Four-axis stamping manipulator
By arranging the rotating mechanism at the bottom and the lifting mechanism at one end of the telescopic mechanism in the stamping manipulator, and using specific drive components, the problems of complex structure, high failure rate and high cost of the existing stamping manipulator are solved, achieving lower cost, Robot design with simpler structure and lower failure rate.
Patent Information
- Application Number
- CN202323575063.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-25
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2033-12-25
AI Technical Summary
The existing stamping robot has complex structures, is prone to failures and is costly.
A four-axis stamping manipulator is designed. By setting the rotating mechanism at the bottom and the lifting mechanism at one end of the telescopic mechanism, the rotating shaft motor, the rotating shaft reducer and the bearing seat are directly connected, and the lifting shaft motor and screw module are used to realize For the lifting and lowering movement of the suction cup assembly, the telescopic mechanism realizes the telescopic movement of the suction cup fixture through the synchronous belt, guide rail, suction cup rotating shaft motor and suction cup rotating shaft reducer.
It achieves the characteristics of low cost, simple structure and low failure rate, and improves the reliability and economy of the manipulator.
Smart Images
Figure CN222370183U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical stamping, in particular to a four-axis stamping manipulator. Background Art
[0002] With the popularization and application of industrial automation, robots have been widely used in various fields. For example, a stamping robot is a robot that performs material stamping, handling, loading and unloading based on the characteristics of stamping production on the basis of automated equipment. It has the advantages of saving labor costs, improving labor and equipment safety, and ensuring product production capacity and quality. However, the structure of the existing stamping robot is as follows: the lifting shaft is set at the bottom, and the gripper is driven to achieve lifting movement through the screw rod and the lifting guide rail. The rotating shaft is set in the middle, and the gripper is rotated by the servo motor and the hollow turntable. The telescopic shaft is set at the top, and the rotating shaft is connected to the motor through a synchronous belt. The robot with this structure has the disadvantages of complex structure, easy failure, and high cost. Utility Model Content
[0003] In order to overcome the deficiencies of the prior art, the utility model provides a four-axis stamping manipulator, which has the characteristics of low cost, simple structure and low failure rate.
[0004] The technical solution adopted by the utility model to solve its technical problems is:
[0005] A four-axis stamping robot comprises a lifting mechanism, a rotating mechanism, a telescopic mechanism, a suction cup assembly and a machine platform. The lifting mechanism can be lifted up and down and is arranged on the machine platform. The rotating mechanism is arranged in the machine platform. The rotating mechanism is arranged at the bottom of the lifting mechanism and is connected to the lifting mechanism. One end of the telescopic mechanism is connected to the lifting mechanism, and a suction cup assembly is installed on the other end. The suction cup assembly comprises a suction cup fixture, a suction cup driving member and a rotating shaft. The suction cup driving member is arranged on the telescopic mechanism. One end of the rotating shaft is rotatably connected to the suction cup driving member through a fixed seat, and the other end is fixedly connected to the suction cup fixture.
[0006] As a preferred technical solution, the rotating mechanism includes a rotating shaft motor, a rotating shaft reducer and a bearing seat. The rotating shaft motor is installed below the rotating shaft reducer. The rotating shaft reducer is fixedly installed in the machine through a motor mounting seat. The output shaft of the rotating shaft reducer is directly connected to the bearing shaft of the bearing seat.
[0007] As a preferred technical solution, the lifting mechanism includes a lifting shaft motor, a screw module, a guide rail plate and a mounting plate. The guide rail plate is vertically mounted on the mounting plate, the screw module is arranged on the guide rail plate, the lifting shaft motor is mounted on the guide rail plate through a motor mounting plate, and the output shaft of the lifting shaft motor is connected to the screw module through a coupling.
[0008] As a preferred technical solution, the screw module includes a screw, a lifting guide rail and a slider. The screw is installed on the guide rail plate through a screw mounting seat. Lifting guide rails are arranged on both sides of the screw. A slider is installed on the lifting guide rail. The telescopic mechanism is slidably installed on the lifting guide rail through a screw nut mounting seat.
[0009] As a preferred technical solution, a vertical rib plate is further provided on the guide rail plate, and the vertical rib plate is connected to the mounting plate.
[0010] As a preferred technical solution, a protective cover is provided on the mounting plate.
[0011] As a preferred technical solution, the telescopic mechanism includes a telescopic shaft driving component, a guide rail telescopic seat, a guide rail telescopic seat panel and a slider fixing plate. Telescopic shaft guide rails are arranged on both sides of the guide rail telescopic seat. A slider is arranged on the telescopic shaft guide rail. The slider is slidably connected to the slider fixing plate. The telescopic shaft driving component is used to drive the guide rail telescopic seat to move forward and backward.
[0012] As a preferred technical solution, the telescopic shaft driving component includes a telescopic shaft motor, a first synchronous wheel, a second synchronous wheel and a synchronous belt. The telescopic shaft motor is arranged on the guide rail telescopic seat panel, and the telescopic shaft motor passes through the guide rail telescopic seat panel and is connected to the first synchronous wheel. A second synchronous wheel is arranged on the guide rail telescopic seat panel, and the first synchronous wheel is connected to the second synchronous wheel through a synchronous belt, and the synchronous belt on one side is connected to the slider fixing plate through a splint.
[0013] As a preferred technical solution, the suction cup driving component includes a suction cup rotating shaft motor and a suction cup rotating shaft reducer, the suction cup rotating shaft motor is connected to the suction cup rotating shaft reducer, the suction cup rotating shaft reducer is installed on the guide rail telescopic seat, one end of the rotating shaft is rotatably connected to the suction cup rotating shaft motor through a fixed seat, and the other end is fixedly connected to the suction cup fixture.
[0014] The beneficial effects of the utility model are as follows: the utility model provides a four-axis stamping robot, which arranges a rotating mechanism at the bottom, directly connected through a rotating shaft motor, a rotating shaft reducer and a bearing seat, and a lifting mechanism is arranged at one end of the telescopic mechanism. The lifting mechanism realizes the lifting movement of the suction cup assembly through the lifting shaft motor and the screw module, and the telescopic mechanism realizes the telescopic movement of the suction cup fixture through a synchronous belt, a guide rail, a suction cup rotating shaft motor and a suction cup rotating shaft reducer. The rotating suction cup fixture is directly connected through a driving assembly, and has the characteristics of low cost, simple structure and low failure rate. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.
[0016] Figure 1 It is a structural schematic diagram of a four-axis stamping manipulator provided in an example of the utility model;
[0017] Figure 2 It is a structural schematic diagram of a four-axis stamping manipulator (excluding the machine platform) provided in an example of the utility model;
[0018] Figure 3 yes Figure 2 Structural diagram of the rotating mechanism;
[0019] Figure 4 yes Figure 2 Structural diagram of the lifting mechanism;
[0020] Figure 5 yes Figure 2 Schematic diagram of the structure of the telescopic mechanism and suction cup assembly.
[0021] 1. Machine; 2. Rotating mechanism; 21. Rotating shaft motor; 22. Rotating shaft reducer; 23. Bearing seat; 24. Motor mounting seat; 3. Lifting mechanism; 31. Guide plate; 32. Lifting shaft motor; 33. Mounting plate; 341. Screw; 342. Lifting guide rail; 343. Screw slider; 35. Screw nut mounting seat; 4. Telescopic mechanism; 41. Guide rail telescopic seat; 42. Telescopic shaft motor; 43. Slider fixing plate; 44. First synchronous wheel; 45. Second synchronous wheel; 46. Telescopic shaft guide rail; 47. Slider; 48. Guide rail telescopic seat panel; 5. Suction cup assembly; 51. Suction cup drive motor; 52. Suction cup reducer; 53. Rotating shaft; 54. Suction cup fixture; 55. Fixed seat; 6. Vertical rib plate; 7. Protective cover. DETAILED DESCRIPTION
[0022] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the utility model, so as to fully understand the purpose, characteristics and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the utility model. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that according to the specific implementation situation, a better connection structure can be formed by adding or reducing connection accessories. For example, fixed connection / fixed installation can be selected according to the needs of screw connection, bolt connection, pin connection, key connection, bonding, mortise and tenon connection, welding, riveting and other methods. For example, detachable connection can be selected according to the needs of screw connection, bolt connection, threaded connection, snap connection, mortise and tenon connection, Velcro connection and other methods. The various technical features in the creation of the utility model can be combined interactively without conflicting with each other.
[0023] Please refer to Figure 1-Figure 5 An example of the utility model provides a four-axis stamping robot, including a lifting mechanism 3, a rotating mechanism 2, a telescopic mechanism 4, a suction cup assembly 5 and a machine platform 1. The lifting mechanism 3 can be lifted up and down and is arranged on the machine platform 1. The rotating mechanism 2 is arranged in the machine platform 1 and connected to the lifting mechanism 3. One end of the telescopic mechanism 4 is connected to the lifting mechanism 3, and the other end is equipped with a suction cup assembly 5.
