CN103448067A - Manipulator clamp device used for motor stator assembly - Google Patents

Manipulator clamp device used for motor stator assembly Download PDF

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Publication number
CN103448067A
CN103448067A CN2012101914824A CN201210191482A CN103448067A CN 103448067 A CN103448067 A CN 103448067A CN 2012101914824 A CN2012101914824 A CN 2012101914824A CN 201210191482 A CN201210191482 A CN 201210191482A CN 103448067 A CN103448067 A CN 103448067A
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CN
China
Prior art keywords
clamping
contiguous block
arm
cylinder
fixture
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2012101914824A
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Chinese (zh)
Inventor
王三祥
王治中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
YANCHENG YU BO AUTOMATION EQUIPMENT CO Ltd
Original Assignee
YANCHENG YU BO AUTOMATION EQUIPMENT CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by YANCHENG YU BO AUTOMATION EQUIPMENT CO Ltd filed Critical YANCHENG YU BO AUTOMATION EQUIPMENT CO Ltd
Priority to CN2012101914824A priority Critical patent/CN103448067A/en
Publication of CN103448067A publication Critical patent/CN103448067A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a manipulator clamp device used for motor stator assembly and belongs to a manipulator grabbing and clamping tool. The manipulator clamp device is suitable for elevator motor assembly industries and is positioned at the tail end of a lower plumbing arm of a manipulator, a clamping air cylinder I and a clamping air cylinder II are connected with the lower plumbing arm through an air cylinder fixing plate, the clamping air cylinder I is connected with a clamping arm I through an air cylinder connecting block I, the clamping arm I is connected with a clamp connecting block I, a clamping head I is arranged at the tail end of the clamp connecting block I, a leather pad I is arranged on the clamping head I, the clamping air cylinder II is arranged on the other side of the lower plumbing arm, the clamping air cylinder II is connected with a clamping arm II through an air cylinder connecting block II, the clamping arm II is connected with a clamp connecting block II, a clamping head II is arranged at the tail end of the clamp connecting block II, and a leather pad II is arranged on the clamping head II. By the manipulator clamp device, processes like carrying, turning and assembling of a stator are easily completed while operating personnel basically cannot feel gravity of an object; the manipulator clamp device is simple to operate, laborsaving in operation, efficient and safe.

