CN104438928A - Manipulator transfer mechanism for tandem stamping equipment - Google Patents
Manipulator transfer mechanism for tandem stamping equipment Download PDFInfo
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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
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Abstract
Description
技术领域 technical field
本发明涉及机械手技术领域,尤指用于串联冲压设备上的机械手传送机构。 The present invention relates to the technical field of manipulators, in particular to the manipulator transmission mechanism used on tandem stamping equipment.
背景技术 Background technique
现有技术中公开了一种跑外壳结构的机械手,包括主机、主杆和若干搬送座,主机和若干搬送座沿水平方向呈直线安装,主机和若干搬送座分别与主杆连接,主杆滑动连接有手臂外壳,手臂外壳连接有机械手手臂,机械手手臂设有可对工件进行吸附的吸盘机构,主机和若干搬送座均设有可驱动主杆上下移动的升降传动机构,主机设有可驱动手臂外壳沿主杆左右滑动的横移传动机构,横移传动机构包括安装于主机的横移驱动电机,主机以及主机相邻两侧的搬送座均安装有同步带轮,同步带轮的外侧绕设有同步带,横移驱动电机通过滚珠花键轴与主机上的同步带轮驱动连接,同步带与手臂外壳固定连接。该种跑外壳结构的机械手在应用过程中普遍存在以下几个问题:1.横移传动机构与升降传动机构一体式设计,其结构较复杂,成本较高;2.横移传动机构的三个同步带轮与主杆一起做升降运动,增大了升降传动机构以及主杆的负载,升降传动机构以及主杆的使用寿命下降。 In the prior art, a manipulator with a shell structure is disclosed, which includes a main machine, a main rod and several transfer seats. The main machine and several transfer seats are installed in a straight line along the horizontal direction. The main machine and several transfer seats are connected to the main rod respectively, and the main rod slides The arm shell is connected with the manipulator arm. The manipulator arm is equipped with a suction cup mechanism that can absorb the workpiece. The main machine and several transfer seats are equipped with a lifting transmission mechanism that can drive the main rod to move up and down. The traversing transmission mechanism in which the housing slides left and right along the main rod. The traversing transmission mechanism includes a traversing drive motor installed on the main engine. The main engine and the transport seats on both sides adjacent to the main engine are equipped with synchronous pulleys. The outer sides of the synchronous pulleys are wound There is a synchronous belt, and the traversing drive motor is connected with the synchronous pulley on the main machine through the ball spline shaft, and the synchronous belt is fixedly connected with the arm shell. The following problems generally exist in the application process of this type of manipulator with a shell structure: 1. The integrated design of the traversing transmission mechanism and the lifting transmission mechanism has a complicated structure and high cost; 2. The three components of the traversing transmission mechanism The synchronous pulley and the main rod do lifting motion together, which increases the load of the lifting transmission mechanism and the main rod, and the service life of the lifting transmission mechanism and the main rod decreases.
发明内容 Contents of the invention
针对现有技术的不足,本发明提供了用于串联冲压设备上的机械手传送机构,其结构简单,成本较低,横移传动机构不随主杆一起升降运动,减小了升降传动机构以及主杆的负载,提高了升降传动机构以及主杆的使用寿命。 Aiming at the deficiencies of the prior art, the present invention provides a manipulator transmission mechanism for series stamping equipment, which has a simple structure and low cost, and the traversing transmission mechanism does not move up and down with the main rod, which reduces the need for the lifting transmission mechanism and the main rod. The load increases the service life of the lifting transmission mechanism and the main rod.
