CN106078783A - A kind of four axle loading and unloading manipulators - Google Patents
A kind of four axle loading and unloading manipulators Download PDFInfo
- Publication number
- CN106078783A CN106078783A CN201610644513.5A CN201610644513A CN106078783A CN 106078783 A CN106078783 A CN 106078783A CN 201610644513 A CN201610644513 A CN 201610644513A CN 106078783 A CN106078783 A CN 106078783A
- Authority
- CN
- China
- Prior art keywords
- lever arm
- elevating bracket
- unloading
- material grasping
- axle loading
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of four axle loading and unloading manipulators, including elevating bracket, lever arm and material grasping hands, described lever arm is scalable and is rotatably mounted on described elevating bracket, and described material grasping hands can be arranged on lever arm with horizontally rotating, and described material grasping hands is provided with vacuum cup.It is movable that this mechanical hand is provided with four axles, it is possible to adapts to distance and moves on a large scale, and fit through sucker and adsorb workpiece, thus effectively realizes the automatic loading/unloading of deep throat punch press.
Description
Technical field
The present invention relates to mechanical hand, a kind of four axle loading and unloading manipulators.
Background technology
In modernization machinery production, automatization's loading and unloading are the trend in machine tooling, at present, process at deep throat punch press
In, owing to material pitch-row is much bigger compared with common punch press from edges of boards distance, therefore, the loading and unloading machinery used with common punch press collocation
Hands cannot carry out normal loading and unloading, and staff operation is the most inconvenient, needs to improve.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of four axle loading and unloading manipulators, can effectively realize deep throat
The automatic loading/unloading of punch press.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of four axle loading and unloading manipulators, including elevating bracket, lever arm and material grasping hands, described lever arm is scalable and pacifies rotationally
Being contained on described elevating bracket, described material grasping hands can be arranged on lever arm with horizontally rotating, and described material grasping hands is provided with vacuum and inhales
Dish.
As the improvement of technique scheme, described elevating bracket includes pedestal and bracing frame, and support frame as described above is by vertically
Guide rail and slide block coordinate and described pedestal be slidably connected, and be provided with on pedestal drive bracing frame elevating mechanism.
As the further improvement of technique scheme, the elevating mechanism of described pedestal includes by the ball wire of driven by motor
Thick stick, support frame as described above has the screw mandrel slide being connected with described ball-screw-transmission.
Further, described lever arm is arranged on described elevating bracket by a rotation seat, is provided with drive institute in elevating bracket
State the driving motor of rotation seat.
Further, described lever arm is provided with straight-line motion mechanism, and base one end of described straight-line motion mechanism is arranged on
On elevating bracket, this mechanism that moves along a straight line is provided with can be along its rectilinear movement the Mobile base being connected with lever arm one end, straight line
Motion is provided with the driving means driving described Mobile base movable.
Further, the end of the described lever arm described material grasping hands of connection of winning in succession by a rotatable positioning, described company
Bar is connected by drive mechanism motor.
The invention has the beneficial effects as follows: it is movable that this mechanical hand is provided with four axles, it is possible to adapt to distance and move on a large scale,
And fit through sucker and workpiece is adsorbed, thus effectively realize the automatic loading/unloading of deep throat punch press.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the mounting structure schematic diagram of the present invention.
Detailed description of the invention
With reference to Fig. 1, the one four axle loading and unloading manipulator of the present invention, including elevating bracket 1, lever arm 2 and material grasping hands 3, institute
Stating lever arm 2 scalable and be rotatably mounted on described elevating bracket 1, described material grasping hands 3 can be arranged on activity with horizontally rotating
On arm 2, described material grasping hands 3 is provided with several vacuum cup.
As the improvement of above-mentioned embodiment, described elevating bracket 1 includes pedestal 11 and the bracing frame lifted along pedestal 11
12, support frame as described above 12 is coordinated by vertical guide rail and slide block and described pedestal 11 is slidably connected, and is provided with on pedestal 11
Drive the elevating mechanism of bracing frame 12.
As the further improvement of above-mentioned embodiment, the elevating mechanism of described pedestal 11 includes by the ball of driven by motor
Leading screw 111, support frame as described above 12 has the screw mandrel slide 121 being in transmission connection with described ball-screw 111.
