guide rail and the frame; Linear electric motors are arranged between manipulator and the frame, move back and forth along the horizontal linear guide rail with the driving device hand; The hand that connects material is connected on the manipulator; Described frame comprises first fixing frame and the second movable frame, and the second movable frame is slidingly connected by between several vertical line slideways and first frame of fixing; On the first fixing frame, arrange one can the control activity second frame along the upper and lower reciprocating lowering or hoisting gear of vertical line slideway; Linear electric motors, horizontal linear guide rail, manipulator and the hand that connects material are arranged in the upper surface of the second movable frame; Described lowering or hoisting gear comprises a motor, two steering boxs and four screw elevators; Two outputs of described motor connect the input of two steering boxs respectively, and two outputs of each steering box connect the input of a screw elevator respectively, the screw rod of each screw elevator be fixedly connected on second frame on nut by being threaded.
2. a kind of tool conveying mechanical arm according to claim 1 is characterized in that: the upper surface at the described hand that connects material is installed in the clamping device that is used for fixing workpiece in the conveying work pieces process.
3. a kind of tool conveying mechanical arm according to claim 2 is characterized in that: described clamping device is magnechuck and/or vacuum cup.
4. a kind of tool conveying mechanical arm according to claim 1 is characterized in that: arrange a grating chi between frame and manipulator.
5. a kind of tool conveying mechanical arm according to claim 1 is characterized in that: the front and rear in frame is installed damping buffer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101954825A CN101386172B (en) | 2008-10-15 | 2008-10-15 | Tool conveying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101954825A CN101386172B (en) | 2008-10-15 | 2008-10-15 | Tool conveying mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101386172A CN101386172A (en) | 2009-03-18 |
| CN101386172B true CN101386172B (en) | 2010-11-24 |
Family
ID=40475947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101954825A Expired - Fee Related CN101386172B (en) | 2008-10-15 | 2008-10-15 | Tool conveying mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101386172B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890710A (en) * | 2010-06-10 | 2010-11-24 | 中国电子科技集团公司第四十五研究所 | Wafer adsorption type conveying manipulator |
| CN102107783B (en) * | 2011-01-21 | 2012-08-08 | 丛明 | Loading and unloading handling mechanical arm for solar cell module |
| CN103480728B (en) * | 2013-09-18 | 2016-09-07 | 安徽省科昌机械制造股份有限公司 | Interior plate automatic moulding production line |
| CN104229682A (en) * | 2014-08-30 | 2014-12-24 | 苏州先锋物流装备科技有限公司 | Lifting device for handling vehicle |
| CN106976072A (en) * | 2017-04-28 | 2017-07-25 | 苏州三基铸造装备股份有限公司 | Electromagnetism inserts gripper equipment |
| CN109580673B (en) * | 2018-12-19 | 2021-09-24 | 杭州翔毅科技有限公司 | Angle-adjustable CT device |
-
2008
- 2008-10-15 CN CN2008101954825A patent/CN101386172B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101386172A (en) | 2009-03-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180314 Address after: Jiangsu Province, Yangzhou City Jiangyang road 225009 No. 205 Patentee after: Yangzhou Metallurgical Machinery Co., Ltd. Address before: 225127 Ji'an Road, Hanjiang Industrial Park, Yangzhou, Jiangsu Province, No. 206 Patentee before: Yangzhou Jfmmri Metalforming Machinery Co., Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20181015 |
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| CF01 | Termination of patent right due to non-payment of annual fee |