CN103639316A - Three-dimensional servo feeding manipulator - Google Patents
Three-dimensional servo feeding manipulator Download PDFInfo
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- CN103639316A CN103639316A CN201310618452.1A CN201310618452A CN103639316A CN 103639316 A CN103639316 A CN 103639316A CN 201310618452 A CN201310618452 A CN 201310618452A CN 103639316 A CN103639316 A CN 103639316A
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Abstract
The invention discloses a three-dimensional servo feeding manipulator. The three-dimensional servo feeding manipulator comprises a servo control system, a first driving device, a second driving device and two driving arms; two ends of each driving arm are connected with the first driving device and the second driving device respectively; the two driving arm are parallel to each other and are provided with clamping jaws which are matched with each other; the first driving device and the second driving device are controlled by the servo control system to perform synchronous actuation to drive the two driving arms to move along the three mutually perpendicular directions; the clamping jaws are driven by the two driving arms to be matched with the actuation to perform multi-station transfer on workpieces. According to the three-dimensional servo feeding manipulator, the manual work is replaced, the workpiece transfer is achieved in a three-axis linkage mode, the workpiece transfer is high in accuracy, the labor productivity is greatly improved, the product quality is improved, the production space is saved, the production cost input is saved, the automatic unmanned machining process is achieved, the functions are perfect, and the structure is simple and compact.
Description
Technical field
The present invention relates to industry mechanical arm field, relate in particular to a kind of three-D servo feeding machinery hand.
Background technology
In life now, science and technology is said under the progress of crescent benefit, manipulator has been widely used in the every field in life, and manipulator can imitate some holding function of staff and arm, in order to the automatic pilot that captures, carries object or operation tool by fixed routine.Manipulator is the industrial robot occurring the earliest; also be the modern machines people who occurs the earliest; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
At present, the production model of automobile industry filter box and motor shell manufacturer still be take the production of one-shot sheet operation mostly as main, the equipment falling behind and operation are arranged, cause that production capacity is low, quality is unstable, percent defective is high and the problem of industry manpower shortage, and there is certain danger, can not meet the development trend of automated production far away.In addition, also there is structure simple and crude or too complexity and the incomplete shortcoming of function in existing manipulator, only can realize 2-axis linkage transfers, and cannot realize the high-precision transporting to processing work, also there is the problem that production capacity is low, quality is unstable and percent defective is high, had a strong impact on the development of process automation and manless production.
Therefore, be badly in need of wanting a kind of three-D servo feeding machinery hand to overcome the problem of above-mentioned existence.
Summary of the invention
The object of the present invention is to provide a kind of three-D servo feeding machinery hand, the perfect in shape and function of this three-D servo feeding machinery hand, can realize three-shaft linkage and transfer workpiece, and can realize and replace manual working, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, save production cost and drop into and the automation of process and unmanned.
For realizing above-mentioned object, the invention provides a kind of three-D servo feeding machinery hand, be applicable to, in punch press, workpiece is carried out to multistation handover, wherein, described three-D servo feeding machinery hand comprises servo-control system, the first drive unit, the second drive unit and two actuating arms, described in each, the two ends of actuating arm are connected with described the first drive unit and the second drive unit respectively, and described two actuating arms are and are arranged in parallel, described two actuating arms are equipped with the jaw cooperatively interacting, described the first drive unit and the second drive unit are controlled synchronous start by described servo-control system and are ordered about described two actuating arms and move along three orthogonal directions, and described two actuating arms drive described jaw to coordinate start so that described workpiece is carried out to multistation handover.
Preferably, described the first drive unit comprises: X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism, described X-axis driving mechanism order about described two actuating arm along continuous straight runs mutually near or mutually away from direction synchronizing moving, described two actuating arms drive described jaw to clamp or discharge opening of described workpiece and press from both sides operation, described Y-axis drive unit orders about described two actuating arm along continuous straight runs and perpendicular to the mutual close direction synchronizing moving of described two actuating arms, described Z axis driving mechanism orders about vertically synchronizing moving of described two actuating arms.