Further, described lever arm 2 is arranged on described elevating bracket 1 by a rotation seat 13, is provided with band in elevating bracket 1
The driving motor of dynamic described rotation seat 13.
Further, described lever arm 2 is provided with straight-line motion mechanism 21, base one end peace of described straight-line motion mechanism 21
Being contained on elevating bracket 1, this mechanism 21 that moves along a straight line is provided with can be along its rectilinear movement the movement being connected with lever arm 2 one end
Seat 22, straight-line motion mechanism 21 is provided with the driving means driving the activity of described Mobile base 22.
Further, the end of the described lever arm 2 23 connection described material grasping hands 3 of winning in succession by a rotatable positioning, even
Pulling 23 two ends and connect lever arm 2 and material grasping hands 3 respectively, described connecting rod 23 is connected by drive mechanism motor, and motor is by passing
Motivation structure drives 23 rotations of winning in succession, thus material grasping hands 3 is to win 23 in succession for radius rotation positioning.
The above, the simply better embodiment of the present invention, but the present invention is not limited to above-described embodiment, as long as
It reaches the technique effect of the present invention with any same or similar means, all should fall under the scope of the present invention.
Claims (6)
1. an axle loading and unloading manipulator, it is characterised in that: including elevating bracket, lever arm and material grasping hands, described lever arm can
Stretching and be rotatably mounted on described elevating bracket, described material grasping hands can be arranged on lever arm with horizontally rotating, described material grasping
Hands is provided with vacuum cup.
A kind of four axle loading and unloading manipulators the most according to claim 1, it is characterised in that: described elevating bracket include pedestal and
Bracing frame, support frame as described above is coordinated by vertical guide rail and slide block and described pedestal is slidably connected, and is provided with band on pedestal
The elevating mechanism of dynamic bracing frame.
A kind of four axle loading and unloading manipulators the most according to claim 2, it is characterised in that: the elevating mechanism bag of described pedestal
Include by the ball-screw of driven by motor, support frame as described above has the screw mandrel slide being connected with described ball-screw-transmission.
A kind of four axle loading and unloading manipulators the most according to claim 1, it is characterised in that: described lever arm is by a rotation
Seat is arranged on described elevating bracket, is provided with the driving motor driving described rotation seat in elevating bracket.
A kind of four axle loading and unloading manipulators the most according to claim 1, it is characterised in that: described lever arm is provided with straight line
Motion, the floor installation of described straight-line motion mechanism is on elevating bracket, and this mechanism that moves along a straight line is provided with can be straight along it
The Mobile base that line moves and is connected with lever arm, straight-line motion mechanism is provided with the driving means driving described Mobile base movable.
A kind of four axle loading and unloading manipulators the most according to claim 1, it is characterised in that: described lever arm can by one
Rotating the described material grasping hands of connection of winning in succession of positioning, described connecting rod is connected by drive mechanism motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610644513.5A CN106078783A (en) | 2016-08-08 | 2016-08-08 | A kind of four axle loading and unloading manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610644513.5A CN106078783A (en) | 2016-08-08 | 2016-08-08 | A kind of four axle loading and unloading manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078783A true CN106078783A (en) | 2016-11-09 |
Family
