CN106239500A - A kind of punching press feeding robot - Google Patents
A kind of punching press feeding robot Download PDFInfo
- Publication number
- CN106239500A CN106239500A CN201610795640.5A CN201610795640A CN106239500A CN 106239500 A CN106239500 A CN 106239500A CN 201610795640 A CN201610795640 A CN 201610795640A CN 106239500 A CN106239500 A CN 106239500A
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- Prior art keywords
- axle
- motion
- forearm
- limit sensors
- fixedly connected
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- 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
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of punching press feeding robot, grab tumbler, gravity balance device, control system in horizontal plane including base, tumbler, large arm upper and lower vertical telecontrol equipment, forearm retractor device, forearm end hands.Tumbler is arranged on base.Large arm upper and lower vertical telecontrol equipment is connected with tumbler, and is positioned at above tumbler.Forearm retractor device is vertically mounted on large arm upper and lower vertical telecontrol equipment side.In forearm end hands grabs horizontal plane, tumbler is arranged in forearm retractor device.Gravity balance device is arranged on large arm upper and lower vertical telecontrol equipment upper end, and is connected with forearm retractor device, the balance of regulation forearm retractor device.Control system is all connected with each part mentioned above, for controlling the actuator in each part mentioned above.The present invention uses the air-pressure balancing device balanced cantilever gravity that is in tilted layout, can alleviate the impact on robust motion of the cantilever gravity, it is to avoid during control system dead electricity, ball screw framework not self-locking and cause cantilever to glide.
Description
Technical field
The present invention relates to feeding mechanical equipment technical field, specifically a kind of punching press feeding robot.
Background technology
Punching production is a kind of important molding fabrication techniques in machining and manufacture process, be widely used in automobile,
The industries such as machinery, electrical equipment, instrument and aviation.Punching press industry is dangerous high and the industry of poor working environment, in urgent need punching press
Material robot replaces people to do some long working that is dull, frequent and that repeat.
At present, the use of China's punching press feeding robot is concentrated mainly on some large enterprises, and multiple degrees of freedom is widely used
Revolute robot, although motility is good, precision is high, but it is inefficient, cost input is higher.Lower-mobility punching press feeder
Device people's simple in construction, movement velocity is fast, but general light load, positioning precision are relatively low.
Summary of the invention
For the deficiency of above-mentioned technology, the present invention proposes a kind of punching press feeding robot being applicable to capture big part, adopts
By servo-drive, precision is high, and action is fast；Use ball-screw nut mechanism, linear bearing and linear rolling track structure, friction
Resistance is little, flexible movements；Using cable-stayed type cylinder balancing cantilevered weights so that it is stable movement, cantilever bending deformation reduces；Use
Four guide pillars guide, and can bear bigger gravity torque, thus can capture large-mass workpiece.
A kind of punching press feeding robot, including base, tumbler, large arm upper and lower vertical telecontrol equipment, the flexible dress of forearm
Put, forearm end hands grabs tumbler, gravity balance device, control system in horizontal plane.
Described tumbler is arranged on base.Described large arm upper and lower vertical telecontrol equipment is connected with tumbler, and position
Above tumbler.Described forearm retractor device is vertically mounted on large arm upper and lower vertical telecontrol equipment side.Described forearm end
In end hands grabs horizontal plane, tumbler is arranged in forearm retractor device.Described gravity balance device is arranged on the upper and lower vertical of large arm
Telecontrol equipment upper end, and be connected with forearm retractor device, the balance of regulation forearm retractor device.Described control system with above-mentioned respectively
Part is the most connected, for controlling the actuator in each part mentioned above.
Described tumbler includes servomotor I, decelerator, crossed cylindrical roller bearing, rotating disk, and described crossing cylinder rolls
Sub-bearing is fixedly installed on base by bearing block, and described servomotor I is fixed on decelerator, and described decelerator is fixing even
Being connected on bearing block, described rotating disk is connected with reducer output shaft by key, described rotating disk and crossed cylindrical roller bearing inner race
Fixing, described crossed cylindrical roller bearing outer ring is fixedly connected with the bearing seat.