Preferably, described X-axis driving mechanism comprises the first driver, the first screw rod, the first guide bracket, the first guide rail and the first guide post, the output of described the first driver is connected in described the first screw rod, described the first screw rod is along the length direction setting of described actuating arm, described the first guide rail is located at respectively the both sides of described the first screw rod along the direction that is parallel to described the first screw rod, the lower surface of described the first guide bracket is fixed with the first nut set that is threaded engagement with described the first screw rod, described the first guide bracket lower surface is also provided with the first slide block, described the first slide block is distributed in described the first nut set both sides and is and is slidably matched with described the first guide rail, described the first guide post is fixed at the upper end of described the first guide bracket, and described the first guide post along continuous straight runs and perpendicular to described the first screw rod setting, one end that described two actuating arms stretch into described the first drive unit is connected to the two ends of described the first guide post.
Preferably, described X-axis driving mechanism also comprises the second slide block and the second guide post, described the second slide block is the two ends that are sheathed on described the first guide post that are slidably matched, described the second guide post is vertically fixedly installed on described the second slide block, and one end that described in each, actuating arm stretches into described the first drive unit is corresponding described second guide post that is sheathed on being slidably matched.
Preferably, described Y-axis driving mechanism comprises the second driver, the first driven wheel, the first bar shaped tooth, support arm, the second guide rail and bracket, the output of described the second driver is connected in described the first driven wheel, described the first bar shaped tooth is and the intermeshing both sides up and down of being located at described the first driven wheel of described the first driven wheel, and described the first bar shaped tooth is all and is horizontally disposed with and perpendicular to the length direction of described actuating arm, described support arm vertically arranges, and described the first bar shaped tooth is fixedly connected with described support arm away from one end of described the first driven wheel, described the second guide rail lays respectively at the two ends up and down of described support arm along the direction that is parallel to described the first bar shaped tooth, and described in two, the two ends up and down of support arm are equipped with the 3rd slide block, described the 3rd slide block and described the second guide rail are and are slidably matched, described bracket is connected in the upper end of described support arm, described in each, actuating arm is the corresponding described bracket of being located at of slip along the length direction of this actuating arm.
Preferably, described Z axis driving mechanism comprises the 3rd driver, the second screw rod, the 3rd guide rail, the second guide bracket and the 3rd guide post, the output of described the 3rd driver is connected in described the second screw rod, described the second screw rod is vertical setting, described the 3rd guide rail is located at respectively the both sides of described the second screw rod along the direction that is parallel to described the second screw rod, described the second guide bracket is fixed with the second nut set that is threaded engagement with described the second screw rod, and described the second guide bracket is provided with Four-slider, described Four-slider and described the 3rd guide rail are and are slidably matched, described the 3rd guide post is the direction setting that is parallel to described the second screw rod, and what described the 3rd guide post also slided along the direction that is parallel to described the first bar shaped tooth is located on described the second guide bracket, what described support arm also slided along the direction that is parallel to described the second screw rod is located on the 3rd guide post, described bracket is fixedly installed on described the 3rd guide post.
Preferably, described Z axis driving mechanism also comprises the 4th driver, described the 4th driver is located at respectively the both sides of described the second screw rod, and the output of described the 4th driver is connected to the two ends of described the second guide bracket, described the 4th driver orders about described the second guide bracket and slides along the direction that is parallel to described the second screw rod.
Preferably, described the first drive unit also comprises support body, and described X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism are all located on described support body.
Preferably, described the first driver, the first guide rail, the second driver, the second guide rail, the 3rd driver, the 3rd guide rail and the 4th driver are all fixed on described support body, described the first driver, the second driver and the 3rd driver are rotating driver, and described the 4th driver is linear actuator.
Preferably, described the second drive unit is also provided with described Y-axis driving mechanism and Z axis driving mechanism.
Compared with prior art, because three-D servo feeding machinery hand of the present invention comprises servo-control system, the first drive unit, the second drive unit and two actuating arms, the two ends of each actuating arm are connected with the first drive unit and the second drive unit respectively, and two actuating arms are and are arranged in parallel, two actuating arms are equipped with the jaw cooperatively interacting, the first drive unit and the second drive unit are controlled synchronous start by servo-control system and are ordered about two actuating arms and move along three orthogonal directions, and two actuating arms drive jaw to coordinate start so that workpiece is carried out to multistation handover.Thereby three-D servo feeding of the present invention machinery hand can be realized replaces manual working, three-shaft linkage to transfer workpiece, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, save production cost and drop into and the automation of process and unmanned, and three-D servo feeding of the present invention machinery hand also has advantages of perfect in shape and function, simple and compact for structure.