ID=57455301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610644513.5A Pending CN106078783A (en) | 2016-08-08 | 2016-08-08 | A kind of four axle loading and unloading manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078783A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426235A (en) * | 2016-11-22 | 2017-02-22 | 建科机械（天津）股份有限公司 | Robot fixture for grabbing hooping bar |
| CN108100749A (en) * | 2017-11-22 | 2018-06-01 | 兰如平 | It is a kind of to paste integrated device suitable for the gluing of cloth and reinforcement cloth |
| CN108145008A (en) * | 2017-12-29 | 2018-06-12 | 江苏贸隆机械制造有限公司 | A kind of cutting machine for being used to be punched metallic plate |
| CN109396782A (en) * | 2018-11-04 | 2019-03-01 | 盐城瑞力达科技有限公司 | A kind of robot assembled for packing tank body |
| PL126741U1 (en) * | 2017-10-27 | 2019-05-06 | Marek Bronowski | Multi-unit pneumatic grab |
| CN109761030A (en) * | 2019-02-28 | 2019-05-17 | 深圳市宝盛自动化设备有限公司 | A kind of material diversion equipment |
| CN111823268A (en) * | 2019-04-23 | 2020-10-27 | 精工爱普生株式会社 | Horizontal multi-joint robot |
| CN112936229A (en) * | 2021-03-15 | 2021-06-11 | 威海职业学院(威海市技术学院) | Anti-drop's rotation type transfer robot |
| CN114249133A (en) * | 2021-12-02 | 2022-03-29 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2423222C1 (en) * | 2009-10-29 | 2011-07-10 | Алексей Николаевич Коруков | Manipulator |
| CN103963071A (en) * | 2014-05-27 | 2014-08-06 | 广州大正新材料科技有限公司 | Mechanical arm |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN204711036U (en) * | 2015-02-06 | 2015-10-21 | 惠州经济职业技术学院 | A kind of automatic loading and unloading manipulator |
| CN204913913U (en) * | 2015-08-03 | 2015-12-30 | 亿和精密工业（苏州）有限公司 | Four -axis stirring machinery hand |
| CN205096420U (en) * | 2015-07-20 | 2016-03-23 | 中山亚力菲自动化设备有限公司 | Punching press four -axis manipulator |
| CN105750437A (en) * | 2014-12-17 | 2016-07-13 | 佛山市艾乐博机器人科技有限公司 | Automatic manipulator |
| CN206048235U (en) * | 2016-08-08 | 2017-03-29 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
-
2016
- 2016-08-08 CN CN201610644513.5A patent/CN106078783A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2423222C1 (en) * | 2009-10-29 | 2011-07-10 | Алексей Николаевич Коруков | Manipulator |
| CN103963071A (en) * | 2014-05-27 | 2014-08-06 | 广州大正新材料科技有限公司 | Mechanical arm |
| CN105750437A (en) * | 2014-12-17 | 2016-07-13 | 佛山市艾乐博机器人科技有限公司 | Automatic manipulator |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN204711036U (en) * | 2015-02-06 | 2015-10-21 | 惠州经济职业技术学院 | A kind of automatic loading and unloading manipulator |
| CN205096420U (en) * | 2015-07-20 | 2016-03-23 | 中山亚力菲自动化设备有限公司 | Punching press four -axis manipulator |
| CN204913913U (en) * | 2015-08-03 | 2015-12-30 | 亿和精密工业（苏州）有限公司 | Four -axis stirring machinery hand |
| CN206048235U (en) * | 2016-08-08 | 2017-03-29 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426235B (en) * | 2016-11-22 | 2019-02-22 | 建科机械（天津）股份有限公司 | A kind of stirrup crawl robot clamp |
| CN106426235A (en) * | 2016-11-22 | 2017-02-22 | 建科机械（天津）股份有限公司 | Robot fixture for grabbing hooping bar |
| PL126741U1 (en) * | 2017-10-27 | 2019-05-06 | Marek Bronowski | Multi-unit pneumatic grab |
| CN108100749A (en) * | 2017-11-22 | 2018-06-01 | 兰如平 | It is a kind of to paste integrated device suitable for the gluing of cloth and reinforcement cloth |
| CN108145008A (en) * | 2017-12-29 | 2018-06-12 | 江苏贸隆机械制造有限公司 | A kind of cutting machine for being used to be punched metallic plate |
| CN109396782B (en) * | 2018-11-04 | 2019-12-17 | 南京联科镀膜包装材料有限公司 | robot for assembling packaging tank and using method thereof |
| CN109396782A (en) * | 2018-11-04 | 2019-03-01 | 盐城瑞力达科技有限公司 | A kind of robot assembled for packing tank body |
| CN109761030A (en) * | 2019-02-28 | 2019-05-17 | 深圳市宝盛自动化设备有限公司 | A kind of material diversion equipment |
| CN111823268A (en) * | 2019-04-23 | 2020-10-27 | 精工爱普生株式会社 | Horizontal multi-joint robot |
| CN112936229A (en) * | 2021-03-15 | 2021-06-11 | 威海职业学院(威海市技术学院) | Anti-drop's rotation type transfer robot |
| CN114249133A (en) * | 2021-12-02 | 2022-03-29 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114249133B (en) * | 2021-12-02 | 2024-04-19 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
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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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |