CN106311922A - Novel stamping robot - Google Patents
Novel stamping robot Download PDFInfo
- Publication number
- CN106311922A CN106311922A CN201610782955.6A CN201610782955A CN106311922A CN 106311922 A CN106311922 A CN 106311922A CN 201610782955 A CN201610782955 A CN 201610782955A CN 106311922 A CN106311922 A CN 106311922A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- main body
- workpiece
- robot
- servomotor
- 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
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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
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a novel stamping robot and relates to the field of automatic machines. The novel stamping robot comprises a robot body and an arm body above the robot body. The robot body is provided with a controller. A lifting mechanism is arranged on one side of the robot body. The lifting mechanism is fixed to the rear side wall of the robot body. A rotating mechanism is arranged on the lifting mechanism. A front-back telescopic mechanism is arranged above the rotating mechanism and is provided with a workpiece correcting mechanism. A suction cup is arranged below the workpiece correcting mechanism. The robot is suitable for stamping equipment, safety can be improved, in addition, the rotation angle can reach 360 degrees, and therefore stamping is more convenient. The robot is mainly composed of the rotating mechanism, the lifting mechanism, the front-back telescopic mechanism and the workpiece correcting mechanism; the rotating inertia of the robot during rotation is small, so that the requirement for the equipment strength of the robot is greatly lowered, material consumption is less, stability is higher, the requirement for the rated power of a motor is lowered, and energy can be effectively saved.
Description
Technical field
The present invention relates to automated machine field, be specifically related to a kind of Novel punching machine people.
Background technology
Current punching apparatus is usually when punching parts and operates by hand, i.e. staff puts the workpiece in the mould of punch press
On, after leaving lower mold after upper die of punching press punching press, then with hands, stamping forming workpiece is taken out, this put by hand and
The way taking out workpiece is the most unsafe, often occurs industrial accident, staff is broken the phenomenon that disables.Application No.
The Intelligent manipulator for punch press of 201010259992.1 uses servosystem to make machine operation speed accelerate, power saving, reaches energy-saving ring
Guarantor acts on.Elevating mechanism part is arranged on below rotating mechanism by the present invention so that the rotary inertia that equipment rotates is little, equipment
Operating is overall steadily.
Summary of the invention
For the deficiencies in the prior art, the rotary inertia that it is an object of the invention to provide a kind of rotation is less, the anglec of rotation
Degree can reach the Novel punching machine people of more than 360 degree.
Present invention solves the technical problem that and can realize by the following technical solutions: a kind of Novel punching machine people, bag
Include the arm main body above fuselage main body and fuselage main body, it is characterised in that: described fuselage main body is provided with controller, fuselage master
The side of body is provided with elevating mechanism, and elevating mechanism includes servomotor, ball screw and line slideway, and wherein ball screw is by axle
Bearing is fixed on the rear wall of fuselage main body, and the nut of ball screw is threaded connection with fuselage, servo motor output shaft
Holding equipped with main wheel, the ball screw end of synchronizing equipped with from synchronization wheel, the main wheel that synchronizes passes through synchronous belt phase with between Tong Bu wheel
Even transmitting power, fuselage is threaded connection with the slide block of line slideway, when fuselage lifts, it is ensured that the straight line that fuselage is stable
Movement locus.
Preferably, being provided with rotating mechanism with described elevator, rotating mechanism includes rotating shaft, servomotor and harmonic reduction
Device, servomotor transmits power by synchronizing wheel and synchronous belt to rotating shaft, slows down through decelerator, the output of decelerator upper end
Axle is connected with the bottom of telescopic machine mechanical arm.
Preferably, described flexible mechanical arm mechanism includes slide unit pedestal, servomotor, synchronization wheel, synchronous belt and straight line
Guide rail, and telescopic arm, workpiece handgrip, telescopic arm is provided with workpiece correction mechanism, and workpiece correction mechanism includes corner of workpiece
Degree adjusts servomotor, synchronizes wheel, synchronous belt, and workpiece handgrip has vacuum cup or magnechuck.Telescopic moving servo
Motor and workpiece angle adjust servomotor and are equipped with harmonic speed reducer, and when making mechanism kinematic, action is more steady.
Preferably, described machinery substitutes artificial, in punch press operation, it is achieved the automatic feed/discharge of workpiece.