为达到以上目的,本发明用于串联冲压设备上的机械手传送机构主要采用以下技术方案: In order to achieve the above purpose, the present invention mainly adopts the following technical schemes for the manipulator transmission mechanism used on the tandem stamping equipment:
用于串联冲压设备上的机械手传送机构,包括主机、主杆和若干搬送座,主机和若干搬送座沿水平方向呈直线安装,主机和若干搬送座之间均设有间隔,主机和若干搬送座分别与主杆连接,所述主机和若干搬送座分别设有可驱动主杆上下移动的升降传动机构,主杆设有手臂外壳,主杆与手臂外壳滑动连接,手臂外壳设有可对工件进行吸附的吸盘机构,所述主机还设有支撑杆,支撑杆与主杆平行设置,支撑杆设有第一滑座,支撑杆与第一滑座滑动连接,主机设有可驱动第一滑座沿支撑杆左右滑动的横移传动结构,所述第一滑座垂直安装有第一直线导轨,第一直线导轨的滑块与手臂外壳固定连接。 The transfer mechanism of the manipulator used on the series stamping equipment, including the main machine, the main rod and several transfer seats, the main machine and several transfer seats are installed in a straight line along the horizontal direction, there are intervals between the main machine and several transfer seats, the main machine and several transfer seats They are respectively connected with the main pole. The main machine and several transfer seats are respectively equipped with a lifting transmission mechanism that can drive the main pole to move up and down. The main pole is provided with an arm shell, which is slidingly connected with the arm shell. Adsorption suction cup mechanism, the host is also provided with a support rod, which is arranged in parallel with the main rod, the support rod is provided with a first sliding seat, the support rod is slidably connected with the first sliding seat, and the main frame is provided with a driveable first sliding seat A lateral movement transmission structure that slides left and right along the support rod, the first sliding seat is vertically installed with a first linear guide rail, and the slider of the first linear guide rail is fixedly connected with the arm shell.
优选地,所述吸盘机构包括机械手手臂,机械手手臂设有可对工件进行吸附的吸盘,机械手手臂与手臂外壳固定连接。 Preferably, the suction cup mechanism includes a manipulator arm, the manipulator arm is provided with a suction cup capable of absorbing the workpiece, and the manipulator arm is fixedly connected to the arm shell.
进一步地,所述主杆设有第二滑座,第二滑座和手臂外壳的数量均为多个,第二滑座和手臂外壳依次间隔安装,手臂外壳和机械手手臂均与第二滑座固定连接,主杆与第二滑座滑动连接。 Further, the main rod is provided with a second sliding seat, the number of the second sliding seat and the arm shell is multiple, the second sliding seat and the arm shell are installed at intervals in turn, and the arm shell and the manipulator arm are connected with the second sliding seat Fixed connection, the main rod is slidingly connected with the second sliding seat.
进一步地,所述主杆设有第二直线导轨,第二滑座与第二直线导轨的滑块固定连接。 Further, the main rod is provided with a second linear guide rail, and the second sliding seat is fixedly connected with the slider of the second linear guide rail.
优选地,所述横移传动机构包括安装于主机的第一同步带轮、第一同步带以及横移驱动装置,横移驱动装置与第一同步带轮驱动连接,与主机相邻的搬送座安装有第二同步带轮,第一同步带轮和第二同步带轮通过第一同步带传动连接,所述第一同步带与第一滑座固定连接。 Preferably, the traversing transmission mechanism includes a first synchronous pulley installed on the main engine, a first synchronous belt, and a traversing driving device, the traversing driving device is drivingly connected to the first synchronous pulley, and the transfer seat adjacent to the main engine A second synchronous pulley is installed, the first synchronous pulley and the second synchronous pulley are connected through a first synchronous belt, and the first synchronous belt is fixedly connected with the first sliding seat.
进一步地,所述横移驱动装置包括安装于主机的横移驱动电机以及第二同步带,横移驱动电机的电机轴套设有第一传动带轮,第一同步带轮的转轴套设有第二传动带轮,第一传动带轮和第二传动带轮通过第二同步带传动连接。 Further, the traversing driving device includes a traversing driving motor installed on the main engine and a second synchronous belt, the motor shaft sleeve of the traversing driving motor is provided with a first transmission pulley, and the rotating shaft sleeve of the first synchronous pulley is provided with a second synchronous belt. Two transmission pulleys, the first transmission pulley and the second transmission pulley are connected through the second synchronous belt transmission.
进一步地,所述支撑杆水平安装有第三直线导轨,第三直线导轨的滑块与第一滑座固定连接。 Further, the support rod is horizontally installed with a third linear guide rail, and the slider of the third linear guide rail is fixedly connected with the first sliding seat.
优选地,所述升降传动机构包括安装于主机的升降驱动装置,主机和若干搬送座均安装有蜗轮蜗杆减速机、连杆、升降传动摆臂以及第四直线导轨,蜗轮蜗杆减速机包括蜗杆输入轴和蜗轮输出轴,蜗轮蜗杆减速机的蜗杆输入轴连接有升降传动轴,升降驱动装置与升降传动轴驱动连接,连杆套设于蜗轮蜗杆减速机的蜗轮输出轴,升降传动摆臂的两端分别与连杆和第四直线导轨的滑块铰接,第四直线导轨的滑块与主杆固定连接。 Preferably, the lifting transmission mechanism includes a lifting drive device installed on the main machine, and the main machine and several transfer seats are equipped with a worm gear reducer, a connecting rod, a lifting transmission swing arm and a fourth linear guide rail, and the worm gear reducer includes a worm input Shaft and worm gear output shaft, the worm input shaft of the worm gear reducer is connected with the lifting transmission shaft, the lifting drive device is connected with the lifting drive shaft, the connecting rod is sleeved on the worm gear output shaft of the worm gear reducer, and the two lifting transmission swing arms The ends are respectively hinged with the connecting rod and the slider of the fourth linear guide, and the slider of the fourth linear guide is fixedly connected with the main rod.
进一步地,所述升降驱动装置包括安装于主机的升降驱动电机以及第三同步带,升降驱动电机的电机轴套设有第三传动带轮,升降传动轴套设有第四传动带轮,第三传动带轮和第四传动带轮通过第三同步带传动连接。 Further, the lifting drive device includes a lifting drive motor and a third synchronous belt installed on the main engine, the motor shaft sleeve of the lifting drive motor is provided with a third transmission pulley, the lifting transmission sleeve is provided with a fourth transmission pulley, and the third transmission belt Wheel and the fourth transmission pulley are connected by the third synchronous belt transmission.
进一步地,所述升降传动机构还包括安装于主机和若干搬送座的升降负载平衡气缸,升降负载平衡气缸的活塞杆与第四直线导轨的滑块固定连接。 Further, the lifting transmission mechanism also includes a lifting load balancing cylinder installed on the main machine and several transfer seats, and the piston rod of the lifting load balancing cylinder is fixedly connected with the slider of the fourth linear guide rail.
本发明用于串联冲压设备上的机械手传送机构的有益效果为: The beneficial effects of the present invention for the manipulator transmission mechanism on the serial stamping equipment are:
1.横移传动机构与升降传动机构分体式独立设计,其结构简单,降低了制造成本; 1. The traversing transmission mechanism and the lifting transmission mechanism are independently designed separately, and its structure is simple, which reduces the manufacturing cost;
2.通过在第一滑座上垂直安装的第一直线导轨,升降传动机构驱动主杆沿第一直线导轨上下移动的过程中,横移传动机构不随主杆一起上下移动,减小了升降传动机构以及主杆的负载,提高了升降传动机构以及主杆的使用寿命。 2. Through the first linear guide rail vertically installed on the first sliding seat, when the lifting transmission mechanism drives the main rod to move up and down along the first linear guide rail, the traversing transmission mechanism does not move up and down with the main rod, which reduces the The load of the lifting transmission mechanism and the main rod improves the service life of the lifting transmission mechanism and the main rod.
附图说明 Description of drawings
图1是本发明用于串联冲压设备上的机械手传送机构与冲压设备配合安装的结构示意图。 Fig. 1 is a schematic diagram of the structure of the present invention for the cooperating installation of the manipulator transmission mechanism on the tandem stamping equipment and the stamping equipment.
图2是本发明用于串联冲压设备上的机械手传送机构的结构示意图。 Fig. 2 is a structural schematic diagram of the manipulator transmission mechanism used in the tandem stamping equipment according to the present invention.
图3是图2的A处的放大结构示意图。 FIG. 3 is a schematic diagram of an enlarged structure at A in FIG. 2 .
图4是图3的B处的放大结构示意图。 FIG. 4 is a schematic diagram of an enlarged structure at B in FIG. 3 .
图5是本发明用于串联冲压设备上的机械手传送机构的主杆与手臂外壳以及吸盘机构的连接示意图。 Fig. 5 is a schematic diagram of the connection between the main rod, the arm shell and the suction cup mechanism used in the manipulator transfer mechanism on the tandem stamping equipment according to the present invention.
图6是本发明用于串联冲压设备上的机械手传送机构的横移传动机构的结构示意图。 Fig. 6 is a structural schematic diagram of the traversing transmission mechanism used in the manipulator transmission mechanism on the tandem stamping equipment according to the present invention.
