CN205236842U - Stand alone type line manipulator - Google Patents
Stand alone type line manipulator Download PDFInfo
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- CN205236842U CN205236842U CN201520895044.5U CN201520895044U CN205236842U CN 205236842 U CN205236842 U CN 205236842U CN 201520895044 U CN201520895044 U CN 201520895044U CN 205236842 U CN205236842 U CN 205236842U
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Abstract
The utility model discloses a stand alone type line manipulator, including frame, well revolving stage, electric cabinet, elevating system, horizontal transfer mechanism, connecting seat and arm, the connecting seat passes through elevating system to be installed on the frame, and the arm sets up on the connecting seat through horizontal transfer mechanism, and well revolving stage is installed on the frame and is lain in the below of arm, characterized by, the arm includes that the level transfers guide rail and at least two sets of material arms of inhaling, and the horizontal transfer mechanism of guide rail connection is transferred to the level, and the material arm is inhaled in order can the dismantlement mode installing on the guide rail is transferred to the level by each group, this kind of stand alone type line manipulator, its conveying power is great, the conveying of (the quality is heavy) punching press work piece of the stamping equipment that is particularly useful for establishing ties, in addition, two sets of at least material arms of inhaling obviously improve work piece conveying efficiency, satisfy the mass production requirement, and simple structure, equitable.
Description
Technical field
The utility model relates to a kind of manipulator, the free-standing line manipulator of the pressing equipment that is particularly useful for connecting.
Background technology
At present, workpiece (as: mould) between two pressing equipments transmits, mostly be manual operations, both restricted the production efficiency of enterprise, produce to again industry labor safety and bring hidden danger, and, the mode of production of this serious dependence labour intensive, enterprise lacks recruitment elasticity, is difficult to organize in time recruitment and adjust rhythm of production according to order dull and rush season, so the enterprise of punching press industry is in the critical point changing from manual machinery punch line to automatic production line.
Although in some industry, manipulator is the work piece delivery between two production equipments Already in, as: electric cooker industry, see Chinese utility model patent number: 201420652041.1, name is called: a kind of free-standing line manipulator, it comprises support, intermediate station, electric cabinet, elevating mechanism, horizontal mobile mechanism and mechanical arm, this manipulator, by elevating mechanism and horizontal mobile mechanism, make mechanical arm realize lifting and move horizontally, and the intermediate station arranging by himself, that transmits between two production equipments as workpiece temporarily parks, even on intermediate station, can overturn, make workpiece be applicable to subsequent processing, above-mentioned manipulator, to a certain extent two production equipments are together in series, realizing certain automation line produces, but, this manipulator still has the following disadvantages: no matter (1) workpiece is the transmission between two equipment, or by way of intermediate station, complete by single mechanical arm, its transmission efficiency is lower, cannot meet requirements of mass production, (2) mechanical arm is driven by the second reductor of driven by servomotor by cross sliding clock, due to cross sliding clock small volume, and cross sliding clock is only by belt wheel and chain drive, be subject to cross sliding clock intensity little, slide the weak restriction of power, mechanical arm is only applicable to the workpiece to this lighter weight of electric cooker (accessory), between two equipment, transmit, but cannot be applicable to quality heavier, apply transmitting in the stamped workpieces that power requirement is larger.
Utility model content
The purpose of this utility model is to overcome the deficiency that above-mentioned prior art exists, and provides a kind of simple and reasonable for structure, can obviously improve work piece delivery efficiency, and the free-standing line manipulator of the pressing equipment that is applicable to connect.
The purpose of this utility model is to realize like this.
Stand alone type line manipulator, comprise support, intermediate station, electric cabinet, elevating mechanism, horizontal transfer mechanism, Connection Block and mechanical arm, Connection Block is arranged on support by elevating mechanism, mechanical arm is arranged on Connection Block by horizontal transfer mechanism, intermediate station is arranged on support and is positioned at the below of mechanical arm, it is characterized in that, described mechanical arm comprises level handover guide rail and at least two group suction arms, level is transferred guide rail and is connected horizontal transfer mechanism, respectively organizes suction arm and is arranged on level handover guide rail with removably, this kind of free-standing line manipulator, because the suction arm on mechanical arm is driven by level handover guide rail, that is: level handover guide rail self slides, because level is transferred quality of guide rail weight, intensity is large, and driven by the horizontal transfer mechanism of correspondence, so, it is also larger that it transmits power, the transmission of (quality weight) stamped workpieces of pressing equipment is particularly useful for connecting, and, by at least two group suction arms are set, one group of suction arm by the work piece delivery of last operation pressing equipment to time intermediate station, another group suction arm is the pressing equipment to a rear operation by the workpiece synchronous driving on intermediate station, obviously improve work piece delivery efficiency, can meet requirements of mass production, and it is simple in structure, rationally.
The purpose of this utility model can also adopt following technical measures to solve:
As scheme more specifically, described every group of suction arm comprises principal arm, sucker bar and sucker, sucker is arranged on sucker bar, sucker bar is connected on principal arm, principal arm is arranged on level with removably and transfers on guide rail, and removably connecting between principal arm, sucker bar and sucker, can meet various use needs, and its mounting or dismounting are simple and easy.
As further scheme, on described sucker bar, have adjusting slotted hole along its length bearing of trend, sucker bar is by regulating slotted hole to be arranged on principal arm by coupling assembling, adjusting slotted hole on sucker bar, user can need in response to different angles and length, coupling assembling is fixed on and regulates slotted hole appropriate location, to meet the needs of sucker to absorption of workpieces.
As scheme more specifically, described level is transferred on guide rail and is provided with level handover tooth bar along its length bearing of trend, horizontal transfer mechanism comprises level handover servo motor, the output that level is transferred servo motor engages with level handover tooth bar, when work, level is transferred the output driving level of servo motor and is transferred tooth bar, make level handover guide rail both obtain comparatively powerful level and slide power, the stably level of can putting down again slides, avoid affecting the stability of sucker to absorption of workpieces power because sliding vibrations, guarantee that product transmits stable.
As better scheme, the both sides that described level is transferred guide rail are provided with guide wheel guide rail along its length bearing of trend, and the corresponding guide wheel guide rail position in Connection Block bottom is provided with level and transfers guide wheel, and level is transferred guide wheel and is seated on corresponding guide wheel guide rail; That is to say, level is transferred guide rail, transfer in level under the driving of servo motor, utilize two side guide wheels smooth and easy slide of its two side guide wheels guide rail along Connection Block bottom, this guide wheel guide rail coordinates with sliding of guide wheel, both further reduction level is transferred the vibrations that produce in the time sliding of guide rail, reduces again it and slides and the frictional resistance that produces.
As scheme more specifically, the top of described Connection Block is connected with lifting ball screw, and lifting ball screw is driven by elevating mechanism, makes Connection Block do elevating movement along the lifting ball screw of rotation, thereby drives suction arm to make lifting moving.
In order to make the up and down balance system, stable of Connection Block, top two side positions near Connection Block on described support are respectively arranged with lifting auxiliary balance cylinder, the telescopic end of lifting auxiliary balance cylinder is connected with the both sides, top of Connection Block, when Connection Block lifting, both sides balance cylinder plays the guide effect of balance and stability, avoid affecting the stability of sucker to absorption of workpieces power because lifting produces compared with large vibrations, guarantee that product transmits stable.
As scheme more specifically, described elevating mechanism comprises lifting servo motor, and lifting servo motor is connected with the upper end of lifting ball screw by belt, drives the rotation of lifting ball screw.
As preferred scheme, on described support, be provided with automatic oiling lubrication system near Connection Block position, automatic oiling lubrication system is that guide wheel and the level on Connection Block transferred guide rail make-up oil.
As better embodiment, described intermediate station comprises pillar, Lifting platform and manual fine-tuning elevating mechanism, pillar is fixed on support, Lifting platform is arranged on pillar by lift cylinder, manual fine-tuning elevating mechanism comprises hand wheel component and fine setting screw rod bushing, fine setting screw rod bushing is fixed on Lifting platform bottom, hand wheel component is connected with fine setting screw rod bushing, Lifting platform can carry out height by lift cylinder and regulate, user also can according to actual needs, carry out height fine adjusting function by manual fine-tuning elevating mechanism to Lifting platform.
The beneficial effects of the utility model are as follows.
(1) this kind of free-standing line manipulator, because the suction arm on mechanical arm is driven by level handover guide rail, that is: level handover guide rail self slides, because level is transferred quality of guide rail weight, intensity is large, and driven by the horizontal transfer mechanism of correspondence, so, it is also larger that it transmits power, the transmission of (quality weight) stamped workpieces of pressing equipment is particularly useful for connecting, and, by at least two group suction arms are set, one group of suction arm by the work piece delivery of last operation pressing equipment to time intermediate station, another group suction arm is the pressing equipment to a rear operation by the workpiece synchronous driving on intermediate station, obviously improve work piece delivery efficiency, can meet requirements of mass production, and it is simple in structure, rationally.
(2) have, the suction arm that principal arm, sucker bar and sucker form, for removably connecting, can meet various use needs, and install and remove simple and easy between each accessory again; Have again, on sucker bar, have adjusting slotted hole along its length bearing of trend, sucker bar is by regulating slotted hole to be arranged on principal arm by coupling assembling, adjusting slotted hole on sucker bar, user can need in response to different angles and length, coupling assembling is fixed on and regulates slotted hole appropriate location, to meet the needs of sucker to absorption of workpieces.
(3) level of mechanical arm is transferred and elevating movement, transfer respectively the cooperation of sliding of tooth bar, guide wheel guide rail and guide wheel by the level of setting up, and both sides lifting auxiliary balance cylinder, make level handover both obtain comparatively powerful level and slide power, the stably level of can putting down again slides, and both sides balance cylinder plays the lifting guide effect of balance and stability, avoid because of level transfer and elevating movement produce affect the stability of sucker to absorption of workpieces power compared with large vibrations, guarantee product transmit stablize.
Brief description of the drawings
Fig. 1 is the stereogram of the utility model stand alone type line manipulator.
Fig. 2 is the front view of the utility model stand alone type line manipulator.
Fig. 3 is that the A-A of Fig. 2 is to cut-away view.
Fig. 4 is the side diagram of Fig. 2.
Fig. 5 is the diagram of bowing of Fig. 2.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
See shown in Fig. 1 to Fig. 5, a kind of free-standing line manipulator for the pressing equipment of connecting, comprise support 1, intermediate station 2, electric cabinet 3, elevating mechanism 4, horizontal transfer mechanism 5, Connection Block 6 and mechanical arm 7, electric cabinet 3 carries out electronic control to each automatically controlled accessory, Connection Block 6 is arranged on support 1 by elevating mechanism 4, mechanical arm 7 is arranged on Connection Block 6 by horizontal transfer mechanism 5, intermediate station 2 is arranged on support 1 and is positioned at the below of mechanical arm 7, it is characterized in that, described mechanical arm 7 comprises level handover guide rail 71 and at least two group suction arm 72A, 72B, level is transferred guide rail 71 and is connected horizontal transfer mechanism 5, each group suction arm 72A, 72B is arranged on level with removably and transfers on guide rail 71.
In the present embodiment, level transfer the both sides of guide rail 71 respectively arrange one group described in suction arm 72A, 72B, every group of suction arm 72A, 72B comprise two (side by side) principal arms 721, several sucker bars 722 and several sucker 723, on each principal arm 721, be connected with some sucker bars 722,723, two principal arms 721 of sucker are all installed on every sucker bar 722 to be arranged on level handover guide rail 71 with removably respectively.
For convenience of length and the angular adjustment of sucker bar 722, on sucker bar 722, have and regulate slotted hole 8 along its length bearing of trend, sucker bar 822 is by regulating slotted hole 8 to be arranged on principal arm 721 by coupling assembling, user can need in response to different angles and length, coupling assembling is fixed on and regulates slotted hole 8 appropriate locations, to meet the needs of sucker 723 to absorption of workpieces.
Further, level is transferred on guide rail 71 and is provided with level handover tooth bar 9 along its length bearing of trend, horizontal transfer mechanism 5 comprises level handover servo motor 51, the output that level is transferred servo motor 51 engages with level handover tooth bar 9, so that level is transferred guide rail 71 and is transferred under servo motor 51 drivings in level, move horizontally, thereby drive suction arm 72 to do stable moving horizontally.
As scheme more preferably, the both sides of described level handover guide rail 71 are provided with the guide wheel guide rail 10 of inverted V-shaped along its length bearing of trend, corresponding guide wheel guide rail 10 positions, Connection Block 6 bottoms are installed several levels and are transferred guide wheel 11, each level is transferred guide wheel 11 and is seated on corresponding guide wheel guide rail 10, and, be connected with lifting ball screw 12 on the top of described Connection Block 6, lifting ball screw 12 is driven by elevating mechanism 4, makes Connection Block 6 do elevating movement along the lifting ball screw 12 of rotation.
Top two side positions near Connection Block 6 on above-mentioned support 1 are respectively arranged with lifting auxiliary balance cylinder 13, and the telescopic end of lifting auxiliary balance cylinder 13 is connected with the both sides, top of Connection Block 6.
The level of above-mentioned mechanical arm 7 is transferred and elevating movement, transfer respectively the cooperation of sliding of tooth bar 9, guide wheel guide rail 10 and guide wheel 11 by the level of setting up, and both sides lifting auxiliary balance cylinder 13, can avoid because of level transfer and elevating movement produce affect the stability of sucker 723 to absorption of workpieces power compared with large vibrations, guarantee product transmit stablize.
Wherein, described elevating mechanism 4 comprises lifting servo motor 41, lifting servo motor 41 is connected with the upper end of lifting ball screw 12 by belt 42, thereby drive lifting ball screw 12 rotates, and realizes Connection Block 6 and do along lifting ball screw 12 the lifting slip of balance; For the stability that further provides Connection Block 6 to slide, on support 1, the top of corresponding Connection Block 6 is provided with left and right linear guides 14, and Connection Block 6 tops are seated on linear guides 14.
On above-mentioned support 1, be also provided with automatic oiling lubrication system 131 near Connection Block 6 positions, automatic oiling lubrication system 131 is that guide wheel 11 and the level on Connection Block 6 transferred guide rail 71 make-up oils, to ensure being rich in good lubricity between guide wheel 11 and guide wheel guide rail 10.
Described intermediate station 2 comprises pillar 21, Lifting platform 22 and manual fine-tuning elevating mechanism 23, pillar 21 is fixed on support 1, Lifting platform 22 is arranged on pillar 21 by lift cylinder 24, manual fine-tuning elevating mechanism 23 comprises hand wheel component 231 and fine setting screw rod bushing 232, fine setting screw rod bushing 232 is fixed on Lifting platform 22 bottoms, and hand wheel component 231 is connected with fine setting screw rod bushing 232; Lifting platform 22 can carry out height by lift cylinder 24 and regulate, and user also can according to actual needs, carry out height fine adjusting function by manual fine-tuning elevating mechanism 23 to Lifting platform 22.