Preferably, the adjustment of the lifting of described fuselage, flexible, the rotation of mechanical arm of mechanical arm and workpiece angle is to be watched
Clothes control, and make the operation precision of mechanism improve, and the servo drive motor of said mechanism has harmonic speed reducer to connect, and makes mechanism
Start and stop time softer, action is more steady.
Preferably, described elevating mechanism is in fuselage table top bottom, and mechanical arm designs in elevating mechanism upper end, makes mechanical arm turn
Rotary inertia time dynamic reduces.
Provide the benefit that: robot is applicable to pressing equipment, safety can be improved, and the anglec of rotation can reach
360 degree, convenient during punching press.Robot is mainly by rotating mechanism, elevating mechanism, elastic mechanism and workpiece
Correction mechanism forms, and before and after robot, the center of rotation of telescoping mechanism and workpiece correction mechanism is positioned at the position of column reductor
Put so that this equipment is rotating the rotary inertia reduction being, also allows for robot and the requirement of strength of equipment is greatly reduced,
Less with material, stability is higher, therefore the rated power requiring motor reduces, can be the most energy-conservation.Additionally, the liter in this equipment
Descending mechanism is positioned at the lower section of rotating mechanism so that the requirement of strength of rotating mechanism is reduced, and elevating mechanism is positioned at and originally sets
Standby bottommost, can reduce the center of gravity of this equipment so that this equipment is less with material, and stability is higher, this typed rotary mechanism outside
Reductor and servomotor use setoff installation so that cable from reductor centrally through so that the anglec of rotation of rotating mechanism
Can reach more than 360 degree.It is connected by connecting rod between sucker with arm main body, it is simple to the replacing of sucker, and reduces arm master
The loss of body, reduces consumptive material.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention a kind of Novel punching machine people；
Wherein 1, sucker；2, arm is from synchronizing wheel；3, arm main body；4, arm Timing Belt；5, slide unit is from synchronizing wheel；6, sliding
Platform line slideway；7, arm is main synchronizes wheel；8, arm reductor；9, arm motor；10, slide unit Timing Belt；11, slide unit motor；
12, slide unit reductor；13, slide unit is main synchronizes wheel；14, slide unit main body；15, controller；16, fuselage main body；17, fuselage screw rod；
18, fuselage is from synchronizing wheel；19, body synch band；20, fuselage is main synchronizes wheel；21, fuselage motor；22, fuselage line slideway；23,
Upright post main；24, column motor；25, column is from synchronizing wheel；26, column Timing Belt；27, column is main synchronizes wheel；28, column subtracts
Speed machine.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
Fig. 1 shows the detailed description of the invention of the present invention a kind of Novel punching machine people: a kind of Novel punching machine people, including
Arm main body 3 above fuselage main body 16 and fuselage main body 16, wherein said fuselage main body 16 is provided with controller 15, controller
15 are connected with fuselage main body 16, and the side of fuselage main body 16 is provided with elevating mechanism, and elevating mechanism includes fuselage motor 21, fuselage spiral shell
Bar 17 and fuselage line slideway 22, wherein fuselage screw rod 17 is fixed on the lateral wall of fuselage main body 16, fuselage motor 21 and machine
The bottom of body screw rod 17 by fuselage main synchronization wheel 20, fuselage from synchronize wheel 18, and fuselage main synchronize wheel 20 with fuselage from
Body synch band 19 between step wheel 18 is connected, and wherein fuselage motor 21 Tong Bu wheel 20 main with fuselage is connected, fuselage screw rod 17
Bottom is connected from Tong Bu wheel 18 with fuselage, and fuselage line slideway 22 is threadedly attached on fuselage screw rod 17, and fuselage straight line is led
Rail 22 is provided with rotating mechanism, and rotating mechanism includes the vertical of upright post main 23, column motor 24 and upright post main 23 upper surface
Post reductor 28, column motor 24 is slowed down with column from synchronizing wheel 25 by column main synchronization wheel 27, column Timing Belt 26, column
Machine 28 is connected, and upright post main 23 is fixed on fuselage line slideway 22, column reductor 28 be arranged over elastic mechanism,
Elastic mechanism includes that the slide unit motor 11 in slide unit main body 14, slide unit main body 14, the slide unit being connected with slide unit motor 11 subtract
Speed machine 12, the main synchronization wheel 13 of slide unit being connected with slide unit reductor 12, slide unit Timing Belt 10, slide unit are straight with slide unit from synchronizing wheel 5
Line guide rail 6, slide unit main body 14 is connected on column reductor 28, and slide unit line slideway 6 is fixed on slide unit Timing Belt 10, slide unit
Line slideway 6 is provided with workpiece correction mechanism, and workpiece correction mechanism includes the arm electricity on described arm main body 3, arm main body 3
Arm reductor 8 under machine 9, arm motor 9, is connected with the main Tong Bu wheel under arm reductor 8, synchronization wheel 7 main with arm
The arm of Timing Belt and arm Timing Belt 4 end is from synchronizing wheel 2, and slide unit is connected with arm main body 3 from synchronizing wheel 5, arm master
Synchronizing wheel 7 to be connected with arm reductor 8, arm has sucker 1 from synchronizing wheel 2.
In conjunction with accompanying drawing, described fuselage main body 16 is equipped with fixed mount in the top and bottom of fuselage screw rod 17, in fixed mount
Being provided with bearing, fuselage screw rod 17 is fixed in bearing.Described fuselage main body 16 is provided with base, described fuselage electricity in the lower section of support
Machine 21, fuselage main synchronization wheel 20, body synch band 19 Tong Bu wheel 20 main with fuselage is each attached on base.The bottom of described column
Being provided with lifter plate, lifter plate is connected in described fuselage line slideway 22.It is provided with between described sucker 1 and described arm main body 3
Connecting rod, for threadeding between connecting rod with sucker 1.It is provided with support between described controller 15 and described fuselage main body 16, controls
Device 15 is fixed on support, and support and fuselage main body 16 are for being rotatably connected.
It should be noted that this device is to be controlled by controller 15, by controlling, fuselage is main synchronizes wheel to fuselage motor 21
The rotation of 20, and drive the motion of body synch band 19, and make fuselage take turns the rotation of 18 from synchronization, thus drive fuselage screw rod
The rotation of 17 so that fuselage line slideway 22 is able to oscilaltion, and drives upright post main 23 to lift.Same mode, column
Motor 24 can drive the rotation of slide unit main body 14, slide unit motor 11 to move before and after driving slide unit line slideway 6 so that arm
Main body 3 can move forward and backward, and arm motor 9 is so that the workpiece on sucker 1 and sucker 1 moves, and arm reductor 8 can
It is finely adjusted with the motion to sucker 1.
Based on above-mentioned, robot is applicable to pressing equipment, can improve safety, and the anglec of rotation can reach
360 degree, convenient during punching press.Robot is mainly by rotating mechanism, elevating mechanism, elastic mechanism and workpiece
Correction mechanism forms, and before and after robot, telescoping mechanism is positioned at column reductor 28 with the center of rotation of workpiece correction mechanism
Position so that this equipment is rotating the rotary inertia reduction being, also allows for robot and significantly drops the requirement of strength of equipment
Low, less with material, stability is higher, therefore the rated power requiring motor reduces, can be the most energy-conservation.Additionally, in this equipment
Elevating mechanism be positioned at the lower section of rotating mechanism so that the requirement of strength of rotating mechanism is reduced, and elevating mechanism is positioned at
The bottommost of this equipment, can reduce the center of gravity of this equipment so that this equipment is less with material, and stability is higher, in addition whirler
The reductor of structure and servomotor use setoff installation so that cable from reductor centrally through so that the rotation of rotating mechanism
Angle can reach more than 360 degree.Be connected by connecting rod between sucker 1 with arm main body 3, it is simple to the replacing of sucker 1, and reduce right
The loss of arm main body 3, reduces consumptive material.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (6)
1. a Novel punching machine people, including the arm main body above fuselage main body and fuselage main body, it is characterised in that: described
Fuselage main body is provided with controller, and the side of fuselage main body is provided with elevating mechanism, and elevating mechanism includes servomotor, ball screw
With line slideway, wherein ball screw is fixed on the rear wall of fuselage main body by bearing block, the nut of ball screw and fuselage
Be threaded connection, servo motor output shaft end equipped with main synchronize wheel, ball screw end equipped with from synchronize wheel, main synchronize wheel with
Being connected by synchronous belt between synchronizing to take turns and transmit power, fuselage is threaded connection with the slide block of line slideway, at machine
During body lifting, it is ensured that the straight-line trajectory that fuselage is stable.