Accompanying drawing explanation
Fig. 1 is the solid combination schematic diagram of three-D servo feeding machinery hand of the present invention.
Fig. 2 is that three-D servo feeding machinery hand of the present invention is removed the solid combination schematic diagram after protection housing.
Fig. 3 is that the first drive unit of three-D servo feeding machinery hand of the present invention is removed the solid combination schematic diagram after part frame.
Fig. 4 is the solid combination schematic diagram at another visual angle of Fig. 3.
Fig. 5 is that the second drive unit of three-D servo feeding machinery hand of the present invention is removed the solid combination schematic diagram after part frame.
Fig. 6 is the solid combination schematic diagram at another visual angle of Fig. 5.
The specific embodiment
In order to describe technology contents of the present invention, structural feature in detail, below in conjunction with embodiment and coordinate accompanying drawing to be described further.
Refer to Fig. 1 and Fig. 2, three-D servo feeding machinery hand 100 of the present invention is applicable to, in punch press (not shown), workpiece (not shown) is carried out to multistation handover, wherein, three-D servo feeding machinery hand 100 of the present invention comprises servo-control system (not shown), the first drive unit 10, the second drive unit 20 and two actuating arms 30, the two ends of each actuating arm 30 are connected with the first drive unit 10 and the second drive unit 20 respectively, and two actuating arms 30 are and are arranged in parallel, two actuating arms 30 are equipped with the jaw 31 cooperatively interacting, the first drive unit 10 and the second drive unit 20 are controlled synchronous start by servo-control system, and to order about two actuating arms 30 (be the orthogonal X-direction that is shown in Fig. 1 or Fig. 2 along three orthogonal directions, Y direction and Z-direction) mobile, and two actuating arms 30 drive jaw 31 to coordinate start so that workpiece is carried out to multistation handover, thereby realize the handover of 100 pairs of workpiece Three Degree Of Freedoms of three-D servo feeding machinery hand of the present invention, realize three-shaft linkage and transfer workpiece, move more flexible, function is more perfect, can meet different process requirements.More excellently be; three-D servo feeding machinery hand 100 of the present invention also comprises two protection housings 40; this two protections housing 40 is hollow structure; the first drive unit 10 is located at one inside in two protection housings 40; the second drive unit 20 is located at another one inside in two protection housings 40; thereby avoid operating personnel to damage; and can reduce the impurity such as dust and enter into the first drive unit 10 or the second drive unit 20, to ensure the normal operation of the first drive unit 10 or the second drive unit 20 and to increase the service life.Particularly, as follows:
Refer to Fig. 2 to Fig. 4, the first drive unit 10 comprises: X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13, X-axis driving mechanism 11 order about two actuating arm 30 along continuous straight runs mutually near or mutually away from direction synchronizing moving, two actuating arms 30 drive jaw 31 to clamp or discharge opening of workpiece and press from both sides operation, Y-axis drive unit orders about two actuating arm 30 along continuous straight runs and perpendicular to the mutual close direction synchronizing moving of two actuating arms 30, Z axis driving mechanism 13 orders about vertically synchronizing moving of two actuating arms 30, particularly, corresponding to the coordinate in Fig. 2 to Fig. 5, X-axis driving mechanism 11 orders about two actuating arms 30 along X-direction synchronizing moving, Y-axis drive unit orders about two actuating arms 30 along Y direction synchronizing moving, Z axis driving mechanism 13 orders about two actuating arms 30 along Z-direction synchronizing moving.More specifically, as follows:
Wherein, X-axis driving mechanism 11 comprises the first driver 111, the first screw rod 113, the first guide bracket 114, the first guide rail 115 and the first guide post 116, the output of the first driver 111 is connected in the first screw rod 113, particularly, in the present embodiment, the first driver 111 is preferably servomotor, the first driver 111 is connected in one end of the first screw rod 113 by conveyer belt 112, the first screw rod 113 arranges along the length direction (being X-direction) of actuating arm 30, the first guide rail 115 is located at respectively the both sides of the first screw rod 113 along the direction that is parallel to the first screw rod 113, the lower surface of the first guide bracket 114 is fixed with the first nut set 114a that is threaded engagement with the first screw rod 113, so that rotatablely moving of the output of the first driver 111 is converted to rectilinear motion, structure is more simple compact, drive more accurate.The first guide bracket 114 lower surfaces are also provided with the first slide block 114b, the first slide block 114b is distributed in the first nut set 114a both sides and is and is slidably matched with the first guide rail 115, thereby the first guide bracket 114 can be stablized smoothly to slide, kinematic accuracy and stability have been improved, the first guide post 116 is fixed at the upper end of the first guide bracket 114, and the first guide post 116 along continuous straight runs and arranging perpendicular to the first screw rod 113, one end that two actuating arms 30 stretch into the first drive unit 10 is connected to the two ends of the first guide post 116.Particularly, X-axis driving mechanism 11 also comprises the second slide block 117 and the second guide post 118, the second slide block 117 is the two ends that are sheathed on the first guide post 116 that are slidably matched, the second guide post 118 is vertically fixedly installed on the second slide block 117, and one end that each actuating arm 30 stretches into the first drive unit 10 is the second corresponding guide post 118 that is sheathed on being slidably matched.Thereby realize X-axis driving mechanism 11 and order about two actuating arms 30 along the synchronizing moving of X-direction, and along the synchronizing moving of Z-direction, provide guide effect for two actuating arms 30.