Description

A kind of manipulator fixture device for the motor stator assembling
Technical field
The present invention relates to a kind of gripper of manipulator folder instrument, particularly a kind of manipulator fixture device for the motor stator assembling, be applicable to the motor assembling industry of elevator.
Background technology
Since reform and opening-up, the national economy rapid growth, " scientific and technical innovation, autonomous innovation " become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Elevator is as the vehicles of vertical direction, become important Architectural Equipment in skyscraper and public place and indispensable.Along with the development of computer technology and Power Electronic Technique, modem elevator has become typical electromechanical integrated product.Elevator has very high safety requirements, and it dispatches from the factory with the form of parts, and general assembly is carried out at building-site, and the installation that has been connected by between the assembling between component of machine and mechanical device and civil engineering structure, finally form lift product.When motor stator moves or installs, generally need manually stator to be lifted, with steel wire penetrating stator bottom surface, adopt again loading machine or crane lifting, but easy like this causing lifted by crane imbalance, and, because stator quality is large, during manually-operated, be not easy to control, careless slightly meeting causes stator to bump, and produces damage.Also there are many potential safety hazards in manually-operated, to installation, brings inconvenience, especially for large-size machine, manually can't operate.The technical staff of R&D institution and enterprise is constantly exploring, is studying, wish to develop a kind of robot device of easy to operate, superior performance, assembling for motor stator, to guarantee the safety of operator, enhance productivity, although make some progress, still exist the technical barrier not yet overcome in practice.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of manipulator fixture device for the motor stator assembling is provided, adopt the equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, make operating personnel in the situation that fundamental sensation less than object gravity, easily complete the operation such as carrying, upset, assembling of stator, simple to operate, operate laborsaving, highly effective and safe.
The technical solution adopted for the present invention to solve the technical problems is: contain leather packing I, chuck I, fixture contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I, air cylinder fixed plate, clamping cylinder II, cylinder contiguous block II, clamp arm II, fixture contiguous block II, chuck II, leather packing II, this fixture is positioned at the lower plumbing arm end of manipulator, can carry out 180 ° of upsets, clamping cylinder I is connected with lower plumbing arm by air cylinder fixed plate with clamping cylinder II, clamping cylinder I and clamping cylinder II are positioned at lower plumbing arm both sides, be symmetrically set, clamping cylinder I is connected with clamp arm I by cylinder contiguous block I, clamp arm I is connected with fixture contiguous block I, fixture contiguous block I end is provided with chuck I, chuck I is provided with leather packing I, the opposite side of lower plumbing arm is provided with clamping cylinder II, and clamping cylinder II is connected with clamp arm II by cylinder contiguous block II, and clamp arm II is connected with fixture contiguous block II, and fixture contiguous block II end is provided with chuck II, and chuck II is provided with leather packing II, leather packing I, chuck I, fixture contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I are symmetrically set with leather packing II, chuck II, fixture contiguous block II, clamp arm II, cylinder contiguous block II, clamping cylinder II respectively.
The present invention solves the know-why that its technical problem adopts: this manipulator fixture device adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end fixture and telescopic cylinder, can automatically identify on mechanical arm no-load is arranged, and automatically adjust the air pressure in telescopic cylinder through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Under the control of computer controling box, realize upset in 180 ° of scopes, and realize the fixture folding by controlling clamping cylinder I, clamping cylinder II, for holding workpiece, make operator in the situation that fundamental sensation less than object gravity, easily complete the operation such as carrying, upset, assembling of stator, simple to operate, operate laborsaving, highly effective and safe.
Beneficial effect of the present invention is: this fixture adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, according to ergonomic designs, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency.Random mobile accurately location while guaranteeing the workpiece docking, the damage produced due to collision while having avoided the workpiece assembling.Workpiece is in the zero-g suspended state, makes operating personnel in the situation that fundamental sensation less than object gravity, easily completes the operations such as the carrying, upset, assembling of stator, simple to operate, operate laborsaving, highly effective and safe.
The accompanying drawing explanation
Below in conjunction with the accompanying drawings and embodiments the present invention to be further described:
It in figure, is a kind of manipulator fixture apparatus structure schematic diagram for the motor stator assembling.
In the drawings: 1 leather packing I, 2 chuck I, 3 fixture contiguous block I, 4 clamp arm I, 5 cylinder contiguous block I, 6 clamping cylinder I, 7 air cylinder fixed plate, 8 times plumbing arms, 9 clamping cylinder II, 10 cylinder contiguous block II, 11 clamp arm I I, 12 fixture contiguous block II, 13 chuck II, 14 leather packing II.
The specific embodiment
In the drawings, this fixture is positioned at lower plumbing arm 8 ends of manipulator, can carry out 180 ° of upsets, clamping cylinder I6 is connected with lower plumbing arm 8 by air cylinder fixed plate 7 with clamping cylinder II9, and clamping cylinder I6 and clamping cylinder II9 are positioned at lower plumbing arm 8 both sides, are symmetrically set, clamping cylinder I6 is connected with clamp arm I4 by cylinder contiguous block I5, clamp arm I4 is connected with fixture contiguous block I3, and fixture contiguous block I3 end is provided with chuck I2, and chuck I2 is provided with leather packing I1; The opposite side of lower plumbing arm 8 is provided with clamping cylinder II9, clamping cylinder II9 is connected with clamp arm II11 by cylinder contiguous block II10, clamp arm II11 is connected with fixture contiguous block II12, and fixture contiguous block II12 end is provided with chuck II 13, and chuck II13 is provided with leather packing II 14; Leather packing I1, chuck I2, fixture contiguous block I3, clamp arm I4, cylinder contiguous block I5, clamping cylinder I6 are symmetrically set with leather packing II14, chuck II13, fixture contiguous block II12, clamp arm II11, cylinder contiguous block II10, clamping cylinder II9 respectively.
This manipulator fixture device adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end fixture and telescopic cylinder, can automatically identify on mechanical arm no-load is arranged, and automatically adjust the air pressure in telescopic cylinder through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Under the control of computer controling box, realize upset in 180 ° of scopes, and realize the fixture folding by controlling clamping cylinder I6, clamping cylinder II9, for holding workpiece, make operator in the situation that fundamental sensation less than object gravity, easily complete the operation such as carrying, upset, assembling of stator, simple to operate, operate laborsaving, highly effective and safe.