Described large arm upper and lower vertical telecontrol equipment includes two angular contact ball bearings I, deep groove ball bearing I and passes through even
Joint chair is fixedly connected on the servomotor II of supporting frame upper end, and described servomotor II front end is provided with rotating shaft I, described rotating shaft I
On shaft coupling I is installed, described shaft coupling I front end connects ball-screw I, and described ball-screw I is by two angular contact balls
Bearing I and deep groove ball bearing I are arranged in supporting frame, and described supporting frame is fixedly connected on connector of rotary disk, described turn
Dish connector is fixedly connected on rotating disk, and described ball-screw I connects ball-screw nut I, described ball-screw nut I
Being fixed on large arm link, described large arm link is connected by 4 linear bearings 4 guide pillars, and described 4 guide pillars are solid
Surely it is connected to support the upper and lower two ends of frame.Described 4 guide pillars are arranged symmetrically with relative to ball-screw I, and symmetrical structure was both
Guide effect can be played, bigger gravity torque can be born again.
Described forearm retractor device includes two angular contact ball bearings II, deep groove ball bearing II and servomotor III, institute
Stating servomotor III to be fixedly connected in a bearing, described bearing is fixedly connected on large arm link upper end, described servo electricity
Machine III front end is provided with rotating shaft II, and described rotating shaft II is provided with shaft coupling II, and described shaft coupling II front end connects ball-screw
II, described ball-screw II is arranged on large arm link by two angular contact ball bearings II and deep groove ball bearing II, described
Connecting on ball-screw II has ball-screw nut II, described ball-screw nut II to be fixedly connected on carrier base, described
Stand is fixedly connected with forearm link, and described forearm link is fixed on linear rolling track slide block, described straight-line rolling
Guide rail slide block is connected on linear rolling track slide, and described linear rolling track slide is fixedly connected under large arm link
End.
In described forearm end hands grabs horizontal plane, tumbler includes that deep groove ball bearing III, deep groove ball bearing IV, right angle subtract
Speed device and servomotor IV, described servomotor IV is fixedly connected on forearm link left end, described servomotor IV front end
Being provided with rotating shaft III, described rotating shaft III is provided with shaft coupling III, described shaft coupling III front end connects has axle, described axle to pass through zanjon
Ball bearing III, deep groove ball bearing IV are arranged on forearm link, and described axle front end is connected with right-angle reduction device motion input,
Described right-angle reduction device is fixedly connected on forearm link right-hand member.
Described gravity balance device includes two cylinders, and said two cylinder is articulated with two bearings by two body cradles
On, said two bearing is fixedly connected on supporting frame upper surface, and said two cylinder front end is provided with two piston rods, and described two
Shipped and resell on another market by two and be articulated with on large arm link in individual piston rod front end.Said two cylinder is for being in tilted layout, and is symmetrically installed
In large arm link both sides, gravity balance device can alleviate the gravity impact on robust motion, it is to avoid during control system dead electricity,
Moving component glides because of gravity, the most also can reduce the change song deformation of cantilever, improve positioning precision.
Described control system include controlling cabinet, power module, PLC module, the first axle motion-control module, the
Two axle motion-control modules, three-axis moving control module, four axes motion control module, the first axle driver, the second axle drive
Dynamic device, Three-axis drive device, the 4th axle driver, servomotor I, servomotor II, servomotor III, servomotor IV, the
One axle reference position sensor, the second axle reference position sensor, the 3rd axle reference position sensor, the first the most spacing sensing of axle
Device, the second positive limit sensors of axle, the 3rd positive limit sensors of axle, the first axle bears limit sensors, the second axle bears spacing sensing
Device, the 3rd axle bear limit sensors, described power module, PLC module, the first axle motion-control module, the second axle fortune
Dynamic control module, three-axis moving control module, four axes motion control module, the first axle driver, the second axle driver, the
Three-axis drive device, the 4th axle driver are fixedly connected on control cabinet, and described first axle reference position sensor, the first axle are just
Limit sensors, the first axle are born limit sensors and are fixedly connected on base, described second axle reference position sensor, the second axle
Positive limit sensors, the second axle are born limit sensors and are fixedly connected in supporting frame, described 3rd axle reference position sensor,
The 3rd positive limit sensors of axle, the 3rd axle are born limit sensors and are fixedly connected on above large arm link, in described control cabinet
The each module installed is connected by cable with each servomotor installed on basic machine and each sensor.
Described base is by 8 bolts and 4 fixing connections of leg, and described base lower surface is equipped with 4 rollers, in order to protect
Supporting stabilizer during card work, mobile machine is more convenient.
Described forearm link front end overhang is divided and is supported on two balls, and said two ball is supported on two respectively
In slide, said two slide is slidably connected in two sleeves, and said two slide lower end is connected to spring, and described two
The individual spring other end is respectively fixedly connected with on two support plates, and said two sleeve is fixedly connected on together with two support plates and props up
On frame, described support is fixedly connected on large arm link front end.This structure of forearm link can improve forearm link
Rigidity, reduces the flexural deformation of forearm projecting end, uses ball bearing simultaneously, can reduce friction, make forearm link move spirit
Live.