Simultaneously, Y-axis driving mechanism 12 comprises the second driver 121, the first driven wheel 123, the first bar shaped tooth 124, support arm 125, the second guide rail 126 and bracket 127, the output of the second driver 121 is connected in the first driven wheel 123, particularly, in the present embodiment, the second driver 121 is preferably servomotor, the second driver 121 is connected in the first driven wheel 123 by servo deceleration machine 122, the first bar shaped tooth 124 is and the intermeshing both sides up and down of being located at the first driven wheel 123 of the first driven wheel 123, and the first bar shaped tooth 124 is all and is horizontally disposed with and perpendicular to the length direction of actuating arm 30, the first bar shaped tooth 124 is along Y direction setting, support arm 125 vertically (being Y direction) arranges, and the first bar shaped tooth 124 is fixedly connected with support arm 125 away from one end of the first driven wheel 123, the second guide rail 126 lays respectively at the two ends up and down of support arm 125 along the direction that is parallel to the first bar shaped tooth 124, and the two ends up and down of two support arms 125 are equipped with the 3rd slide block 125a, the 3rd slide block 125a and the second guide rail 126 are and are slidably matched, thereby two support arms 125 can be stablized smoothly to slide, kinematic accuracy and stability have been improved.Bracket 127 is connected in the upper end of support arm 125, each actuating arm 30 is the corresponding bracket 127 of being located at of slip along the length direction (being X-direction) of this actuating arm 30, thereby realize Y-axis driving mechanism 12 and order about two actuating arms 30 along the synchronizing moving of Y direction, realize two actuating arms 30 drive jaws 31 to clamp or discharge workpiece open folder operation, and along the synchronizing moving of X-direction, provide guide effect for two actuating arms 30.
Moreover, Z axis driving mechanism 13 comprises the 3rd driver 131, the second screw rod 132, the 3rd guide rail 133, the second guide bracket 134 and the 3rd guide post 135, the output of the 3rd driver 131 is connected in the second screw rod 132, particularly, in the present embodiment, the 3rd driver 131 is preferably servomotor, the second screw rod 132 is vertically (being Z-direction) and arranges, the 3rd guide rail 133 is located at respectively the both sides of the second screw rod 132 along the direction that is parallel to the second screw rod 132, be fixed with and second screw rod 132 of the second guide bracket 134 is the second nut set 136 of threaded engagement, so that rotatablely moving of the output of the 3rd driver 131 is converted to rectilinear motion, structure is more simple compact, drive more accurate, and the second guide bracket 134 is provided with Four-slider 134a, Four-slider 134a and the 3rd guide rail 133 are and are slidably matched, thereby the second guide bracket 134 can be stablized smoothly, slide, and have improved kinematic accuracy and stability.The 3rd guide post 135 is the direction setting that is parallel to the second screw rod 132, and what the 3rd guide post 135 also slided along the direction (being X-direction) that is parallel to the first bar shaped tooth 124 is located on the second guide bracket 134, specifically, on the second guide bracket 134, along Y direction, be provided with one the 4th guide rail 134b, the bottom of the 3rd guide post 135 is provided with the 5th slide block 135a that the one and the 4th guide rail 134b is slidably matched, when the second guide bracket 134 drives the 3rd guide post 135 to move along Z-direction, the 3rd guide post 135 can also slide along Y direction, offer the guide effect that the 3rd guide post 135 1 Y directions are slided, what support arm 125 also slided along the direction that is parallel to the second screw rod 132 by a sliding suite 125b is located on the 3rd guide post 135, sliding suite 125b is fixed on support arm 125, by the 3rd guide post 135, provide support arm 125 along the guide effect of Z-direction.Particularly, bracket 127 is fixedly installed on the 3rd guide post 135, and bracket 127 is connected in support arm 125 by the 3rd guide post 135.Particularly, Z axis driving mechanism 13 also comprises the 4th driver 137, the 4th driver 137 is located at respectively the both sides of the second screw rod 132, and the output of the 4th driver 137 is connected to the two ends of the second guide bracket 134, the 4th driver 137 orders about the second guide bracket 134 and slides along the direction that is parallel to the second screw rod 132, to reduce the load of the 3rd driver 131, and then the load capacity of raising Z axis driving mechanism 13.More excellent, the 4th driver 137 is preferably linear actuator, is further preferably cylinder.In the present embodiment, the actuating range of Z axis driving mechanism 13, by limiting at each mechanical stroke switch up and down, uses induction and program can control at any time handover and the climb of actuating arm 30, guarantees the synchronization accuracy that actuating arm 30 moves.