Operation principle: manipulator is arranged between two pressing equipments, need to be by the work piece delivery on last pressing equipment to a rear pressing equipment, before transmission work, first adjust intermediate station 2 height, when work, by setup program, level is transferred guide rail 71 and is driven the two groups of suction arm 72A in front and back, 72B moves horizontally toward last pressing equipment direction, last group of suction arm 72A moves to the workbench top position of last pressing equipment, rear one group of suction arm 72B moves to intermediate station 2(Lifting platform simultaneously) top position, mechanical arm 7 is according to setting program, last group of suction arm 72A declined and to after absorption of workpieces, again by setting rising value, last group of suction arm 72A is to absorption of workpieces certain altitude, simultaneously, when rear one group of suction arm 72B works first, (also can be arranged to last group of suction arm 72A is the state of working asynchronously) remains static above intermediate station 2, mechanical arm 7 more by setup program, before driving simultaneously, rear group of suction arm 72A, 72B back moves horizontally, until last group of suction arm 72A declines by setup program and removes absorption affinity, make workpiece be positioned in intermediate station 2, now, the workbench of pressing equipment top after rear one group of suction arm 72B moves to, (also can be arranged to last group of suction arm 72A is the state of working asynchronously) remains static, now, front and back two groups of suction arm 72A, 72B are again according to setting program, again move horizontally toward last pressing equipment, last group of suction arm 72A repeats aforementioned activities: decline, absorption workpiece, rising, back (intermediate station) moves horizontally, decline, workpiece is placed on intermediate station, meanwhile, rear one group of suction arm 72B, make synchronization action, by the work piece delivery on intermediate station 2 to a rear pressing equipment, so repeat, both realized the transmission line between two pressing equipments, again because of the synchronization action of front and back two groups of suction arm 72A, 72B, make conveying work pieces efficiency obviously promote (at least promoting one times), can meet automation, requirements of mass production.
Claims (10)
1. free-standing line manipulator, comprises support (1), intermediate station (2), electric cabinet (3), elevating mechanism (4), horizontal drag-over unitStructure (5), Connection Block (6) and mechanical arm (7), it is upper that Connection Block (6) is arranged on support (1) by elevating mechanism (4), mechanical arm (7)Be arranged on Connection Block (6) by horizontal transfer mechanism (5) upper, intermediate station (2) is arranged on support (1) and goes up and be positioned at mechanical arm (7)Below, it is characterized in that, described mechanical arm (7) comprises that level transfers guide rail (71) and at least two group suction arms (72A, 72B),Level is transferred guide rail (71) and is connected horizontal transfer mechanism (5), respectively organizes suction arm (72A, 72B) and is arranged on water with removablyTranslation is sent on guide rail (71).
2. free-standing line manipulator according to claim 1, is characterized in that, described every group of suction arm (72A, 72B) bagDraw together principal arm (721), sucker bar (722) and sucker (723), it is upper that sucker (723) is arranged on sucker bar (722), and sucker bar (722) connectsBe connected on principal arm (721) upper, principal arm (721) is arranged on level with removably and transfers on guide rail (71).
3. free-standing line manipulator according to claim 2, is characterized in that, described sucker bar (722) is upper to be prolonged along its lengthStretch direction and have adjusting slotted hole (8), sucker bar (822) is by regulating slotted hole (8) to be arranged on principal arm (721) by coupling assembling.
4. free-standing line manipulator according to claim 1, is characterized in that, it is upper long along it that described level is transferred guide rail (71)Degree bearing of trend is provided with level and transfers tooth bar (9), and horizontal transfer mechanism (5) comprises level handover servo motor (51), levelThe output of transferring servo motor (51) engages with level handover tooth bar (9).
5. free-standing line manipulator according to claim 4, is characterized in that, described level is transferred the edge, both sides of guide rail (71)Its length bearing of trend is provided with guide wheel guide rail (10), and corresponding guide wheel guide rail (10) position, Connection Block (6) bottom is provided with levelTransfer guide wheel (11), level is transferred guide wheel (11) and is seated on corresponding guide wheel guide rail (10).
6. free-standing line manipulator according to claim 5, is characterized in that, the top of described Connection Block (6) is connected with literFall ball screw (12), lifting ball screw (12) is driven by elevating mechanism (4), makes the lifting ball of Connection Block (6) along rotationScrew mandrel (12) is done elevating movement.
7. free-standing line manipulator according to claim 6, is characterized in that, described support (1) is upper near Connection Block (6)Top two side positions are respectively arranged with lifting auxiliary balance cylinder (13), the telescopic end of lifting auxiliary balance cylinder (13) be connectedThe both sides, top of seat (6) connect.
8. according to free-standing line manipulator described in claim 5 or 6, it is characterized in that, described elevating mechanism (4) comprises that lifting watchesTake motor (41), lifting servo motor (41) is connected with the upper end of lifting ball screw (12) by belt (42).
