CN201350629Y - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN201350629Y
CN201350629Y CNU2009200194181U CN200920019418U CN201350629Y CN 201350629 Y CN201350629 Y CN 201350629Y CN U2009200194181 U CNU2009200194181 U CN U2009200194181U CN 200920019418 U CN200920019418 U CN 200920019418U CN 201350629 Y CN201350629 Y CN 201350629Y
Authority
CN
China
Prior art keywords
support body
connecting plate
manipulator
frame
belt
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.)
Expired - Fee Related
Application number
CNU2009200194181U
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Chinese (zh)
Inventor
郭阳东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Huadong Engineering Machinery Co Ltd
Original Assignee
Qingdao Huadong Engineering Machinery Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Qingdao Huadong Engineering Machinery Co Ltd filed Critical Qingdao Huadong Engineering Machinery Co Ltd
Priority to CNU2009200194181U priority Critical patent/CN201350629Y/en
Application granted granted Critical
Publication of CN201350629Y publication Critical patent/CN201350629Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

Disclosed is a manipulator. A frame of the manipulator is driven by driving power to move vertically; a motor driving a gear wheel to rotate is fixed on the frame; the gear wheel is meshed on a frame upper rack on the frame; a frame transmission belt above the frame is fixedly connected with the frame; a frame transmission belt below the frame is fixedly connected with a manipulator connecting plate; and the manipulator connecting plate is fixedly connected with a material grabbing mechanism of the manipulator. Through the coordination and matching of the gear wheel, the rack, the transmission belts and a runner, the manipulator enables the material grabbing mechanism on the manipulator connecting plate to feed and discharge material among different work stations, and the rotation angle of the gear wheel driven by the motor on the frame is controlled to enable the material grabbing mechanism on the manipulator connecting plate to be suitable for feeding and discharging operations among work stations with different distances. A plurality of layers of frames are connected and matched with each other, which increases the displacement distance of the material grabbing mechanism on the connecting plate of the manipulator.

Description

A kind of manipulator
Technical field
The utility model belongs to the material-feeding and fetching mechanism in the punch process, be concretely in a kind of punch process machinery sheet metal component pick and place the material manipulator.
Background technology
Existing punching press sheet metal component picks and places the manipulator that manipulator adopts the manipulator that moves along line slideway or four connecting rods to drive usually, they are put into a cover material grabbing mechanism, another set of material grabbing mechanism takes out and finishes a course of work jointly, production efficiency is low, and four the manipulator stroke that drives of connecting rod fix, universal performance is poor.
Summary of the invention
The punching press that the utility model will solve existing sheet metal component picks and places the material manipulator needs that two cover material grabbing mechanisms are finished a course of work, production efficiency is low and the technical problem of universal performance difference, provide a kind of use one cover material grabbing mechanism to finish a course of work, the manipulator that universal performance is strong.
In order to solve above-mentioned technical problem, the technical scheme that the utility model is taked is: a kind of manipulator, comprise the frame 30 that moves both vertically by the power drive work, it is characterized in that the motor 1 that driven wheel 2 rotates is fixed on the frame 30, support body upper rack 3 engagements on gear 2 and the support body 5, the support body driving-belt 4 of support body 5 tops is fixedlyed connected with frame 30, and the support body driving-belt 4 of support body 5 belows is fixedlyed connected with manipulator connecting plate 12, the material grabbing mechanism of manipulator connecting plate 12 fixedly connected manipulators.
Gear 2 rotates support body 5 horizontal directions is moved, the support body driving-belt 4 of support body 5 tops moves in the other direction with respect to support body 5, the support body driving-belt 4 of support body 5 belows moves in the same way with respect to support body 5, and the material grabbing mechanism that the support body driving-belt 4 of support body 5 belows drives manipulator connecting plate 12, manipulator moves in the same way with respect to support body 5.The rotation direction of control gear 2 makes the material grabbing mechanism on the manipulator connecting plate 12 realize blowing and material extracting operation between station, and the rotational angle of control gear 2 makes the material grabbing mechanism on the manipulator connecting plate 12 adapt to the blowing and the material extracting operation of different station spacing.The manipulator that a support body 5 is only arranged is a kind of manipulator of single layer structure.
A support body runner 6 is respectively installed at the two ends of support body 5, and support body driving-belt 4 connects support body runner 6.
Line slideway 15 cooperates on the support body above frame slide block 16 on the frame 30 and the support body 5, and line slideway 17 cooperates under the following support body of the manipulator connecting plate slide block 20 on the manipulator connecting plate 12 and support body 5.
There are support body 5 storied placements more than frame 30 belows; Between the adjacent support body 5 support body connecting plate 8 is arranged, support body connecting plate gear 9 is arranged on the support body connecting plate 8, support body connecting plate gear 9 tooth bar 7,3 engagements of the support body upper racks above the adjacent lower floor support body 5 under the support body below adjacent upper strata support body 5 respectively; Support body connecting plate 8 is respectively below the support body driving-belt 4 of adjacent top, fixedly connected above the adjacent below support body driving-belt 4.The support body upper rack 3 of top layer support body 5 and gear 2 engagements, the support body driving-belt 4 of top layer support body 5 tops is fixedlyed connected with frame 30, and the support body driving-belt 4 of bottom support body 5 belows is with to fixedly connected the manipulator connecting plate 12 of manipulator material grabbing mechanism fixedly connected.Gear 2 rotates top layer support body 5 horizontal directions is moved, the support body connecting plate 8 of top layer support body 5 adjacent belows, second layer support body 5 move in the same way with top layer support body 5, and more the support body connecting plate 8 of lower floor and support body 5, manipulator connecting plate 12 move in the same way with top layer support body 5 simultaneously.Multilayer support body 5 has strengthened the displacement of material grabbing mechanism, is applicable to the operation of bigger station spacing.The manipulator that multilayer support body 5 cooperates is a kind of manipulator of sandwich construction.
A support body runner 6 is respectively installed at each support body 5 two ends, and support body driving-belt 4 connects support body runner 6.
Line slideway 17 cooperates under the support body of support body connecting plate top shoe 18 above the support body connecting plate 8 below adjacent upper strata support body 5, line slideway 15 cooperates on the top support body of support body connecting plate sliding block 21 below the support body connecting plate 8 and adjacent lower floor support body 5, line slideway 15 cooperates on the support body above frame slide block 16 on the frame 30 and the top layer support body 5, and line slideway 17 cooperates under the following support body of the manipulator connecting plate slide block 20 on the manipulator connecting plate 12 and adjacent support body 5.
Support body runner 6 is synchronous pulleys, and support body driving-belt 4 is synchronous bands.Band makes manipulator connecting plate 12 displacements accurate with the synchronous pulley engagement synchronously.
Ball screw 36 is installed on the frame 30, the frame drive motors 34 that is fixedly mounted on the vertical guide rail frame 31 connects ball-screw 35, ball screw 36 ball-screws 35 with cooperate, the frame vertical slipper 33 on the frame 30 cooperates with vertical guide rail 32 on the vertical guide rail frame 31.Frame drive motors 34 drive chassis 30 vertically move, and the material grabbing mechanism that drives on the manipulator connecting plate 12 is realized moving both vertically.
The utility model has the advantages that: by wheel and rack, driving-belt and runner cooperation, make one on manipulator connecting plate cover material grabbing mechanism realize that the power on rotational angle of machine driven wheel of blowing and material extracting operation between station, control frame makes material grabbing mechanism on the manipulator connecting plate adapt to the blowing and the material extracting operation of different station spacing.The multilayer support body is connected, and has strengthened the displacement of material grabbing mechanism on the manipulator connecting plate.
Description of drawings
Fig. 1 is the schematic diagram of a kind of embodiment of the utility model single layer structure;
Fig. 2 is the schematic diagram of a kind of embodiment of the utility model sandwich construction;
Fig. 3 is the schematic diagram of the another kind of embodiment of the utility model sandwich construction.
The specific embodiment
Manipulator shown in Figure 1 only has one deck support body 5, is a kind of manipulator schematic diagram of single layer structure.