Specifically, the first drive unit 10 also comprises support body 14, X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13 are all located on support body 14, make X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13 have unified positioning datum, have improved kinematic accuracy.Particularly, the first driver 111, the first guide rail 115, the second driver 121, the second guide rail 126, the 3rd driver 131, the 3rd guide rail 133 and the 4th driver 137 are all fixed on support body 14, the first driver 111, the second driver 121 and the 3rd driver 131 are rotating driver, and the 4th driver 137 is linear actuator.
Refer to Fig. 5 and Fig. 6, the second drive unit 20 is also provided with above-mentioned Y-axis driving mechanism 12 and Z axis driving mechanism 13, and structural principle is identical, therefore do not repeat them here.
The person of meriting attention, the first driver 111 of three-D servo feeding machinery hand 100 of the present invention, the second driver 121 and the 3rd driver 131 are all preferably servomotor, by servomotor, driven, adopt servo drive, the motion of each axle can independently be controlled, be independent of each other, avoided using that hydraulic drive causes often in the course of the work more energy loss (friction loss, reveal loss etc., the loss of energy can cause the reduction of movement rate), during work, be subject to influence of temperature change large (when oil temperature changes, liquid viscosity changes, cause the variation of kinetic characteristic), easily leak and (not only pollute work-yard, may cause fire casualty, and affect robust motion and the correctness of operating part) etc. problem, and drag losses I is ignored in servo drive motion process, there is not leakage, servo drive is relatively and hydraulic drive is swift in response, flexibility is strong, and servo drive movement rate is high, stability is strong.Meanwhile, in the present embodiment, servo-control system has also adopted motion control card, in motion, can change in real time speed and target location, and motion control card has large capacity cache space, and maximum can be held 2048 data, guarantees running precision; And motion control card scan period, capture velocity and the speed of service, all higher than PLC, can many signals centralized Control solve mistake proofing campaign.Actuating arm 30 is more excellent, and in order to select German aluminium section bar, straight line performance is good, and intensity is high, and anti-twist morphotropism is good.In addition, in the present embodiment, servo drive system adopts central system of lubrication, adopts shunting lubricated, guarantees the gearing friction of each motion parts, removes the foreign matter of motive position simultaneously.
By reference to the accompanying drawings, operation principle to three-D servo feeding machinery hand 100 of the present invention elaborates: by servo-control system, controlled the start of the first drive unit 10 and the second drive unit 20, wherein, Z axis driving mechanism 13 orders about two actuating arms 30 and declines with the level height near workpiece, Y-axis driving mechanism 12 orders about two actuating arms 30 along the synchronous close movement mutually of Y direction, to drive jaw 31 mutually near carrying out holding workpiece, by Z axis driving mechanism 13, order about two actuating arms 30 again and rise to the mobile height that safety is suitable, then, by X-axis driving mechanism 11, order about two actuating arms 30 and along X-direction, move to the position of processing work, and order about two actuating arms 30 mutually away from the operation that discharges workpiece by Y-axis driving mechanism 12, discharging workpiece to Working position, Y-axis driving mechanism 12 orders about two actuating arm 30 machineries away from opening to safe position, by X-axis driving mechanism 11, ordering about two actuating arms 30 again moves and is reset to initial position along X-direction, thereby complete the operation of once transferring workpiece.
