CN201960561U - Split-type servo manipulator - Google Patents
Split-type servo manipulator Download PDFInfo
- Publication number
- CN201960561U CN201960561U CN2010202248422U CN201020224842U CN201960561U CN 201960561 U CN201960561 U CN 201960561U CN 2010202248422 U CN2010202248422 U CN 2010202248422U CN 201020224842 U CN201020224842 U CN 201020224842U CN 201960561 U CN201960561 U CN 201960561U
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- Prior art keywords
- arm
- drive link
- split
- horizontal direction
- big
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- Expired - Lifetime
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- 239000011796 hollow space material Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000010924 continuous production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The utility model discloses a split-type servo manipulator, which comprises a vertical-direction servo speed-reducing motor, an arm-fixing seat, a moveable arm, a finger part, a horizontal-direction servo speed-reducing motor, a small driving connecting rod, a large driving connecting rod and an arm-driving seat, wherein the vertical-direction servo speed-reducing motor drives the arm-fixing seat, the moveable arm and the finger part to move vertically on a straight-line guide rail which is fixed on a vertical plate, and the horizontal-direction servo speed-reducing motor drives the moveable arm to reciprocate in the horizontal direction through the small driving connecting rod, the large driving connecting rod and the arm-driving seat. The split-type servo manipulator structurally has bi-directional strokes in the horizontal direction and the vertical direction, and can complete automatic taking and placing of workpieces between punches. The strokes in the horizontal direction and the vertical direction are convenient to be adjusted to be suitable for different types of workpieces, and the repeat location accuracy of the manipulator in the horizontal direction and the vertical direction is no larger than +/-0.1mm.
Description
Technical field
The utility model belongs to the supporting automatic manipulator of punch press.It can cooperate punch press to finish picking and placeing of the feeding of workpiece, punching press, punching press finished piece(s) automatically, need not personnel operation.This cover manipulator has horizontal direction, vertical direction two-way travel, can realize the automated production between many punch presses.
Background technology
In traditional punching production, every punch press can only independent operation, can not carry out automatic continuous production between punch press and the punch press, this work pattern automaticity demand low, operator is many, production efficiency is low, labour intensity is big, work under bad environment, have certain potential safety hazard simultaneously.Along with the fast development of industrial automation, also more and more higher for the requirement of punching press industry.The utility model separate mechanical hand can be finished picking and placeing of workpiece between the punch press, satisfies the demand of many punch press production automations.
Summary of the invention
The objective of the invention is: provide a kind of with the supporting split-type servo manipulator of punch press, have horizontal direction, vertical direction two-way travel, can finish the automatic clamping and placing of workpiece between the punch press, the stroke of horizontal direction, vertical direction is convenient to adjust adapting to different types of workpieces, and manipulator in the horizontal direction, the repetitive positioning accuracy of vertical direction is not more than ± 0.1mm.
Technical scheme provided by the invention is as follows: a kind of split-type servo manipulator comprises control electronic box, horizontal direction servo deceleration motor, arm holder, mobile arm, finger part, big drive link, little drive link, vertical direction servo deceleration motor, outer cover, support.Vertical direction moves up and down on line slideway by vertical direction servo deceleration driven by motor arm holder, mobile arm, finger part, and line slideway is fixed on the riser; It is reciprocating in the horizontal direction that horizontal direction servo deceleration motor drives the mobile arm of seat drive by big drive link, little drive link, arm, the guiding of mobile arm is leaned on each four groups of bearing guide and limit up and down, and four groups of bearing fixing are on the arm holder.
The present invention has following advantage: adopt servo drive motor, horizontal direction, vertical direction stroke are convenient to adjust, and manipulator picks and places the workpiece accuracy height; Finger part can be adjusted flexibly according to product design and draw the position; Mobile arm uses hollow material in light weight, be fixed with guide rail on the mobile arm, guide rail relies on the guide rail clamping plate to fix with hollow material, guiding is leaned on each four groups of bearing guide and limit up and down, the arm structure compactness takes up room little, be convenient between punch press and mould, move, when high speed, can not produce big inertia force and influence equipment precision.
Description of drawings
Fig. 1 is a profile schematic diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a left view of the present invention.
