Suspension type manipulator
Technical field
The utility model relates to punching automation technical field, espespecially a kind of suspension type manipulator.
Background technology
The form of diel is a lot, according to operation combined level, diel comprises progressive die (also claiming the progressive die) and single die, wherein progressive die is on the feed direction of blank, there are two or more stations, in the one stroke of forcing press, on different stations, successively complete the mould of twice or the above stamping procedure of twice, the production efficiency of this kind of mould is higher, can produce continuously.Single die is in the one stroke of forcing press, only completes the mould of one stamping procedure, and the production efficiency of this kind of mould is lower.
For some stamping parts, because the restriction of self structure can only adopt a plurality of single die tools independently to produce, some three-D transfer robots that can transmit stamping parts are also disclosed in prior art, but the following defect of ubiquity: the traversing transmission of existing three-D transfer robot is all separate transmission, while causing traversing transmission step pitch larger, traversing running part size is larger, need take very large installing space, and need bear larger the moment of inertia.
Summary of the invention
For solving above technical problem, the utility model provides a kind of suspension type manipulator, and it has shortened the space that traversing translator unit takies, stress equalization greatly.
For reaching above object, the utility model suspension type manipulator mainly by the following technical solutions:
A kind of suspension type manipulator, comprise frame, described frame is provided with left-handed screw mandrel, dextrorotation screw mandrel and can drive left-handed screw mandrel and dextrorotation screw mandrel synchronous rotary open folder driving motor, left-handed wire rod thread is connected with the left-handed folder nut seat of opening, dextrorotation wire rod thread is connected with dextrorotation and opens folder nut seat, describedly left-handedly open folder nut seat and dextrorotation and open folder nut seat support arm is all installed, support arm slidably connects clip arm, clip arm is provided with the fixture that can clamp stamping parts, the traversing driving motor that described support arm is provided with synchronous pulley and can drives synchronous pulley rotation, the outer surface of synchronous pulley is arranged with Timing Belt, synchronous pulley and Timing Belt are intermeshing, the two ends of Timing Belt are fixedly connected with the two ends, left and right of clip arm respectively.
Preferably, described support arm is also provided with two idle pulleys, and two idle pulleys respectively symmetry are installed on synchronous pulley both sides.
Preferably, described clip arm is horizontally installed with line slide rail, and two support arms are fixedly connected with the slide block of line slide rail respectively.
Preferably, described frame is also provided with some load balance cylinders, and the piston rod of some load balance cylinders is fixedly connected with two support arms respectively.
The beneficial effect of the utility model suspension type manipulator is:
(1) traversing running part is incorporated into out on folder slide block, this structure can be saved taking up room of traversing running part in the past;
(2) traversing transmission is distributed in four points, load that can balanced each running part.
Accompanying drawing explanation
Fig. 1 is the assembling schematic diagram of the utility model suspension type manipulator and pressing equipment.
Fig. 2 is the structural representation of the utility model suspension type manipulator.
Fig. 3 is the internal structure schematic diagram of the utility model suspension type manipulator.
Fig. 4 is the internal structure schematic diagram of another angle of the utility model suspension type manipulator.
Fig. 5 is the structure for amplifying schematic diagram at the A place of Fig. 4.
Number in the figure explanation: 1, frame, 2, left-handed screw mandrel, 3, dextrorotation screw mandrel, 4, open folder driving motor, 5, the left-handed folder nut seat of opening, 6, dextrorotation opens folder nut seat, 7, support arm, 8, synchronous pulley, 9, traversing driving motor, 10, Timing Belt, 11, clip arm, 12, line slide rail, 121, slide block, 13, load balance cylinder, 14, idle pulley, 15, fixture.
The specific embodiment
The orientation that " left side " mentioned in the utility model, " right side ", " inner ", " outward " etc. all take in Fig. 1 is benchmark.