Compared with prior art, because three-D servo feeding machinery hand 100 of the present invention comprises servo-control system, the first drive unit 10, the second drive unit 20 and two actuating arms 30, the two ends of each actuating arm 30 are connected with the first drive unit 10 and the second drive unit 20 respectively, and two actuating arms 30 are and are arranged in parallel, two actuating arms 30 are equipped with the jaw 31 cooperatively interacting, the first drive unit 10 and the second drive unit 20 are controlled synchronous start by servo-control system and are ordered about two actuating arms 30 and move along three orthogonal directions, and two actuating arms 30 drive jaw 31 to coordinate start so that workpiece is carried out to multistation handover.Thereby three-D servo feeding of the present invention machinery hand 100 can be realized replaces manual working, three-shaft linkage to transfer workpiece, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, save production cost and drop into and the automation of process and unmanned, and three-D servo feeding of the present invention machinery hand 100 also has advantages of perfect in shape and function, simple and compact for structure.
Above disclosed is only preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to the claims in the present invention, still belongs to the scope that the present invention is contained.
Claims (10)
1. three-D servo feeding machinery hand, be applicable to, in punch press, workpiece is carried out to multistation handover, it is characterized in that, comprise servo-control system, the first drive unit, the second drive unit and two actuating arms, described in each, the two ends of actuating arm are connected with described the first drive unit and the second drive unit respectively, and described two actuating arms are and are arranged in parallel, described two actuating arms are equipped with the jaw cooperatively interacting, described the first drive unit and the second drive unit are controlled synchronous start by described servo-control system and are ordered about described two actuating arms and move along three orthogonal directions, and described two actuating arms drive described jaw to coordinate start so that described workpiece is carried out to multistation handover.
2. three-D servo feeding as claimed in claim 1 machinery hand, it is characterized in that, described the first drive unit comprises: X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism, described X-axis driving mechanism order about described two actuating arm along continuous straight runs mutually near or mutually away from direction synchronizing moving, described two actuating arms drive described jaw to clamp or discharge opening of described workpiece and press from both sides operation, described Y-axis drive unit orders about described two actuating arm along continuous straight runs and perpendicular to the mutual close direction synchronizing moving of described two actuating arms, described Z axis driving mechanism orders about vertically synchronizing moving of described two actuating arms.
3. three-D servo feeding as claimed in claim 2 machinery hand, it is characterized in that, described X-axis driving mechanism comprises the first driver, the first screw rod, the first guide bracket, the first guide rail and the first guide post, the output of described the first driver is connected in described the first screw rod, described the first screw rod is along the length direction setting of described actuating arm, described the first guide rail is located at respectively the both sides of described the first screw rod along the direction that is parallel to described the first screw rod, the lower surface of described the first guide bracket is fixed with the first nut set that is threaded engagement with described the first screw rod, described the first guide bracket lower surface is also provided with the first slide block, described the first slide block is distributed in described the first nut set both sides and is and is slidably matched with described the first guide rail, described the first guide post is fixed at the upper end of described the first guide bracket, and described the first guide post along continuous straight runs and perpendicular to described the first screw rod setting, one end that described two actuating arms stretch into described the first drive unit is connected to the two ends of described the first guide post.
4. three-D servo feeding as claimed in claim 3 machinery hand, it is characterized in that, described X-axis driving mechanism also comprises the second slide block and the second guide post, described the second slide block is the two ends that are sheathed on described the first guide post that are slidably matched, described the second guide post is vertically fixedly installed on described the second slide block, and one end that described in each, actuating arm stretches into described the first drive unit is corresponding described second guide post that is sheathed on being slidably matched.