图7是本发明用于串联冲压设备上的机械手传送机构的升降传动机构的结构示意图。 Fig. 7 is a structural schematic diagram of the lifting transmission mechanism used in the manipulator transmission mechanism on the tandem stamping equipment according to the present invention.
图8是本发明用于串联冲压设备上的机械手传送机构的升降传动机构的升降驱动装置的结构示意图。 Fig. 8 is a structural schematic diagram of the lifting drive device of the present invention used in the lifting transmission mechanism of the manipulator transmission mechanism on the tandem stamping equipment.
具体实施方式 Detailed ways
图1~ 8所示,用于串联冲压设备上的机械手传送机构,包括主机1、主杆2和若干搬送座3,主机1和若干搬送座3沿水平方向呈直线安装,主机1和若干搬送座3之间均设有间隔,具体地,若干搬送座3之间均安装有冲压设备30,多台冲压设备30按照工件31的冲压成型顺序依次排列安装,主机1和若干搬送座3分别与主杆2连接,所述主机1和若干搬送座3分别设有可驱动主杆2上下移动的升降传动机构,主杆2设有手臂外壳4,主杆2与手臂外壳4滑动连接,手臂外壳4设有可对工件31进行吸附的吸盘机构,手臂外壳4可以带动吸盘机构在主杆2上左右滑动; As shown in Figures 1 to 8, the transfer mechanism of the manipulator used on the series stamping equipment includes the main machine 1, the main rod 2 and a number of transfer seats 3. Intervals are provided between the seats 3. Specifically, punching equipment 30 is installed between several transfer seats 3, and multiple stamping devices 30 are arranged and installed in sequence according to the stamping sequence of the workpiece 31. The main machine 1 and several transfer seats 3 are respectively connected to The main pole 2 is connected, and the main machine 1 and several transfer seats 3 are respectively provided with a lifting transmission mechanism that can drive the main pole 2 to move up and down. The main pole 2 is provided with an arm shell 4, and the main pole 2 is slidingly connected with the arm shell 4. 4. There is a sucker mechanism that can absorb the workpiece 31, and the arm shell 4 can drive the sucker mechanism to slide left and right on the main rod 2;
所述主机1还设有支撑杆5,支撑杆5与主杆2平行设置,支撑杆5设有第一滑座6,支撑杆5与第一滑座6滑动连接,主机1设有可驱动第一滑座6沿支撑杆5左右滑动的横移传动结构,所述第一滑座6垂直安装有第一直线导轨7,第一直线导轨7的滑块与手臂外壳4固定连接,从而在水平方向上第一滑座6、手臂外壳4以及吸盘机构相互固定。其中,通过在第一滑座6上垂直安装的第一直线导轨7,当升降传动机构驱动主杆2上下移动时,主杆2上设置的手臂外壳4也会沿着第一直线导轨7上下移动,横移传动机构以及支撑杆5都不随主杆2一起上下移动,相对于背景技术中的现有设计,横移传动机构与升降传动机构分体式独立设计,其结构简单,降低了制造成本;另外,也极大地减小了升降传动机构以及主杆2的负载,提高了升降传动机构以及主杆2的使用寿命。 The host 1 is also provided with a support rod 5, which is arranged in parallel with the main rod 2, the support rod 5 is provided with a first sliding seat 6, the support rod 5 is slidably connected with the first slide seat 6, and the main frame 1 is provided with a driveable The first sliding seat 6 slides left and right along the support rod 5 in a lateral movement transmission structure. The first sliding seat 6 is vertically installed with a first linear guide rail 7, and the slider of the first linear guide rail 7 is fixedly connected to the arm shell 4. Thereby, the first sliding seat 6, the arm housing 4 and the sucker mechanism are fixed to each other in the horizontal direction. Wherein, through the first linear guide rail 7 vertically installed on the first slide seat 6, when the lifting transmission mechanism drives the main rod 2 to move up and down, the arm housing 4 provided on the main rod 2 will also move along the first linear guide rail. 7 moves up and down, neither the traversing transmission mechanism nor the support rod 5 moves up and down together with the main rod 2. Compared with the existing design in the background technology, the traversing transmission mechanism and the lifting transmission mechanism are separately designed, and its structure is simple, reducing the manufacturing cost; in addition, the load of the lifting transmission mechanism and the main rod 2 is also greatly reduced, and the service life of the lifting transmission mechanism and the main rod 2 is improved.