9. according to the arbitrary described free-standing line manipulator of claim 1 to 7, it is characterized in that, described support (1) is upper near connectingSeat (6) position is provided with automatic oiling lubrication system (131).
10. according to the arbitrary described free-standing line manipulator of claim 1 to 7, it is characterized in that, described intermediate station (2) comprisesPost (21), Lifting platform (22) and manual fine-tuning elevating mechanism (23), it is upper that pillar (21) is fixed on support (1), Lifting platform(22) be arranged on pillar (21) by lift cylinder (24) upper, manual fine-tuning elevating mechanism (23) comprise hand wheel component (231) andFine setting screw rod bushing (232), fine setting screw rod bushing (232) is fixed on Lifting platform (22) bottom, hand wheel component (231) and fine setting screw mandrelCover (232) connects.
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| CN201520895044.5U CN205236842U (en) | 2015-11-11 | 2015-11-11 | Stand alone type line manipulator |
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| CN201520895044.5U CN205236842U (en) | 2015-11-11 | 2015-11-11 | Stand alone type line manipulator |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105251902A (en) * | 2015-11-11 | 2016-01-20 | 广东捷瞬机器人有限公司 | Independent type line connecting mechanical hand |
| CN105904477A (en) * | 2016-07-04 | 2016-08-31 | 天津蓝新石油化工有限公司 | Double-armed type lubricating oil packaging barrel gripping and sending manipulator |
| CN105964819A (en) * | 2016-06-23 | 2016-09-28 | 济南方德自动化设备股份有限公司 | Multi-station automatic feeding device |
| CN106141016A (en) * | 2016-08-27 | 2016-11-23 | 浙江雅虎汽车部件有限公司 | Motor vehicle seat back big platelet transfer device |
| CN106623652A (en) * | 2016-10-20 | 2017-05-10 | 重庆哈渝机器人有限公司 | Automatic cold extruding device |
| CN107377799A (en) * | 2017-09-05 | 2017-11-24 | 青岛恒泰机械配件有限公司 | A kind of automatic stamping transfer system with free-standing manipulator |
| CN107497958A (en) * | 2017-09-05 | 2017-12-22 | 青岛恒泰机械配件有限公司 | A kind of free-standing manipulator for punching automation transfer system |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
| CN108500198A (en) * | 2018-05-30 | 2018-09-07 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device material retractable device |
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- 2015-11-11 CN CN201520895044.5U patent/CN205236842U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105251902A (en) * | 2015-11-11 | 2016-01-20 | 广东捷瞬机器人有限公司 | Independent type line connecting mechanical hand |
| CN105964819A (en) * | 2016-06-23 | 2016-09-28 | 济南方德自动化设备股份有限公司 | Multi-station automatic feeding device |
| CN105904477A (en) * | 2016-07-04 | 2016-08-31 | 天津蓝新石油化工有限公司 | Double-armed type lubricating oil packaging barrel gripping and sending manipulator |
| CN106141016A (en) * | 2016-08-27 | 2016-11-23 | 浙江雅虎汽车部件有限公司 | Motor vehicle seat back big platelet transfer device |
| CN106623652A (en) * | 2016-10-20 | 2017-05-10 | 重庆哈渝机器人有限公司 | Automatic cold extruding device |
| CN106623652B (en) * | 2016-10-20 | 2018-02-23 | 重庆哈渝机器人有限公司 | A kind of automatic cold extrusion device |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
| CN107626807B (en) * | 2017-08-30 | 2023-08-01 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Automatic stamping production line for drawer slide rail |
| CN107377799A (en) * | 2017-09-05 | 2017-11-24 | 青岛恒泰机械配件有限公司 | A kind of automatic stamping transfer system with free-standing manipulator |
| CN107497958A (en) * | 2017-09-05 | 2017-12-22 | 青岛恒泰机械配件有限公司 | A kind of free-standing manipulator for punching automation transfer system |
| CN108500198A (en) * | 2018-05-30 | 2018-09-07 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device material retractable device |
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