5. three-D servo feeding as claimed in claim 4 machinery hand, it is characterized in that, described Y-axis driving mechanism comprises the second driver, the first driven wheel, the first bar shaped tooth, support arm, the second guide rail and bracket, the output of described the second driver is connected in described the first driven wheel, described the first bar shaped tooth is and the intermeshing both sides up and down of being located at described the first driven wheel of described the first driven wheel, and described the first bar shaped tooth is all and is horizontally disposed with and perpendicular to the length direction of described actuating arm, described support arm vertically arranges, and described the first bar shaped tooth is fixedly connected with described support arm away from one end of described the first driven wheel, described the second guide rail lays respectively at the two ends up and down of described support arm along the direction that is parallel to described the first bar shaped tooth, and described in two, the two ends up and down of support arm are equipped with the 3rd slide block, described the 3rd slide block and described the second guide rail are and are slidably matched, described bracket is connected in the upper end of described support arm, described in each, actuating arm is the corresponding described bracket of being located at of slip along the length direction of this actuating arm.
6. three-D servo feeding as claimed in claim 5 machinery hand, it is characterized in that, described Z axis driving mechanism comprises the 3rd driver, the second screw rod, the 3rd guide rail, the second guide bracket and the 3rd guide post, the output of described the 3rd driver is connected in described the second screw rod, described the second screw rod is vertical setting, described the 3rd guide rail is located at respectively the both sides of described the second screw rod along the direction that is parallel to described the second screw rod, described the second guide bracket is fixed with the second nut set that is threaded engagement with described the second screw rod, and described the second guide bracket is provided with Four-slider, described Four-slider and described the 3rd guide rail are and are slidably matched, described the 3rd guide post is the direction setting that is parallel to described the second screw rod, and what described the 3rd guide post also slided along the direction that is parallel to described the first bar shaped tooth is located on described the second guide bracket, what described support arm also slided along the direction that is parallel to described the second screw rod is located on the 3rd guide post, described bracket is fixedly installed on described the 3rd guide post.
7. three-D servo feeding as claimed in claim 6 machinery hand, it is characterized in that, described Z axis driving mechanism also comprises the 4th driver, described the 4th driver is located at respectively the both sides of described the second screw rod, and the output of described the 4th driver is connected to the two ends of described the second guide bracket, described the 4th driver orders about described the second guide bracket and slides along the direction that is parallel to described the second screw rod.
8. three-D servo feeding machinery hand as claimed in claim 7, is characterized in that, described the first drive unit also comprises support body, and described X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism are all located on described support body.
9. three-D servo feeding as claimed in claim 8 machinery hand, it is characterized in that, described the first driver, the first guide rail, the second driver, the second guide rail, the 3rd driver, the 3rd guide rail and the 4th driver are all fixed on described support body, described the first driver, the second driver and the 3rd driver are rotating driver, and described the 4th driver is linear actuator.
10. the machinery of the three-D servo feeding as described in claim 2 and 5 to 9 any one hand, is characterized in that, described the second drive unit is also provided with described Y-axis driving mechanism and Z axis driving mechanism.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750438A (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 | Three-dimensional punching mechanical arm |
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN106424415A (en) * | 2016-10-28 | 2017-02-22 | 济南奥图自动化股份有限公司 | Press online multi-station servo feeding system |
