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Four-shaft mechanical arm for grabbing sheet metal parts

A technology for four-axis manipulators and sheet metal parts, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large mechanism size, unsuitable for narrow space operations, etc., and achieve the effect of large working range

Active Publication Date: 2014-04-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The traditional four-degree-of-freedom articulated robot (SCARA) sets the linear motion part of the vertical lift at the end of the robot body, and the vertical mechanism is large in size, which is not suitable for narrow space operations

Method used

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  • Four-shaft mechanical arm for grabbing sheet metal parts
  • Four-shaft mechanical arm for grabbing sheet metal parts
  • Four-shaft mechanical arm for grabbing sheet metal parts

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Embodiment Construction

[0032] The present invention will be described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.

[0033] Such as Figure 1~Figure 9 As shown, a four-axis manipulator for grabbing sheet metal parts involved in this embodiment includes: a one-axis part 1, a two-axis part 2, a three-axis part 3, a four-axis part 4 and an electric control cabinet 5;

[0034] The one-axis component 1 includes a base 7, a screw support seat 8, a ball screw 10, a first AC servo motor 11, a linear guide rail 12, a moving bracket 14, a nut bracket 15, a bridge drag chain 17, a hoof 18, a first Synchronous toothed belt 20, first synchronous belt pulley 21, motor bracket 22, locking ring 23, ball nut 24 and second synchronous belt pulley 26, desc...

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Abstract

The invention provides a four-shaft mechanical arm for grabbing sheet metal parts, and belongs to the technical field of four-shaft mechanical arms. The four-shaft mechanical arm for grabbing the sheet metal parts is used for solving the problems that according to a traditional four-freedom-degree articulated robot, a linear movement portion which ascends and descends perpendicularly is arranged at the tail end of a robot body, the mechanism size in the perpendicular direction is large, and the robot is not applicable to operation in a narrow and small space. The four-shaft mechanical arm for grabbing the sheet metal parts is formed by a first shaft unit, a second shaft unit, a third shaft unit, a fourth shaft unit and an electronic control cabinet in a combined mode, wherein the first shaft unit is used for implementing ascent and descent movement of a mechanical arm body, the second shaft unit is used for implementing rotation movement of a large arm, the third shaft unit is used for implementing rotation movement of a small arm, the fourth shaft unit is used for implementing rotation movement of a sucker support, the four shaft units can be used in cooperation, the working range of each shaft is wide, and the four-shaft mechanical arm is quite applicable to operation in the narrow and small space. According to the four-shaft mechanical arm for grabbing the sheet metal parts, the stroke of a first shaft ranges from 0mm to 400mm, the stroke of a second shaft is within the range of + / -180 degrees, the stroke of a third shaft is within the range of + / -135 degrees, the stroke of a fourth shaft is within the range of + / -110 degrees, and repeated positioning accuracy is within the range of + / -0.5mm.

Description

technical field [0001] The invention relates to a four-axis manipulator for grabbing sheet metal parts, belonging to the technical field of four-axis manipulators. Background technique [0002] The traditional four-degree-of-freedom articulated robot (SCARA) sets the linear motion part of the vertical lift at the end of the robot body, and the vertical mechanism is large in size, which is not suitable for narrow space operations. Contents of the invention [0003] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art, that is, the traditional four-degree-of-freedom articulated robot sets the linear motion part for vertical lifting at the end of the robot body, and the size of the vertical mechanism is relatively large, which is not suitable for working in a narrow space. Furthermore, a four-axis manipulator for grabbing sheet metal parts is provided. [0004] The purpose of the present invention is achieved through the fol...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/06B25J9/02
Inventor 高云峰李瑞峰邢立明吴重阳
Owner HARBIN INST OF TECH
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