所述吸盘机构包括机械手手臂8,机械手手臂8设有可对工件31进行吸附的吸盘9,机械手手臂8与手臂外壳4固定连接。通过该种设置,机械手手臂8、吸盘9以及手臂外壳4相对固定,手臂外壳4受驱动上下、左右运动的过程中,吸盘9吸附工件31随之一起运动,其结构简单。 The suction cup mechanism includes a manipulator arm 8, which is provided with a suction cup 9 capable of absorbing the workpiece 31, and the manipulator arm 8 is fixedly connected to the arm shell 4. With this arrangement, the manipulator arm 8, the suction cup 9 and the arm casing 4 are relatively fixed, and when the arm casing 4 is driven to move up and down, left and right, the suction cup 9 absorbs the workpiece 31 and moves along with it, and its structure is simple.
所述主杆2设有第二滑座10,第二滑座10和手臂外壳4的数量均为多个,第二滑座10和手臂外壳4依次间隔安装,手臂外壳4和机械手手臂8均与第二滑座10固定连接,主杆2与第二滑座10滑动连接。具体地,由于本发明的冲压生产线会很长,将手臂外壳4分成多段进行连接,制造方便,加工成本也较低;另外,由于手臂外壳4的刚性较低,如果将机械手手臂8直接安装到手臂外壳4上会造成手臂外壳4的变形,通过设置的第二滑座10,手臂外壳4和机械手手臂8均与第二滑座10固定连接,从而减小了手臂外壳4承受的负载,手臂外壳4以及机械手手臂8在运行的过程中也会更加的平稳。 The main rod 2 is provided with a second sliding seat 10, the number of the second sliding seat 10 and the arm casing 4 is multiple, the second sliding seat 10 and the arm casing 4 are installed at intervals in turn, and the arm casing 4 and the manipulator arm 8 are both It is fixedly connected with the second sliding seat 10 , and the main rod 2 is slidingly connected with the second sliding seat 10 . Specifically, because the stamping production line of the present invention is very long, the arm housing 4 is divided into multiple sections for connection, which is convenient for manufacture and lower in processing cost; The deformation of the arm shell 4 can be caused on the arm shell 4. Through the second sliding seat 10 provided, the arm shell 4 and the manipulator arm 8 are all fixedly connected with the second sliding seat 10, thereby reducing the load on the arm shell 4. The shell 4 and the manipulator arm 8 will also be more stable during operation.
所述主杆2设有第二直线导轨11,第二滑座10与第二直线导轨11的滑块固定连接。具体地,第二滑座10可沿第二直线导轨11左右滑动,其运动精度较高,运动平稳性好。 The main rod 2 is provided with a second linear guide rail 11 , and the second sliding seat 10 is fixedly connected with the slider of the second linear guide rail 11 . Specifically, the second sliding seat 10 can slide left and right along the second linear guide rail 11 , and its movement precision is high, and its movement stability is good.
所述横移传动机构包括安装于主机1的第一同步带轮12、第一同步带14以及横移驱动装置,横移驱动装置与第一同步带轮12驱动连接,与主机1相邻的搬送座3安装有第二同步带轮13,第一同步带轮12和第二同步带轮13通过第一同步带14传动连接,所述第一同步带14与第一滑座6固定连接。具体地,横移驱动装置、第一同步带轮12、第二同步带轮13以及第一同步带14组成了一个同步带传送机构,其中,第一同步带14与第一滑座6固定连接,当横移驱动装置启动时,第一同步带14会带动第一滑座6左右滑动,从而实现驱动第一滑座6沿支撑杆5左右滑动的功能。通过设置的同步带传动机构,其传动稳定性好,噪音较低。 The traversing transmission mechanism includes a first synchronous pulley 12 installed on the main engine 1, a first synchronous belt 14, and a traversing driving device. The traversing driving device is drivingly connected to the first synchronous pulley 12. The transfer seat 3 is equipped with a second synchronous pulley 13 , and the first synchronous pulley 12 and the second synchronous pulley 13 are transmission-connected through a first synchronous belt 14 , and the first synchronous belt 14 is fixedly connected with the first sliding seat 6 . Specifically, the traversing drive device, the first synchronous pulley 12, the second synchronous pulley 13 and the first synchronous belt 14 form a synchronous belt transmission mechanism, wherein the first synchronous belt 14 is fixedly connected with the first sliding seat 6 , when the traversing driving device is started, the first synchronous belt 14 will drive the first sliding seat 6 to slide left and right, thereby realizing the function of driving the first sliding seat 6 to slide left and right along the support rod 5 . Through the set synchronous belt transmission mechanism, the transmission stability is good and the noise is low.