In described control system, power module is PLC module, motion-control module, No. two motion controls
Molding block, No. three motion-control modules, No. four motion-control modules, servo-driven module, No. two servo-driven modules, three
Number servo-driven module, No. four servo-driven modules, reference position sensor, No. two reference position sensors, No. three ginsengs
Examine position sensor, positive limit sensors, No. two positive limit sensors, No. three positive limit sensors, negative spacing biographies
Sensor, No. two negative limit sensors, No. three negative limit sensors provide V DC source；Described PLC module is a fortune
Dynamic control module, No. two motion-control modules, No. three motion-control modules, No. four motion-control module configuration parameters also realize compiling
Process control；Number reference position sensor, No. two reference position sensors, No. three reference position sensors, biographies the most spacing
Sensor, No. two positive limit sensors, No. three positive limit sensors, negative limit sensors, No. two negative limit sensors, No. three
The control signal of negative limit sensors respectively with a motion-control module, No. two motion-control modules, No. three motor control moulds
The reference position of block, the most spacing, negative spacing port correspondence connect, servo-driven module, No. two servo-driven modules, No. three
Position control port on servo-driven module, No. four servo-driven modules, direction controlling port respectively with a motor control
Module, No. two motion-control modules, No. three motion-control modules, the position control port of No. four motion-control modules, direction control
Port correspondence processed connects, corresponding receive a motion-control module, No. two motion-control modules, No. three motion-control modules, four
The position of number motion-control module and direction control signal.
The invention has the beneficial effects as follows:
1. the present invention uses the air-pressure balancing device balanced cantilever gravity being in tilted layout, and can alleviate cantilever gravity flat to motion
The impact of stability, it is to avoid during control system dead electricity, causes cantilever to glide because of ball screw framework not self-locking.Cable-stayed type simultaneously
Configuration can reduce the flexural deformation of cantilever, improves its positioning precision.
2. the vertical movement of the cantilever of the present invention uses four guide pillars to guide, and can bear bigger gravity torque, join simultaneously
Being equipped with air pressure gravity balance device, therefore this punching press feeding robot can capture relatively large load.
3. the present invention uses servo-drive, the ball-screw nut mechanism of configuration simultaneously, linear bearing and linear rolling track
Structure, it can be ensured that its motion is flexibly, speed is fast, positioning precision is high.
4. the forearm overhang of the present invention is divided and is supported on two balls, can improve the rigidity of forearm, reduces forearm and overhangs
The flexural deformation of end, uses ball bearing simultaneously, can reduce friction, make forearm move flexibly.
5. the base of the present invention uses leg to add roller design, had both ensured supporting stabilizer during work, and had moved it again conveniently
Flexibly.
Accompanying drawing explanation
With embodiment, invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the front view of the present invention；
Fig. 2 is the enlarged drawing of A in Fig. 1；
Fig. 3 is the enlarged drawing of B in Fig. 1；
Fig. 4 is the front view of the present invention；
Fig. 5 is the enlarged drawing of C in Fig. 4；
Fig. 6 is the enlarged drawing of D in Fig. 5；
Fig. 7 is the enlarged drawing of E in Fig. 6；
Fig. 8 is the inside annexation schematic diagram of the control system of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below right
The present invention is expanded on further.
As shown in Figures 1 to 8, a kind of punching press feeding robot, including base 10, tumbler, large arm upper and lower vertical fortune
Dynamic device, forearm retractor device, forearm end hands grab tumbler, gravity balance device, control system in horizontal plane.
Described tumbler is arranged on base.Described large arm upper and lower vertical telecontrol equipment is connected with tumbler, and position
Above tumbler.Described forearm retractor device is vertically mounted on large arm upper and lower vertical telecontrol equipment side.Described forearm end
In end hands grabs horizontal plane, tumbler is arranged in forearm retractor device.Described gravity balance device is arranged on the upper and lower vertical of large arm
Telecontrol equipment upper end, and be connected with forearm retractor device, the balance of regulation forearm retractor device.Described control system with above-mentioned respectively
Part is the most connected, for controlling the actuator in each part mentioned above.