[0024] Specifically, by setting the rotating mechanism 2 at the bottom, directly connected through the rotating shaft motor 21, the rotating shaft reducer 22 and the bearing seat 23, the lifting mechanism 3 is set at one end of the telescopic mechanism 4, the lifting mechanism 3 realizes the lifting movement of the suction cup assembly 5 through the lifting shaft motor 32 and the screw module, and the telescopic mechanism 4 realizes the telescopic movement of the suction cup fixture 54 through the synchronous belt, guide rail, suction cup rotating shaft motor 21 and suction cup rotating shaft reducer 22. The rotating suction cup fixture 54 is directly connected through the driving assembly, which has the characteristics of low cost, simple structure and low failure rate.
[0025] Furthermore, the rotating mechanism 2 is arranged in the machine 1, that is, arranged at the bottom of the lifting mechanism 3, and the rotating mechanism 2 includes a rotating shaft motor 21, a rotating shaft reducer 22 and a bearing seat 23. The rotating shaft motor 21 is installed below the rotating shaft reducer 22, and the rotating shaft reducer 22 is fixedly installed in the machine 1 through a motor mounting seat 24. The output shaft of the rotating shaft reducer 22 is directly connected to the bearing shaft of the bearing seat 23. The rotating mechanism 2 is arranged at the bottom and is directly connected to the lifting mechanism 3 through the rotating shaft motor 21, the rotating shaft reducer 22 and the bearing seat 23, which is lower in cost than the traditional hollow turntable.
[0026] Furthermore, the lifting mechanism 3 includes a lifting shaft motor 32, a screw module, a guide rail plate 31 and a mounting plate 33, wherein the guide rail plate 31 is vertically mounted on the mounting plate 33, the screw module is provided on one side of the guide rail plate 31, and a vertical rib plate 6 is provided on the other side, wherein the vertical rib plate 6 is connected to the mounting plate 33 to increase the bearing capacity and stability of the guide rail plate 31; the screw module includes a screw 341, a lifting guide rail 342 and a screw slider 343, wherein the screw 341 is mounted on the guide rail plate 31 through a screw 341 mounting seat, lifting guide rails 342 are provided on both sides of the screw 341, and a screw slider 343 is installed on the lifting guide rail 342, wherein the telescopic mechanism 4 is slidably mounted on the lifting guide rail 342 through a screw nut mounting seat 35, wherein a protective cover 7 is provided on the mounting plate 33, and the protective cover 7 is used to protect the screw module. The lifting shaft motor 32 is installed on the guide plate 31 through the motor mounting plate 33. The output shaft of the lifting shaft motor 32 is connected to the screw module through a coupling. The lifting shaft motor 32 drives the screw 341 to make the lifting mechanism 3 perform lifting movement. Compared with the method in which the lifting mechanism 3 is set at the bottom, the load is lower, and the models of the screw 341, guide rail, motor and reducer are smaller and the cost is lower.
[0027] Furthermore, the telescopic mechanism 4 includes a telescopic shaft driving component, a guide rail telescopic seat 41, a guide rail telescopic seat panel 48 and a slider fixing plate 43, telescopic shaft guide rails 46 are arranged on both sides of the guide rail telescopic seat 41, a slider 47 is arranged on the telescopic shaft guide rail 46, the slider 47 is slidably connected to the slider fixing plate 43, the slider fixing plate 43 is connected to the lifting mechanism 3 through a screw nut mounting seat 35, and the telescopic shaft driving component is used to drive the guide rail telescopic seat to move forward and backward.
[0028] The telescopic shaft driving member includes a telescopic shaft motor 42, a first synchronous wheel 44, a second synchronous wheel 45 and a synchronous belt. The telescopic shaft motor 42 is arranged on the guide rail telescopic seat panel 48. The telescopic shaft motor 42 passes through the guide rail telescopic seat panel 48 and is connected to the first synchronous wheel 44. The guide rail telescopic seat panel 48 is provided with a second synchronous wheel 45. The first synchronous wheel 44 is connected to the second synchronous wheel 45 through a synchronous belt, and the synchronous belt on one side is connected to the slider fixing plate 43 through a clamp. The front end of the guide rail telescopic seat 41 is rotatably connected to the suction cup assembly 5. Under the drive of the telescopic shaft motor 42, the guide rail telescopic seat 41 realizes forward and backward movement along the direction of the guide rail, and the position of the suction cup fixture 54 in the suction cup assembly 5 can be adjusted according to the position of the product. Among them, the telescopic mechanism 4 adopts a combination of the telescopic shaft motor 42, the synchronous belt and the guide rail to realize the telescopic action. Compared with the design using the screw rod, it requires low precision, and the stamping lower part only needs to hook the product to the box below, and the design cost is lower. The telescopic shaft driving member may also be a driving member such as a telescopic shaft driving cylinder.