A kind of suspension type manipulator, comprise frame 1, described frame 1 is provided with left-handed screw mandrel 2, dextrorotation screw mandrel 3 and can drive left-handed screw mandrel 2 and dextrorotation screw mandrel 3 synchronous rotaries open folder driving motor 4, open folder driving motor 4 and be installed on left-handed screw mandrel 2 and the middle position of dextrorotation screw mandrel 3, concrete, left-handed screw mandrel 2 and dextrorotation screw mandrel 3 connect into an integral body by shaft coupling and connecting axle, connecting axle is all arranged with out folder synchronous pulley 8 with the main shaft of opening folder driving motor 4, the outside of opening folder synchronous pulley 8 is arranged with Timing Belt 10, open folder driving motor 4 and drive left-handed screw mandrel 2 and dextrorotation screw mandrel 3 synchronous rotaries by Timing Belt 10, left-handed screw mandrel 2 be threaded left-handed open folder nut seat 5, dextrorotation screw mandrel 3 be threaded dextrorotation open folder nut seat 6, left-handed screw mandrel 2 is opened folder nut seat 6 with dextrorotation and is formed respectively feed screw nut's structure with left-handed folder nut seat 5 and the dextrorotation screw mandrel 3 opened, because the thread of left-handed screw mandrel 2 and dextrorotation screw mandrel 3 is contrary, when left-handed screw mandrel 2 and dextrorotation screw mandrel 3 synchronous rotary, left-handedly open folder nut seat 5 and dextrorotation and open folder nut seat 6 and along left-handed screw mandrel 2, synchronize with dextrorotation screw mandrel 3 respectively and slide inwards or outwards slip, describedly left-handedly open folder nut seat 5 and dextrorotation and open folder nut seat 6 support arm 7 is all installed, support arm 7 slidably connects clip arm 11, clip arm 11 is provided with the fixture 15 that can clamp stamping parts, the traversing driving motor 9 that described support arm 7 is provided with synchronous pulley 8 and can drives synchronous pulley 8 rotations, the outer surface of synchronous pulley 8 is arranged with Timing Belt 10, synchronous pulley 8 is intermeshing with Timing Belt 10, and the two ends of Timing Belt 10 are fixedly connected with the two ends, left and right of clip arm 11 respectively.Concrete, traversing driving motor 9 is driven and is connected with synchronous pulley 8 by the gear reduction unit arranging, traversing driving motor 9 drives synchronous pulley 8 rotations, synchronous pulley 8 is intermeshing with Timing Belt 10, synchronous pulley 8 drives Timing Belt 10 to move together, and when traversing driving motor 9 forward, Timing Belt 10 drives clip arm 11 to be moved to the left, when traversing driving motor 9 reversion, Timing Belt 10 drives clip arm 11 to move right.
Described support arm 7 be also provided with 14, two idle pulleys 14 of two idle pulleys respectively symmetry be installed on synchronous pulley 8 both sides.By two idle pulleys 14 that arrange, can change the transmission direction of Timing Belt 10, also can position the position of Timing Belt 10 simultaneously, prevent that clip arm 11 is offset in the process of motion, has strengthened the stationarity that clip arm 11 moves left and right.
Described clip arm 11 is horizontally installed with 12, two support arms 7 of line slide rail and is fixedly connected with the slide block 121 of line slide rail 12 respectively.Concrete, the line slide rail 12 of installing by level, clip arm 11 can move left and right along support arm 7, and line slide rail 12 can carry out effectively location and pre-guiding to clip arm 11, prevent that clip arm 11 is offset in mobile process, has strengthened the stationarity that clip arm 11 moves left and right.
Described frame 1 is also provided with some load balance cylinders 13, and the piston rod of some load balance cylinders 13 is fixedly connected with two support arms 7 respectively.
The above embodiment, it is better embodiment of the present utility model, be not to limit the utility model practical range, the equivalence of doing according to structure, feature and principle described in the utility model claim therefore all changes or modifies, and all should be included in the utility model patent claim.