Described tumbler includes servomotor I 7, decelerator 27, crossed cylindrical roller bearing 31, rotating disk 25, described friendship
Fork cylinder roller bearing 31 is fixedly installed on base 10 by bearing block 26, and described servomotor I 7 is fixed on decelerator 27
On, described decelerator 27 is fixedly connected on bearing block 26, and described rotating disk 25 is connected with reducer output shaft 30 by key 29, institute
Stating rotating disk 25 to fix with crossed cylindrical roller bearing 31 inner ring, described crossed cylindrical roller bearing 31 outer ring is fixed with bearing block 26
Connect.
Described large arm upper and lower vertical telecontrol equipment includes two angular contact ball bearings I 20, deep groove ball bearing I 23, Yi Jitong
Crossing connection seat 2 and be fixedly connected on the servomotor II 15 of supporting frame 3 upper end, described servomotor II 15 front end is provided with rotating shaft I
18, described rotating shaft I 18 is provided with shaft coupling I 19, described shaft coupling I 19 front end connects ball-screw I 21, described ball wire
Thick stick I 21 is arranged in supporting frame 3 by two angular contact ball bearings I 20 and deep groove ball bearing I 23, and described supporting frame 3 is solid
Surely being connected on connector of rotary disk 24, described connector of rotary disk 24 is fixedly connected on rotating disk 25, and described ball-screw I 21 connects
Being connected to ball-screw nut I 22, described ball-screw nut I 22 is fixed on large arm link 6, on described large arm link 6
Connected by 4 linear bearings 5 and have 4 guide pillars 4, described 4 guide pillars 4 to be fixedly connected on supporting frame about 3 two ends.Described 4
Root guide pillar 4 is arranged symmetrically with relative to ball-screw I 21.
Described forearm retractor device includes two angular contact ball bearings II 44, deep groove ball bearing II 40 and servomotor III
47, described servomotor III 47 is fixedly connected in a bearing 45, and described bearing 45 is fixedly connected on large arm link 6
End, described servomotor III 47 front end is provided with rotating shaft II 48, described rotating shaft II 48 is provided with shaft coupling II 46, described shaft coupling
II 46 front ends connect ball-screw II 43, and described ball-screw II 43 is by two angular contact ball bearings II 44 and deep-groove ball axle
Holding II 40 to be arranged on large arm link 6, described ball-screw II 43 connects ball-screw nut II 42, described ball wire
Thick stick nut II 42 is fixedly connected on carrier base 12, and described carrier base 12 is fixedly connected with forearm link 13, and described forearm is even
Connecing frame 13 to be fixed on linear rolling track slide block 32, described linear rolling track slide block 32 is connected to linear rolling track slide
On 36, described linear rolling track slide 36 is fixedly connected on large arm link 6 lower end.
Described forearm end hands is grabbed tumbler in horizontal plane and is included deep groove ball bearing III 41, deep groove ball bearing IV 38, straight
Angle decelerator 39 and servomotor IV 33, described servomotor IV 33 is fixedly connected on forearm link 13 left end, described in watch
Take motor IV 33 front end and be provided with rotating shaft III 34, described rotating shaft III 34 is provided with shaft coupling III 35, described shaft coupling III 35 front end
Connecting and have axle 37, described axle 37 is arranged on forearm link 13 by deep groove ball bearing III 41, deep groove ball bearing IV 38, described
Axle 37 front end is connected with right-angle reduction device 39 motion input, and it is right that described right-angle reduction device 39 is fixedly connected on forearm link 13
End.
Described gravity balance device includes that two cylinders 1, said two cylinder 1 are articulated with two by two body cradles 17
On bearing 16, said two bearing 16 is fixedly connected on supporting frame 3 upper surface, and said two cylinder 1 front end is provided with two work
Stopper rod 14, is shipped and resell on another market by two and 11 is articulated with on large arm link 6 in said two piston rod 14 front end.Said two cylinder 1 is
Being in tilted layout, and be symmetrically mounted on large arm link 6 both sides, this arrangement can alleviate the gravity shadow to robust motion
Ringing, it is to avoid during control system dead electricity, moving component glides because of gravity, the most also can reduce the change song deformation of cantilever, it is fixed to improve
Position precision.