[0029] Furthermore, the suction cup assembly 5 includes a suction cup fixture 54, a suction cup drive motor 51, a suction cup reducer 52 and a rotating shaft 53. The suction cup drive motor 51 is connected to the suction cup reducer 52. The suction cup reducer 52 is installed on the guide rail telescopic seat 41. One end of the rotating shaft 53 is rotatably connected to the suction cup drive motor 51 through a fixed seat 55, and the other end is fixedly connected to the suction cup fixture 54. Directly connecting to the suction cup fixture 54 through the suction cup drive motor 51 and the suction cup reducer 52 can avoid transmission loss and reduce failure rate.
[0030] The above is a specific description of the preferred implementation of the utility model, but the invention of the utility model is not limited to the described embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.
Claims
1. A four-axis stamping manipulator, characterized in that: It includes a lifting mechanism, a rotating mechanism, a telescopic mechanism, a suction cup assembly and a machine platform. The lifting mechanism can be lifted up and down and is arranged on the machine platform. The rotating mechanism is arranged in the machine platform. The rotating mechanism is arranged at the bottom of the lifting mechanism and is connected to the lifting mechanism. One end of the telescopic mechanism is connected to the lifting mechanism, and a suction cup assembly is installed on the other end. The suction cup assembly includes a suction cup fixture, a suction cup driving member and a rotating shaft. The suction cup driving member is arranged on the telescopic mechanism. One end of the rotating shaft is rotatably connected to the suction cup driving member through a fixed seat, and the other end is fixedly connected to the suction cup fixture.
2. The four-axis stamping robot according to claim 1, characterized in that: The rotating mechanism includes a rotating shaft motor, a rotating shaft reducer and a bearing seat. The rotating shaft motor is installed below the rotating shaft reducer. The rotating shaft reducer is fixedly installed in the machine platform through a motor mounting seat. The output shaft of the rotating shaft reducer is directly connected to the bearing shaft of the bearing seat.
3. The four-axis stamping manipulator according to claim 1, characterized in that: The lifting mechanism includes a lifting shaft motor, a screw module, a guide rail plate and a mounting plate. The guide rail plate is vertically mounted on the mounting plate, the screw module is arranged on the guide rail plate, the lifting shaft motor is mounted on the guide rail plate through a motor mounting plate, and the output shaft of the lifting shaft motor is connected to the screw module through a coupling.
4. The four-axis stamping manipulator according to claim 3 is characterized in that: The screw module includes a screw, a lifting guide rail and a slider. The screw is installed on the guide rail plate through a screw mounting seat. Lifting guide rails are arranged on both sides of the screw. Slide blocks are installed on the lifting guide rails. The telescopic mechanism is slidably installed on the lifting guide rails through a screw nut mounting seat.
5. The four-axis stamping manipulator according to claim 3 is characterized in that: The guide rail plate is also provided with a vertical rib plate, and the vertical rib plate is connected to the mounting plate.
6. The four-axis stamping manipulator according to claim 3, characterized in that: A protective cover is arranged on the mounting plate.
7. The four-axis stamping robot according to claim 1, characterized in that: The telescopic mechanism includes a telescopic shaft driving component, a guide rail telescopic seat, a guide rail telescopic seat panel and a slider fixing plate. Telescopic shaft guide rails are arranged on both sides of the guide rail telescopic seat. A slider is arranged on the telescopic shaft guide rail. The slider is slidably connected to the slider fixing plate. The telescopic shaft driving component is used to drive the guide rail telescopic seat to move forward and backward.
8. The four-axis stamping manipulator according to claim 7, characterized in that: The telescopic shaft driving component includes a telescopic shaft motor, a first synchronous wheel, a second synchronous wheel and a synchronous belt. The telescopic shaft motor is arranged on the guide rail telescopic seat panel. The telescopic shaft motor passes through the guide rail telescopic seat panel and is connected with the first synchronous wheel. The guide rail telescopic seat panel is provided with a second synchronous wheel. The first synchronous wheel is connected to the second synchronous wheel through a synchronous belt, and the synchronous belt on one side is connected to the slider fixing plate through a clamping plate.
9. The four-axis stamping robot according to claim 7, characterized in that: The suction cup driving component includes a suction cup rotating shaft motor and a suction cup rotating shaft reducer. The suction cup rotating shaft motor is connected to the suction cup rotating shaft reducer. The suction cup rotating shaft reducer is installed on the guide rail telescopic seat. One end of the rotating shaft is rotatably connected to the suction cup rotating shaft motor through a fixed seat, and the other end is fixedly connected to the suction cup fixture.