所述横移驱动装置包括安装于主机1的横移驱动电机15以及第二同步带33,横移驱动电机15的电机轴套设有第一传动带轮16,第一同步带轮12的转轴套设有第二传动带轮17,第一传动带轮16和第二传动带轮17通过第二同步带33传动连接。具体地,第一传动带轮16的外径比第二传动带轮17的外径小,第一传动带轮16、第二传动带轮17以及第二同步带33构成了一个减速系统,该减速系统对横移驱动电机15的较高的输出转速进行调节,以满足实际的需要。其中,第一传动带轮16以及第二传动带轮17的外形尺寸可以根据实际的需要进行选取,在此不再赘述。 Described traversing driving device comprises the traversing driving motor 15 that is installed in main frame 1 and the second synchronous belt 33, and the motor shaft sleeve of traversing driving motor 15 is provided with first transmission pulley 16, and the rotating shaft sleeve of first synchronous pulley 12 A second transmission pulley 17 is provided, and the first transmission pulley 16 and the second transmission pulley 17 are connected in transmission through a second synchronous belt 33 . Specifically, the outer diameter of the first transmission pulley 16 is smaller than the outer diameter of the second transmission pulley 17, and the first transmission pulley 16, the second transmission pulley 17 and the second synchronous belt 33 constitute a speed reduction system, and the speed reduction system is opposite to the horizontal The higher output speed of the shift drive motor 15 is adjusted to meet actual needs. Wherein, the external dimensions of the first transmission pulley 16 and the second transmission pulley 17 can be selected according to actual needs, and will not be repeated here.
所述支撑杆5水平安装有第三直线导轨18,第三直线导轨18的滑块与第一滑座6固定连接。具体地,通过设置的第三直线导轨18,第三直线导轨18与第一同步带14相互配合,实现驱动第一滑座6沿支撑杆5左右滑动的功能,通过该种设置,提高了第一滑座6的运动精度,运动平稳性好。 The support bar 5 is horizontally installed with a third linear guide rail 18 , and the slider of the third linear guide rail 18 is fixedly connected with the first slide seat 6 . Specifically, through the third linear guide rail 18 provided, the third linear guide rail 18 cooperates with the first synchronous belt 14 to realize the function of driving the first sliding seat 6 to slide left and right along the support rod 5. Through this setting, the second linear guide rail 18 is improved. The movement precision of a slide seat 6 is good in movement stability.
所述升降传动机构包括安装于主机1的升降驱动装置,主机1和若干搬送座3均安装有蜗轮蜗杆减速机19、连杆20、升降传动摆臂21以及第四直线导轨22,蜗轮蜗杆减速机19包括蜗杆输入轴191和蜗轮输出轴192,蜗轮蜗杆减速机19的蜗杆输入轴191连接有升降传动轴25,升降驱动装置与升降传动轴25驱动连接,连杆20套设于蜗轮蜗杆减速机19的蜗轮输出轴192,升降传动摆臂21的两端分别与连杆20和第四直线导轨22的滑块铰接,第四直线导轨22的滑块与主杆2固定连接。具体地,蜗轮蜗杆减速机19、连杆20、升降传动摆臂21以及第四直线导轨22组成曲柄滑块机构,升降传动轴25通过联轴器32与各个蜗轮蜗杆减速机19的蜗杆输入轴191连接,升降驱动装置通过升降传动轴25驱动蜗轮蜗杆减速机19运转时,第四直线导轨22的滑块带动主杆2上下移动。通过设置的曲柄滑块机构,其结构简单,控制方便。 The lifting transmission mechanism includes a lifting drive device installed on the main engine 1, the main engine 1 and several transfer seats 3 are equipped with a worm gear reducer 19, a connecting rod 20, a lifting transmission swing arm 21 and a fourth linear guide rail 22, and the worm gear reducer The machine 19 includes a worm input shaft 191 and a worm gear output shaft 192. The worm input shaft 191 of the worm gear reducer 19 is connected with the lifting transmission shaft 25, the lifting drive device is connected with the lifting transmission shaft 25, and the connecting rod 20 is sleeved on the worm gear reducer. The worm gear output shaft 192 of the machine 19, the two ends of the lifting drive swing arm 21 are respectively hinged with the slider of the connecting rod 20 and the fourth linear guide 22, and the slider of the fourth linear guide 22 is fixedly connected with the main rod 2. Specifically, the worm gear reducer 19, the connecting rod 20, the lifting transmission swing arm 21 and the fourth linear guide rail 22 form a crank slider mechanism, and the lifting transmission shaft 25 is connected to the worm input shaft of each worm gear reducer 19 through a coupling 32. 191 connection, when the lifting drive device drives the worm gear reducer 19 to run through the lifting drive shaft 25, the slider of the fourth linear guide rail 22 drives the main rod 2 to move up and down. Through the provided crank slider mechanism, the structure is simple and the control is convenient.