Described control system includes controlling cabinet 74, power module 60, PLC module the 66, first axle motor control
Module the 72, second axle motion-control module 58, three-axis moving control module 64, four axes motion control module the 70, first axle
Driver the 73, second axle driver 59, Three-axis drive device the 65, the 4th axle driver 71, servomotor I 7, servomotor II
15, servomotor III 47, servomotor the IV 33, first axle reference position sensor the 56, second axle reference position sensor 62,
Three axle reference position sensor the 68, first axles positive limit sensors the 55, second axle positive limit sensors the 61, the 3rd the most spacing biography of axle
Sensor the 67, first axle is born limit sensors the 57, second axle and is born limit sensors the 63, the 3rd axle and bear limit sensors 69, described electricity
Source module 60, PLC module the 66, first axle motion-control module the 72, second axle motion-control module 58, three-axis moving
Control module 64, four axes motion control module the 70, first axle driver the 73, second axle driver 59, Three-axis drive device 65,
4th axle driver 71 is fixedly connected on control cabinet 74, and described first axle reference position sensor the 56, first axle is the most spacing
Sensor the 55, first axle is born limit sensors 57 and is fixedly connected on base 10, described second axle reference position sensor 62,
The two positive limit sensors of axle the 61, second axles are born limit sensors 63 and are fixedly connected in supporting frame 3, described 3rd axle reference bit
Put sensor the 68, the 3rd positive limit sensors of axle the 67, the 3rd axle to bear limit sensors 69 and be fixedly connected on large arm link 6
Each servomotor installed on side, each module installed in described control cabinet 74 and basic machine and each sensor
It is connected by cable.
Described base 10 is connected by 8 bolts 8 are fixing with 4 legs 9, and described base 10 lower surface is equipped with 4 rollers
28。
Described forearm link 13 front end overhang is divided and is supported on two balls 53, and said two ball 53 supports respectively
In two slides 52, said two slide 52 is slidably connected in two sleeves 51, and said two slide 52 lower end connects respectively
Being connected to spring 54, said two spring 54 other end is respectively fixedly connected with on two support plates 50, and said two sleeve 51 is even
Being fixedly connected on support 49 with two support plates 50, described support 49 is fixedly connected on large arm link 6 front end.
The concrete course of action of each several part:
Reference point sets up process: PLC module (66) sends sets up reference point instruction, by a motor control mould
Block 58, No. three motion-control modules 64 of 72, No. two motion-control modules transmit commands to a servo-driven module 73, two
59, No. three servo-driven modules 65 of servo-driven module, thus control servomotor I 7, servomotor II 15, servomotor III
47 motions, when a motion-control module 58, No. three motion-control modules 64 of 72, No. two motion-control modules detect a ginseng
When examining position sensor 62, No. three reference position sensor 68 signals of 56, No. two reference position sensors, the first axle, the second axle,
3rd axle reference point locations is set up.
Rotation process: PLC module 66 sends turned position by the first axle motion-control module 72 and instructs the
One axle driver 73, starts servomotor I 7, and servomotor I 7 drives decelerator 27 to work, and reducer output shaft 30 is by key 29
Driving rotating disk 25 to rotate, rotating disk 25 drives supporting frame 3 by connector of rotary disk 24 thus drives big and small arms to realize rotating fortune
Dynamic.
Large arm upper and lower vertical motor process: PLC module 66 is sent by the second axle motion-control module 58 up and down
Shift position instructs the second axle driver 59, starts servomotor II 15, and servomotor II 15 drives shaft coupling by rotating shaft I 18
Device I 19 rotates, shaft coupling I 19 drives ball-screw I 21 to rotate, and the ball-screw nut I 22 matched with ball-screw I 21 drives
The large arm link 6 being secured to connect realizes the motion of upper and lower vertical, and its movement locus is realized by four guide pillars.
Forearm stretching motion process: PLC module 66 sends telescopic location by three-axis moving control module 64
Instructing Three-axis drive device 65, start servomotor III 47, servomotor III 47 drives shaft coupling II 46 by rotating shaft II 48
Rotating, shaft coupling II 46 drives ball-screw II 43 to rotate, and the ball-screw nut II 42 matched with ball-screw II 43 drives
Being secured to the carrier base 12 of connection thus drive forearm link 13 to realize forearm stretching motion, its movement locus is rolled by straight line
Dynamic guide rail slide block 32 determines with the motion track of linear rolling track slide 36.
Forearm end hands grabs rotation process in horizontal plane: PLC module 66 is by four axes motion control module 70
Sending turned position and instruct the 4th axle driver 71, start servomotor IV 33, servomotor IV 33 is carried by rotating shaft III 34
Dynamic shaft coupling III 35 rotates, and shaft coupling III 35 band moving axis 37 rotates, and axle 37 drives right-angle reduction device 39 to work, right-angle reduction device 39
Drive jaw (not drawing in figure) or sucker (not drawing in figure) work.