Fig. 4 is a vertical view of the present invention.
The specific embodiment
Referring to Fig. 2-Figure 4 shows that split-type servo manipulator three-view diagram of the present invention.In the bottom of frame 1 four height adjusting screw rods 2 are housed, adjustable mechanical hand height is to adapt to different punch presses and mold height.Riser 3 both sides are processed with row's installation screw and conveniently are connected and fixed to strengthen the stability of manipulator with punch press.Vertical direction servo deceleration motor 4 drive arm holders 5, mobile arm 6, finger part 7 move up and down on line slideway 8.It is reciprocating in the horizontal direction that horizontal direction servo deceleration motor 9 drives the mobile arm 6 of seat 12 drives by little drive link 10, big drive link 11, arm, its medium and small drive link 10 is that the circumference reciprocally swinging is made at the center with the axle center of servo drive motor 9, big drive link 11 is when the interface of little drive link 10 is made circle swing, big drive link bottom pumps on line slideway 13, and big drive link 11 tops drive seat 12 by hinged connection and can slide up and down with arm in arm drives a U shape groove of 12.The guiding of mobile arm 6 is leaned on each four groups of bearing 14 guide and limit up and down, and finger part can be adjusted plate 15 by finger adjust to the optional position, and picking and placeing by control vacuum generator 16 of workpiece realizes.Mobile arm 6 uses hollow material, is fixed with guide rail 17 on it, and guide rail 17 relies on guide rail clamping plate 18 fixing with hollow material.
Claims (3)
1. split-type servo manipulator, it is characterized in that: vertical direction servo deceleration driven by motor arm holder, mobile arm, finger part move up and down on line slideway, line slideway is fixed on the riser, horizontal direction servo deceleration motor by big or small drive link, arm drive seat, to drive mobile arm reciprocating in the horizontal direction.
2. split-type servo manipulator according to claim 1, it is characterized in that: described mobile arm uses hollow material, be fixed with guide rail on it, guide rail relies on the guide rail clamping plate to fix with hollow material, guiding is leaned on each four groups of bearing guide and limit up and down, and four groups of bearing fixing are on the arm holder.
3. split-type servo manipulator according to claim 1, it is characterized in that: its medium and small drive link of described big or small drive link is that the circumference reciprocally swinging is made at the center with the axle center of servo deceleration motor, big drive link is when the interface of little drive link is made circle swing, its connecting rod bottom pumps on line slideway, and big drive link top drives seat by hinged connection and can slide up and down with arm in the U-lag that arm drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202248422U CN201960561U (en) | 2010-06-12 | 2010-06-12 | Split-type servo manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202248422U CN201960561U (en) | 2010-06-12 | 2010-06-12 | Split-type servo manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201960561U true CN201960561U (en) | 2011-09-07 |
Family
ID=44523090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202248422U Expired - Lifetime CN201960561U (en) | 2010-06-12 | 2010-06-12 | Split-type servo manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201960561U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102950590A (en) * | 2012-10-18 | 2013-03-06 | 江苏省（扬州）数控机床研究院 | Two-axis manipulator for press line and working process of two-axis manipulator |
| WO2015074559A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Split-type robot |
| CN105386134A (en) * | 2015-12-04 | 2016-03-09 | 浙江古纤道新材料股份有限公司 | Universal manipulator |
| CN106436490A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Molded pulp automatic production equipment |
-
2010
- 2010-06-12 CN CN2010202248422U patent/CN201960561U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102950590A (en) * | 2012-10-18 | 2013-03-06 | 江苏省（扬州）数控机床研究院 | Two-axis manipulator for press line and working process of two-axis manipulator |
| WO2015074559A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Split-type robot |
| CN106436490A (en) * | 2015-08-07 | 2017-02-22 | 山东天和绿色包装科技有限公司 | Molded pulp automatic production equipment |
| CN105386134A (en) * | 2015-12-04 | 2016-03-09 | 浙江古纤道新材料股份有限公司 | Universal manipulator |
| CN105386134B (en) * | 2015-12-04 | 2017-12-19 | 浙江古纤道新材料股份有限公司 | Universal manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110907 |
|
| CX01 | Expiry of patent term |