其中,第四直线导轨22的滑块与主杆2之间安装有固定板28,固定板28分别与第四直线导轨22的滑块以及主杆2固定连接,升降传动摆臂21铰接于固定板28。 Wherein, a fixed plate 28 is installed between the slider of the fourth linear guide rail 22 and the main rod 2, and the fixed plate 28 is fixedly connected with the slider of the fourth linear guide rail 22 and the main rod 2 respectively, and the lifting transmission swing arm 21 is hinged on the fixed plate 28.
所述升降驱动装置包括安装于主机1的升降驱动电机23以及第三同步带34,升降驱动电机23的电机轴套设有第三传动带轮24,升降传动轴25套设有第四传动带轮26,第三传动带轮24和第四传动带轮26通过第三同步带34传动连接。其中,第三传动带轮24、第四传动带轮26以及第三同步带34组成了一个速度调节系统,该速度调节系统可对升降驱动电机23输出的转速进行调节,以满足实际的需要。 The lifting drive device includes a lifting drive motor 23 and a third synchronous belt 34 installed on the main engine 1, the motor shaft sleeve of the lifting drive motor 23 is provided with a third transmission pulley 24, and the lifting transmission shaft 25 is provided with a fourth transmission pulley 26 , the third transmission pulley 24 and the fourth transmission pulley 26 are connected through the third synchronous belt 34 . Wherein, the third transmission pulley 24, the fourth transmission pulley 26 and the third synchronous belt 34 form a speed adjustment system, and the speed adjustment system can adjust the rotating speed output by the lifting drive motor 23 to meet actual needs.
所述升降传动机构还包括安装于主机1和若干搬送座3的升降负载平衡气缸27,升降负载平衡气缸27的活塞杆与第四直线导轨22的滑块固定连接。具体地,所述固定板28连接有推动板29,升降负载平衡气缸27的活塞杆与推动板29固定连接,其中,第四直线导轨22的滑块、固定板28、推动板29以及主杆2相互固定连接,第四直线导轨22的滑块以及主杆2在自身重力的作用下有向下运动的趋势,通过设置的升降负载平衡气缸27,升降负载平衡气缸27可以对该重力进行平衡,以使主杆2在上下运动的过程中更为的顺畅。 The lifting transmission mechanism also includes a lifting load balancing cylinder 27 installed on the main machine 1 and several transfer seats 3 , the piston rod of the lifting load balancing cylinder 27 is fixedly connected with the slider of the fourth linear guide rail 22 . Specifically, the fixed plate 28 is connected with a push plate 29, and the piston rod of the lifting load balance cylinder 27 is fixedly connected with the push plate 29, wherein the slider of the fourth linear guide rail 22, the fixed plate 28, the push plate 29 and the main rod 2 are fixedly connected to each other, the slider of the fourth linear guide rail 22 and the main rod 2 have a tendency to move downward under the action of their own gravity, and the lifting load balancing cylinder 27 can balance the gravity through the set up and down load balancing cylinder 27 , so that the main rod 2 is more smooth in the process of moving up and down.
以上所述实施方式,只是本发明的较佳实施方式,并非来限制本发明实施范围,故凡依本发明申请专利范围所述的构造、特征及原理所做的等效变化或修饰,均应包括在本发明专利申请范围内。 The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so all equivalent changes or modifications made according to the structure, features and principles described in the patent scope of the present invention should be Included in the patent application scope of the present invention.
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