Gravity balance device equilibrium principle: by air pressure control, makes two piston rods 14 produce large arm link 6 all the time
One pulling force upwards, carrys out the gravity of balanced cantilever with this, the most also can offset a part because of being turned under that cantilever gravity produces
Bent deformation.
Owing to two cylinders 1 are hingedly connected on two bearings 16, two piston rods 14 are hingedly connected to large arm link 6
On, therefore, the position of two cylinders 1 will be made to interfere because of the motion of large arm upper and lower vertical.
The present invention uses servo-control system, and above several actions can be according to work space size and the knot of grabbing workpiece
Structure feature, combination in any, overlap and carry out, adaptability is good, quick action.
When the present invention needs to move, only need to unclamp 8 bolts 8 fixing by moving on leg 9 position, make 4 rollers 28 with
Ground contacts, and punching press feeding robot can be promoted to move to another operating position from an operating position.It addition, by adjusting
The position of whole 8 bolts can adjust the height of 4 legs 9, the centering of beneficially punching press feeding robot.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
The personnel simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (10)
1. a punching press feeding robot, stretches including base (10), tumbler, large arm upper and lower vertical telecontrol equipment, forearm
Device, forearm end hands grab tumbler, gravity balance device, control system in horizontal plane, it is characterised in that:
Described tumbler is arranged on base；Described large arm upper and lower vertical telecontrol equipment is connected with tumbler, and be positioned at turn
Above dynamic device；Described forearm retractor device is vertically mounted on large arm upper and lower vertical telecontrol equipment side；Described forearm end hands
In grabbing horizontal plane, tumbler is arranged in forearm retractor device；Described gravity balance device is arranged on the motion of large arm upper and lower vertical
Device upper end, and be connected with forearm retractor device, the balance of regulation forearm retractor device；Described control system and each part mentioned above
The most connected, for controlling the actuator in each part mentioned above.
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described tumbler includes servo electricity
Machine I (7), decelerator (27), crossed cylindrical roller bearing (31), rotating disk (25), described crossed cylindrical roller bearing (31) is passed through
Bearing block (26) is fixedly installed on base (10), and described servomotor I (7) is fixed on decelerator (27), described decelerator
(27) being fixedly connected on bearing block (26), described rotating disk (25) is connected with reducer output shaft (30) by key (29), described
Rotating disk (25) is fixed with crossed cylindrical roller bearing (31) inner ring, described crossed cylindrical roller bearing (31) outer ring and bearing block
(26) fixing connection.
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described large arm upper and lower vertical sportswear
Put and include two angular contact ball bearings I (20), deep groove ball bearing I (23) and be fixedly connected on supporting machine by connecting seat (2)
The servomotor II (15) of frame (3) upper end, described servomotor II (15) front end is provided with rotating shaft I (18), in described rotating shaft I (18)
Being provided with shaft coupling I (19), described shaft coupling I (19) front end connects ball-screw I (21), and described ball-screw I (21) leads to
Crossing two angular contact ball bearings I (20) and deep groove ball bearing I (23) is arranged in supporting frame (3), described supporting frame (3) is solid
Surely being connected on connector of rotary disk (24), described connector of rotary disk (24) is fixedly connected on rotating disk (25), described ball-screw I
(21) upper connection has ball-screw nut I (22), and described ball-screw nut I (22) is fixed on large arm link (6), described
Have 4 guide pillars (4), described 4 guide pillars (4) to be fixedly connected on by 4 linear bearings (5) connections on large arm link (6) to prop up
Hold frame (3) two ends up and down；Described 4 guide pillars (4) are arranged symmetrically with relative to ball-screw I (21).
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described forearm retractor device includes two
Individual angular contact ball bearing II (44), deep groove ball bearing II (40) and servomotor III (47), described servomotor III (47) is solid
Surely being connected in a bearing (45), described bearing (45) is fixedly connected on large arm link (6) upper end, described servomotor III
(47) front end is provided with rotating shaft II (48), and described rotating shaft II (48) is provided with shaft coupling II (46), and described shaft coupling II (46) is front
End connection has ball-screw II (43), and described ball-screw II (43) is by two angular contact ball bearings II (44) and deep-groove ball axle
Holding II (40) to be arranged on large arm link (6), the described upper connection of ball-screw II (43) has ball-screw nut II (42), institute
Stating ball-screw nut II (42) to be fixedly connected on carrier base (12), described carrier base (12) is fixedly connected with forearm link
(13), described forearm link (13) is fixed on linear rolling track slide block (32), described linear rolling track slide block (32)
Being connected on linear rolling track slide (36), described linear rolling track slide (36) is fixedly connected on large arm link (6)
Lower end.