A kind of Novel punching machine people, it is characterised in that: it is provided with whirler with described elevator
Structure, rotating mechanism includes rotating shaft, servomotor and harmonic speed reducer, and servomotor passes to rotating shaft by synchronizing wheel and synchronous belt
Graduating power, slows down through decelerator, and the output shaft of decelerator upper end is connected with the bottom of telescopic machine mechanical arm.
A kind of Novel punching machine people, it is characterised in that: described flexible mechanical arm mechanism includes sliding
Pedestal body, servomotor, synchronization wheel, synchronous belt and line slideway, and telescopic arm, workpiece handgrip, telescopic arm sets
Workpiece angle adjusts servomotor, synchronizes wheel, synchronous belt, workpiece handgrip to have workpiece correction mechanism, workpiece correction mechanism to include
Have vacuum cup or magnechuck.Telescopic moving servomotor and workpiece angle adjust servomotor and are equipped with harmonic reduction
Device, when making mechanism kinematic, action is more steady.
4. according to Novel punching machine people a kind of described in any one in claim 1,2,3, it is characterised in that: described machinery
Substitute artificial, in punch press operation, it is achieved the automatic feed/discharge of workpiece.
5. according to Novel punching machine people a kind of described in any one in claim 1,2,3, it is characterised in that: described fuselage
The adjustment of lifting, flexible, the rotation of mechanical arm of mechanical arm and workpiece angle is SERVO CONTROL, makes the operation precision of mechanism carry
Height, and the servo drive motor of said mechanism has harmonic speed reducer to connect, softer when making mechanism start and stop, action is more
Steadily.
6. according to Novel punching machine people a kind of described in any one in claim 1,2,3, it is characterised in that: described elevator
Structure is in fuselage table top bottom, and mechanical arm designs in elevating mechanism upper end, and rotary inertia when making mechanical arm rotate reduces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782955.6A CN106311922A (en) | 2016-08-31 | 2016-08-31 | Novel stamping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782955.6A CN106311922A (en) | 2016-08-31 | 2016-08-31 | Novel stamping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106311922A true CN106311922A (en) | 2017-01-11 |
Family
ID=57789899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610782955.6A Pending CN106311922A (en) | 2016-08-31 | 2016-08-31 | Novel stamping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106311922A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A kind of punching press feeding robot |
| CN107824708A (en) * | 2017-11-30 | 2018-03-23 | 常州市晨源铸造有限公司 | Support synchronous proportional trailing type mechanical arm |
| CN108246912A (en) * | 2018-03-16 | 2018-07-06 | 保定印杰斯光电设备制造有限公司 | Automatic rotary lifting feed device |
| CN108535500A (en) * | 2018-06-08 | 2018-09-14 | 浙江大学 | A kind of oocyte pickup while in operation liquor folliculi transfer device |
| CN112722950A (en) * | 2020-12-29 | 2021-04-30 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Laminating machine |
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| 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 |
| CN205309154U (en) * | 2015-11-13 | 2016-06-15 | 广东顺德劳佰得机器人科技有限公司 | Full -automatic punch press pay -off machinery hand |
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| CN102023223A (en) * | 2010-09-17 | 2011-04-20 | 顾华 | Universal mechanical arm for automated instruments |
| CN203955950U (en) * | 2014-06-25 | 2014-11-26 | 东莞市信腾机器人科技有限公司 | The four axle stamping machine manipulators that arm load capacity is strong |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A kind of punching press feeding robot |
| CN107552670B (en) * | 2017-10-25 | 2023-10-20 | 安徽工程大学 | Stamping feeding robot |
| CN107824708A (en) * | 2017-11-30 | 2018-03-23 | 常州市晨源铸造有限公司 | Support synchronous proportional trailing type mechanical arm |
| CN108246912A (en) * | 2018-03-16 | 2018-07-06 | 保定印杰斯光电设备制造有限公司 | Automatic rotary lifting feed device |
| CN108535500A (en) * | 2018-06-08 | 2018-09-14 | 浙江大学 | A kind of oocyte pickup while in operation liquor folliculi transfer device |
| CN108535500B (en) * | 2018-06-08 | 2024-01-12 | 浙江大学 | Follicular fluid transfer device between puncture ovum technique of getting |
| CN112722950A (en) * | 2020-12-29 | 2021-04-30 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Laminating machine |
| CN112722950B (en) * | 2020-12-29 | 2023-06-16 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Lamination machine |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20170111 |