Frame drive motors 34 is fixedly mounted on the vertical guide rail frame 31, frame drive motors 34 main shafts connect ball-screw 35, ball-screw 35 cooperates with ball screw 36, ball screw 36 is installed on the frame 30 by holder 37, two frame vertical slippers 33 on the frame 30 cooperate with the vertical guide rail 32 on the vertical guide rail frame 31, frame drive motors 34 drive chassis 30 vertically move, and the material grabbing mechanism that drives on the manipulator connecting plate 12 is realized moving both vertically.Motor 1 is fixedly mounted on the frame 30, motor 1 output shaft connects gear 2, gear 2 and 3 engagements of the support body upper rack above the support body 5, a support body runner 6 is respectively installed at support body 5 two ends, support body driving-belt 4 connects support body runner 6, support body runner 6 is synchronous pulleys, support body driving-belt 4 is synchronous bands, the synchronous band that is positioned at the synchronous pulley top is fixedlyed connected with frame 30, the synchronous band that is positioned at the synchronous pulley below is fixedlyed connected the material grabbing mechanism of manipulator connecting plate 12 fixedly connected manipulators with manipulator connecting plate 12.Two frame slide blocks 16 below the frame 30 cooperate with line slideway 15 on the support body above the support body 5, and line slideway 17 cooperates under the following support body of top two the manipulator connecting plate slide blocks 20 of manipulator connecting plate 12 and support body 5.Gear 2 rotates support body 5 horizontal directions is moved, the synchronous band that is positioned at the synchronous pulley top moves in the other direction with respect to support body 5, the synchronous band that is positioned at the synchronous pulley below moves in the same way with respect to support body 5, and the material grabbing mechanism that is positioned at the synchronous band drive manipulator of synchronous pulley below moves in the same way with respect to support body 5.The rotation direction of control gear 2 makes the material grabbing mechanism on the manipulator connecting plate 12 realize blowing and material extracting operation between station, the rotational angle of control gear 2 makes the material grabbing mechanism on the manipulator connecting plate 12 adapt to the blowing and the material extracting operation of different station spacing, the maximum moving distance of material grabbing mechanism is greater than the axial length of support body 5, near the twice of the axial length of support body 5, the good rigidly of present embodiment manipulator.
Manipulator shown in Figure 2 has two-layer support body 5, is a kind of double-deck schematic diagram of sandwich construction manipulator.
Fig. 2 manipulator also has a support body 5 below the support body 5 of Fig. 1, a synchronous pulley is respectively installed at two-layer support body 5 two ends, band connects synchronous pulley synchronously, the synchronous band of top layer support body 5 synchronous pulleys top is fixedlyed connected with frame 30, the synchronous band of bottom support body 5 synchronous pulleys belows is with to fixedly connected the manipulator connecting plate 12 of manipulator material grabbing mechanism fixedly connected, a strip support body connecting plate 8 is arranged between top layer support body 5 and the bottom support body 5, support body connecting plate 8 respectively with being with synchronously below 4 of top layer support body 5, bottom support body 5 is fixedly connected above the band synchronously, there is the support body of rotation connecting plate gear 9 in support body connecting plate 8 central authorities, support body connecting plate gear 9 is tooth bar 7 under the support body below top layer support body 5 respectively, support body upper rack 3 engagements above the bottom support body 5, respectively there is a support body connecting plate top shoe 18 at two ends above the support body connecting plate 8, respectively there is a support body connecting plate sliding block 21 at following two ends, line slideway 17 cooperates under the support body below support body connecting plate top shoe 18 and the top layer support body 5, and line slideway 15 cooperates on the top support body of support body connecting plate sliding block 21 and bottom support body 5.Gear 2 rotates top layer support body 5 horizontal directions is moved, and support body connecting plate 8, bottom support body 5, manipulator connecting plate 12 move in the same way with top layer support body 5.Double-deck support body 5 has strengthened the material grabbing mechanism displacement of manipulator connecting plate 12, the maximum moving distance of material grabbing mechanism near two-layer support body 5 axial length and twice.
Manipulator shown in Figure 3 has three layers of support body 5, is a kind of schematic diagram of three-decker of sandwich construction manipulator.
A synchronous pulley is respectively installed at 5, three layers of support body 5 two ends of support body manipulator shown in Figure 3 also has one between Fig. 2 top layer support body 5 and bottom support body 5 in the middle of, and band connects synchronous pulley synchronously.A strip support body connecting plate 8 is respectively arranged between top layer support body 5 and middle support body 5, middle support body 5 and the bottom support body 5, the support body connecting plate 8 of top respectively below the synchronous band of top layer support body 5, middle support body 5 fixedlys connected above the band synchronously; The support body connecting plate 8 of below is following with middle support body 5 synchronous bands respectively, bottom support body 5 is fixedlyed connected above the band synchronously.Support body connecting plate 8 central authorities have and rotate support body connecting plate gear 9, tooth bar 7,3 engagements of the support body upper racks above the middle support body 5 under the support body below top layer support body 5 respectively of the support body connecting plate gear 9 of top; Tooth bar 7,3 engagements of the support body upper racks above the bottom support body 5 under the support body below middle support body 5 respectively of the support body connecting plate gear 9 of below.Respectively there is a support body connecting plate top shoe 18 at two ends above the support body connecting plate 8, below two ends a support body connecting plate sliding block 21 is respectively arranged.Line slideway 17 cooperates under the support body below support body connecting plate top shoe 18 and the top layer support body 5 of the support body connecting plate 8 of top, and line slideway 15 cooperates on the top support body of support body connecting plate sliding block 21 and middle support body 5; Line slideway 17 cooperates under the support body of support body connecting plate top shoe 18 and the middle support body 5 of the support body connecting plate 8 of below, and line slideway 15 cooperates on the top support body of support body connecting plate sliding block 21 and bottom support body 5.Gear 2 rotates top layer support body 5 horizontal directions is moved, and the support body connecting plate 8 of the support body connecting plate 8 of top, middle support body 5, below, bottom support body 5, manipulator connecting plate 12 move in the same way with top layer support body 5.The maximum moving distance of material grabbing mechanism near three layers of support body 5 axial length and three times.