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described forearm end hands grabs horizontal plane
Interior tumbler includes deep groove ball bearing III (41), deep groove ball bearing IV (38), right-angle reduction device (39) and servomotor IV
(33), described servomotor IV (33) is fixedly connected on forearm link (13) left end, and described servomotor IV (33) front end sets
Having rotating shaft III (34), described rotating shaft III (34) is provided with shaft coupling III (35), described shaft coupling III (35) front end connects axle
(37), described axle (37) is arranged on forearm link (13) by deep groove ball bearing III (41), deep groove ball bearing IV (38), institute
Stating axle (37) front end to be connected with right-angle reduction device (39) motion input, described right-angle reduction device (39) is fixedly connected on forearm even
Connect frame (13) right-hand member.
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described gravity balance device includes two
Individual cylinder (1), said two cylinder (1) is articulated with on two bearings (16) by two body cradles (17), said two bearing
(16) being fixedly connected on supporting frame (3) upper surface, said two cylinder (1) front end is provided with two piston rods (14), and described two
Individual piston rod (14) front end is articulated with on large arm link (6) by two ship and resell on another market (11)；Said two cylinder (1) is for tilting cloth
Put, and be symmetrically mounted on large arm link (6) both sides.
A kind of punching press feeding robot the most according to claim 1, it is characterised in that: described control system includes switch board
Body (74), power module (60), PLC module (66), the first axle motion-control module (72), the second axle motor control mould
Block (58), three-axis moving control module (64), four axes motion control module (70), the first axle driver (73), the second axle
Driver (59), Three-axis drive device (65), the 4th axle driver (71), servomotor I (7), servomotor II (15), servo
Motor III (47), servomotor the IV (33), first axle reference position sensor (56), the second axle reference position sensor (62),
3rd axle reference position sensor (68), the positive limit sensors of the first axle (55), the positive limit sensors of the second axle (61), the 3rd axle
Positive limit sensors (67), the first axle bears limit sensors (57), the second axle bears limit sensors (63), the 3rd axle bears spacing biography
Sensor (69), described power module (60), PLC module (66), the first axle motion-control module (72), the second axle motion
Control module (58), three-axis moving control module (64), four axes motion control module (70), the first axle driver (73),
Second axle driver (59), Three-axis drive device (65), the 4th axle driver (71) are fixedly connected in control cabinet (74), institute
State the first axle reference position sensor (56), the positive limit sensors of the first axle (55), the first axle are born limit sensors (57) and are fixed
Being connected on base (10), described second axle reference position sensor (62), the positive limit sensors of the second axle (61), the second axle are negative
Limit sensors (63) is fixedly connected in supporting frame (3), and described 3rd axle reference position sensor (68), the 3rd axle just limit
Level sensor (67), the 3rd axle are born limit sensors (69) and are fixedly connected on large arm link (6) top, described control cabinet
(74) each module installed in is connected by cable with each servomotor installed on basic machine and each sensor.
A kind of punching press feeding robot the most according to claim 7, it is characterised in that: described base (10) passes through 8 spiral shells
Bolt (8) is fixing with 4 legs (9) to be connected, and described base (10) lower surface is equipped with 4 rollers (28).
A kind of punching press feeding robot the most according to claim 5, it is characterised in that: described forearm link (13) front end
Overhang is divided and is supported on two balls (53), and said two ball (53) is supported in two slides (52) respectively, and described two
Individual slide (52) is slidably connected in two sleeves (51), and said two slide (52) lower end is connected to spring (54), institute
Stating two spring (54) other ends to be respectively fixedly connected with on two support plates (50), said two sleeve (51) is together with two
Board (50) is fixedly connected on support (49), and described support (49) is fixedly connected on large arm link (6) front end.