Claims (1)

1. the manipulator fixture device for motor stator assembling, contain leather packing I, chuck I, fixture contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I, air cylinder fixed plate, clamping cylinder II, cylinder contiguous block II, clamp arm II, fixture contiguous block II, chuck II, leather packing II, it is characterized in that: this fixture is positioned at the lower plumbing arm end of manipulator, can carry out 180 ° of upsets, clamping cylinder I is connected with lower plumbing arm by air cylinder fixed plate with clamping cylinder II, clamping cylinder I and clamping cylinder II are positioned at lower plumbing arm both sides, be symmetrically set, clamping cylinder I is connected with clamp arm I by cylinder contiguous block I, clamp arm I is connected with fixture contiguous block I, fixture contiguous block I end is provided with chuck I, chuck I is provided with leather packing I, the opposite side of lower plumbing arm is provided with clamping cylinder II, and clamping cylinder II is connected with clamp arm II by cylinder contiguous block II, and clamp arm II is connected with fixture contiguous block II, and fixture contiguous block II end is provided with chuck II, and chuck II is provided with leather packing II, leather packing I, chuck I, fixture contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I are symmetrically set with leather packing II, chuck II, fixture contiguous block II, clamp arm II, cylinder contiguous block II, clamping cylinder II respectively.
CN2012101914824A 2012-06-04 2012-06-04 Manipulator clamp device used for motor stator assembly Pending CN103448067A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012101914824A CN103448067A (en) 2012-06-04 2012-06-04 Manipulator clamp device used for motor stator assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012101914824A CN103448067A (en) 2012-06-04 2012-06-04 Manipulator clamp device used for motor stator assembly

Publications (1)

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CN103448067A true CN103448067A (en) 2013-12-18

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103878715A (en) * 2014-04-11 2014-06-25 太仓万冠涂装设备有限公司 Gripping structure of roll-coating device
CN104191213A (en) * 2014-09-12 2014-12-10 苏州石丸英合精密机械有限公司 Rotary mechanical arm of automatic motor rotor assembling machine
CN105128007A (en) * 2015-08-17 2015-12-09 芜湖陀曼精机科技有限公司 Pneumatic gripper mechanism and gripping method thereof
CN116345811A (en) * 2023-05-30 2023-06-27 山西电机制造有限公司 Turnover machine for water gap removal of cast aluminum rotor and rotor turnover method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61263524A (en) * 1985-05-15 1986-11-21 Dainichi Kiko Kk Bag grasping hand
US6076875A (en) * 1998-02-18 2000-06-20 Systems, Machines, Automation Components, Corporation Gripper for linear voice coil actuator
CN201625980U (en) * 2010-02-26 2010-11-10 滁州市鑫隆机电有限公司 Material grabbing mechanical hand operated in three-dimensional space
CN201842288U (en) * 2010-10-22 2011-05-25 青岛诺力达工业装备有限公司 High speed hand grip for bag and mechanical arm
CN102380869A (en) * 2011-10-06 2012-03-21 董旭 Turnover pneumatic claw
CN202668561U (en) * 2012-06-04 2013-01-16 盐城市昱博自动化设备有限公司 Mechanical hand clamp device for motor stator assembly

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61263524A (en) * 1985-05-15 1986-11-21 Dainichi Kiko Kk Bag grasping hand
US6076875A (en) * 1998-02-18 2000-06-20 Systems, Machines, Automation Components, Corporation Gripper for linear voice coil actuator
CN201625980U (en) * 2010-02-26 2010-11-10 滁州市鑫隆机电有限公司 Material grabbing mechanical hand operated in three-dimensional space
CN201842288U (en) * 2010-10-22 2011-05-25 青岛诺力达工业装备有限公司 High speed hand grip for bag and mechanical arm
CN102380869A (en) * 2011-10-06 2012-03-21 董旭 Turnover pneumatic claw
CN202668561U (en) * 2012-06-04 2013-01-16 盐城市昱博自动化设备有限公司 Mechanical hand clamp device for motor stator assembly

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103878715A (en) * 2014-04-11 2014-06-25 太仓万冠涂装设备有限公司 Gripping structure of roll-coating device
CN104191213A (en) * 2014-09-12 2014-12-10 苏州石丸英合精密机械有限公司 Rotary mechanical arm of automatic motor rotor assembling machine
CN105128007A (en) * 2015-08-17 2015-12-09 芜湖陀曼精机科技有限公司 Pneumatic gripper mechanism and gripping method thereof
CN116345811A (en) * 2023-05-30 2023-06-27 山西电机制造有限公司 Turnover machine for water gap removal of cast aluminum rotor and rotor turnover method
CN116345811B (en) * 2023-05-30 2023-08-08 山西电机制造有限公司 Turnover machine for water gap removal of cast aluminum rotor and rotor turnover method

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Application publication date: 20131218