Claims (8)

1, a kind of manipulator, comprise the frame (30) that moves both vertically by the power drive work, it is characterized in that the motor (1) that driven wheel (2) rotates is fixed on the frame (30), support body upper rack (3) engagement on gear (2) and the support body (5), the support body driving-belt (4) of support body (5) top is fixedlyed connected with frame (30), the support body driving-belt (4) of support body (5) below is fixedlyed connected the material grabbing mechanism of the fixedly connected manipulator of manipulator connecting plate (12) with manipulator connecting plate (12).
2, a kind of manipulator according to claim 1 is characterized in that a support body runner (6) is respectively installed at the two ends of support body (5), and support body driving-belt 4 connects support body runner (6).
3, a kind of manipulator according to claim 1, it is characterized in that line slideway (15) cooperates on the support body above frame slide block (16) and the support body (5) on the frame (30), the manipulator connecting plate slide block (20) on the manipulator connecting plate (12) cooperates with line slideway (17) under the following support body of support body (5).
4, a kind of manipulator according to claim 1 is characterized in that there is support body (5) storied placement more than frame (30) below; Support body connecting plate (8) is arranged between the adjacent support body (5), support body connecting plate gear (9) is arranged, support body connecting plate gear (9) support body upper rack (3) engagement above the tooth bar (7), adjacent lower floor support body (5) under the support body below adjacent upper strata support body (5) respectively on the support body connecting plate (8); Support body connecting plate (8) is following with the support body driving-belt (4) of adjacent top respectively, adjacent below support body driving-belt (4) is top fixedlys connected.
5, a kind of manipulator according to claim 4 is characterized in that each support body (5) two ends respectively install a support body runner (6), and support body driving-belt (4) connects support body runner (6).
6, a kind of manipulator according to claim 4, it is characterized in that line slideway (17) cooperates under the support body of support body connecting plate top shoe (18) below adjacent upper strata support body (5) above the support body connecting plate (8), line slideway (15) cooperates on the top support body of the following support body connecting plate sliding block (21) of support body connecting plate (8) and adjacent lower floor support body (5).
7, according to claim 2 or 5 described a kind of manipulators, it is characterized in that support body runner (6) is a synchronous pulley, support body driving-belt (4) is synchronous band.
8, a kind of manipulator according to claim 1, it is characterized in that frame (30) goes up installation ball screw (36), the frame drive motors (34) that is fixedly mounted on the vertical guide rail frame (31) connects ball-screw (35), ball screw (36) ball-screw (35) with cooperate, the frame vertical slipper (33) on the frame (30) cooperates with vertical guide rail (32) on the vertical guide rail frame (31).
CNU2009200194181U 2009-02-13 2009-02-13 Manipulator Expired - Fee Related CN201350629Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2009200194181U CN201350629Y (en) 2009-02-13 2009-02-13 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2009200194181U CN201350629Y (en) 2009-02-13 2009-02-13 Manipulator

Publications (1)

Publication Number Publication Date
CN201350629Y true CN201350629Y (en) 2009-11-25

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Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2009200194181U Expired - Fee Related CN201350629Y (en) 2009-02-13 2009-02-13 Manipulator

Country Status (1)

Country Link
CN (1) CN201350629Y (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102990675A (en) * 2011-09-08 2013-03-27 鸿富锦精密工业（深圳）有限公司 Robot arm component
CN104226841A (en) * 2014-07-15 2014-12-24 上海交通大学 Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm
CN104399835A (en) * 2014-12-05 2015-03-11 南京埃尔法电液技术有限公司 Quad-speed quad-distance drive device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102990675A (en) * 2011-09-08 2013-03-27 鸿富锦精密工业（深圳）有限公司 Robot arm component
US9061417B2 (en) 2011-09-08 2015-06-23 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Robot arm mechanism
CN104226841A (en) * 2014-07-15 2014-12-24 上海交通大学 Linkage mechanism for extending rod and tooling of feeding and discharging mechanical arm
CN104399835A (en) * 2014-12-05 2015-03-11 南京埃尔法电液技术有限公司 Quad-speed quad-distance drive device

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20091125

Termination date: 20140213