A kind of punching press feeding robot the most according to claim 7, it is characterised in that: in described control system, power supply
Module (60) is PLC module (66), motion-control module (72), No. two motion-control modules (58), No. three fortune
Dynamic control module (64), No. four motion-control modules (70), servo-driven module (73), No. two servo-driven modules
(59), No. three servo-driven modules (65), No. four servo-driven modules (71), reference position sensor (56), No. two ginsengs
Examine position sensor (62), No. three reference position sensors (68), positive limit sensors (55), No. two positive limit sensors
(61), No. three positive limit sensors (67), negative limit sensors (57), No. two negative limit sensors (63), No. three negative limits
Level sensor (69) provides 24V DC source；Described PLC module (66) be a motion-control module (72), No. two
Motion-control module (58), No. three motion-control modules (64), No. four motion-control modules (70)) configuration parameter and realize programming
Control；Number reference position sensor (56), No. two reference position sensors (62), No. three reference position sensors (68), one
Number positive limit sensors (55), No. two positive limit sensors (61), No. three positive limit sensors (67), negative limit sensors
(57), No. two negative limit sensors (63), No. three negative limit sensors (69) control signal respectively with a motor control mould
Block (72), No. two motion-control modules (58), the reference position of No. three motion-control modules (64), spacing ports the most spacing, negative
Corresponding connect, servo-driven module (73), No. two servo-driven modules (59), No. three servo-driven modules (65), No. four
Position control port on servo-driven module (71), direction controlling port respectively with a motion-control module (72), No. two
Motion-control module (58), No. three motion-control modules (64), the position control port of No. four motion-control modules (70), directions
Control port correspondence to connect, corresponding number motion-control module (72) of reception, No. two motion-control modules (58), No. three motion controls
Molding block (64), the position of No. four motion-control modules (70) and direction control signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610795640.5A CN106239500B (en) | 2016-08-31 | 2016-08-31 | A kind of punching press feeding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795640.5A CN106239500B (en) | 2016-08-31 | 2016-08-31 | A kind of punching press feeding robot |
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| CN106239500A true CN106239500A (en) | 2016-12-21 |
| CN106239500B CN106239500B (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106737863A (en) * | 2016-12-26 | 2017-05-31 | 苏州康多机器人有限公司 | A kind of lifting handrail with bascule |
| CN106914887A (en) * | 2017-02-24 | 2017-07-04 | 巢湖学院 | A kind of bar feed gearbox hand |
| CN107351124A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A kind of punching press feeding robot |
| CN107571265A (en) * | 2017-08-28 | 2018-01-12 | 常熟冠林汽车饰件有限公司 | Automobile decoration piece automated warehousing and the spray room robot manipulator structure for spraying integrated equipment |
| CN108189022A (en) * | 2018-03-30 | 2018-06-22 | 佛山市铸芯智造科技有限公司 | A kind of robot support arm |
| CN109604730A (en) * | 2019-01-23 | 2019-04-12 | 王旭 | A kind of aluminium section bar cutter device |
| CN113560440A (en) * | 2021-07-19 | 2021-10-29 | 吉利汽车集团有限公司 | Automobile trimming device |
| CN115847482A (en) * | 2023-03-08 | 2023-03-28 | 无锡黎曼机器人科技有限公司 | Z-axis double-drive telescopic mechanism for carrying heavy-load truss by engine cylinder body and cylinder cover |
| CN117697461A (en) * | 2023-12-19 | 2024-03-15 | 常州市元祥电器有限公司 | Automobile motor shell machining all-in-one machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737863A (en) * | 2016-12-26 | 2017-05-31 | 苏州康多机器人有限公司 | A kind of lifting handrail with bascule |
| CN106914887A (en) * | 2017-02-24 | 2017-07-04 | 巢湖学院 | A kind of bar feed gearbox hand |
| CN107351124A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN107571265A (en) * | 2017-08-28 | 2018-01-12 | 常熟冠林汽车饰件有限公司 | Automobile decoration piece automated warehousing and the spray room robot manipulator structure for spraying integrated equipment |
| 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 |
| CN108189022A (en) * | 2018-03-30 | 2018-06-22 | 佛山市铸芯智造科技有限公司 | A kind of robot support arm |
| CN109604730A (en) * | 2019-01-23 | 2019-04-12 | 王旭 | A kind of aluminium section bar cutter device |
| CN113560440A (en) * | 2021-07-19 | 2021-10-29 | 吉利汽车集团有限公司 | Automobile trimming device |
| CN115847482A (en) * | 2023-03-08 | 2023-03-28 | 无锡黎曼机器人科技有限公司 | Z-axis double-drive telescopic mechanism for carrying heavy-load truss by engine cylinder body and cylinder cover |
| CN117697461A (en) * | 2023-12-19 | 2024-03-15 | 常州市元祥电器有限公司 | Automobile motor shell machining all-in-one machine |
| CN117697461B (en) * | 2023-12-19 | 2024-08-13 | 常州市元祥电器有限公司 | Automobile motor shell machining all-in-one machine |
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| CN106239500B (en) | 2018-10-16 |
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