| CN107377800A (en) * | 2017-09-15 | 2017-11-24 | 苏州瑞玛金属成型有限公司 | Transfer robots in three-D mould |
| CN107414807A (en) * | 2016-05-23 | 2017-12-01 | 嘉兴大道锻造技术咨询有限公司 | A kind of pneumatic type feeding mechanical hand |
| CN107414820A (en) * | 2016-05-23 | 2017-12-01 | 嘉兴大道锻造技术咨询有限公司 | A kind of Y-direction drive component of pneumatic type feeding mechanical hand |
| CN107511434A (en) * | 2017-09-15 | 2017-12-26 | 苏州瑞玛金属成型有限公司 | Three-D manipulator transporting apparatus |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN107690359A (en) * | 2016-07-22 | 2018-02-13 | 深圳市大富科技股份有限公司 | USB metal tube process equipments |
| CN108145026A (en) * | 2017-12-29 | 2018-06-12 | 昆山威创自动化科技有限公司 | Large-scale three-D manipulator |
| CN108889889A (en) * | 2018-07-27 | 2018-11-27 | 泉州市三业智能科技有限公司 | Horizontal mobile device |
| CN108907024A (en) * | 2018-08-16 | 2018-11-30 | 安徽工业大学 | A kind of Three Degree Of Freedom multiple site punching automatic feeding |
| CN109590378A (en) * | 2017-09-30 | 2019-04-09 | 富鼎电子科技(嘉善)有限公司 | The progressive die and its feed device |
| CN109719190A (en) * | 2019-02-23 | 2019-05-07 | 宁波昌扬机械工业有限公司 | The lateral die cutting die of skylight guide rail |
| CN110449525A (en) * | 2019-07-31 | 2019-11-15 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
| CN111112543A (en) * | 2019-12-30 | 2020-05-08 | 安徽黄山恒久链传动有限公司 | Improved one-step punching and extruding equipment for chain plate |
| CN111390034A (en) * | 2020-03-20 | 2020-07-10 | 大昌汽车部件(苏州)有限公司 | Lower die mechanism of clamp piston punch press and lubricating method thereof |
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
| CN112605254A (en) * | 2020-12-30 | 2021-04-06 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN105750438A (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 | Three-dimensional punching mechanical arm |
| CN107414807A (en) * | 2016-05-23 | 2017-12-01 | 嘉兴大道锻造技术咨询有限公司 | A kind of pneumatic type feeding mechanical hand |
| CN107414820A (en) * | 2016-05-23 | 2017-12-01 | 嘉兴大道锻造技术咨询有限公司 | A kind of Y-direction drive component of pneumatic type feeding mechanical hand |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN107690359A (en) * | 2016-07-22 | 2018-02-13 | 深圳市大富科技股份有限公司 | USB metal tube process equipments |
| CN107690359B (en) * | 2016-07-22 | 2019-06-11 | 深圳市大富科技股份有限公司 | USB metal tube process equipment |
| CN106424415A (en) * | 2016-10-28 | 2017-02-22 | 济南奥图自动化股份有限公司 | Press online multi-station servo feeding system |
| CN107377800A (en) * | 2017-09-15 | 2017-11-24 | 苏州瑞玛金属成型有限公司 | Transfer robots in three-D mould |
| CN107511434A (en) * | 2017-09-15 | 2017-12-26 | 苏州瑞玛金属成型有限公司 | Three-D manipulator transporting apparatus |
| CN107511434B (en) * | 2017-09-15 | 2023-12-08 | 苏州瑞玛精密工业股份有限公司 | Three-dimensional manipulator transfer equipment |
| CN109590378A (en) * | 2017-09-30 | 2019-04-09 | 富鼎电子科技(嘉善)有限公司 | The progressive die and its feed device |
| CN109590378B (en) * | 2017-09-30 | 2020-08-04 | 富鼎电子科技(嘉善)有限公司 | Progressive die and feeding device thereof |
| CN108145026A (en) * | 2017-12-29 | 2018-06-12 | 昆山威创自动化科技有限公司 | Large-scale three-D manipulator |
| CN108145026B (en) * | 2017-12-29 | 2024-05-28 | 昆山威创自动化科技有限公司 | Large three-dimensional manipulator |
| CN108889889A (en) * | 2018-07-27 | 2018-11-27 | 泉州市三业智能科技有限公司 | Horizontal mobile device |
| CN108907024A (en) * | 2018-08-16 | 2018-11-30 | 安徽工业大学 | A kind of Three Degree Of Freedom multiple site punching automatic feeding |
| CN109719190A (en) * | 2019-02-23 | 2019-05-07 | 宁波昌扬机械工业有限公司 | The lateral die cutting die of skylight guide rail |
| CN109719190B (en) * | 2019-02-23 | 2020-03-17 | 宁波昌扬机械工业有限公司 | Skylight guide rail side direction die-cut mould |
| CN110449525A (en) * | 2019-07-31 | 2019-11-15 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
| CN111112543A (en) * | 2019-12-30 | 2020-05-08 | 安徽黄山恒久链传动有限公司 | Improved one-step punching and extruding equipment for chain plate |
| CN111390034A (en) * | 2020-03-20 | 2020-07-10 | 大昌汽车部件(苏州)有限公司 | Lower die mechanism of clamp piston punch press and lubricating method thereof |
| CN112605254B (en) * | 2020-12-30 | 2022-09-13 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
| CN112605254A (en) * | 2020-12-30 | 2021-04-06 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
| CN112589823A (en) * | 2020-12-30 | 2021-04-02 | 珠海格力智能装备有限公司 | Motion, manipulator and automation line |
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