CN104227707A - Manipulator device for motor stator assembly - Google Patents
Manipulator device for motor stator assembly Download PDFInfo
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- CN104227707A CN104227707A CN201310270221.6A CN201310270221A CN104227707A CN 104227707 A CN104227707 A CN 104227707A CN 201310270221 A CN201310270221 A CN 201310270221A CN 104227707 A CN104227707 A CN 104227707A
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Abstract
The invention belongs to a manipulator and relates to a manipulator device used for motor stator assembly. A bottom plate is fixed on the ground through expansion bolts. A vertical post is arranged at the center of the bottom plate. A main rotating seat is arranged at the top end of the vertical post. The main rotating seat is connected with a large side plate through a main rotating shaft. A telescopic cylinder is arranged at the lower end of the left side of the large side plate. A small side plate is arranged on the large side plate. One end of a main rocking arm and one end of an auxiliary rocking arm are both connected with the large side plate; the other end of the main rocking arm and the other end of the auxiliary rocking arm are both connected with a connecting plate. A cross arm rotating seat is connected with a rotating arm through a rotating arm spindle. The cross arm rotating seat is connected with the rotating arm spindle. The rotating arm is connected with a vertical arm rotating seat which is connected with an auxiliary rotating shaft. The auxiliary rotating shaft is connected with a lower vertical arm. A rotating cylinder is arranged at the tail end of the lower vertical arm. A spindle of the rotating cylinder is connected with a clamping cylinder of a fixture. The manipulator device allows an operator to easily perform procedures, such as carrying, turning and assembling a stator, while barely feeling the weight; the manipulator device is simple and easy to operate, efficient and safe.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of robot device for motor stator assembling, be applicable to the motor assembling industry of elevator.
Background technology
Since reform and opening-up, national economy increases fast, and " scientific and technical innovation, autonomous innovation " has 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, as the vehicles of vertical direction, has become important Architectural Equipment and indispensable at skyscraper and public place.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, by the assembling between component of machine be connected installation between mechanical device with civil engineering structure, finally forms lift product.When motor stator moves or install, stator manually lifts by general needs, with steel wire penetrating stator bottom surface, adopt loading machine or crane lifting again, but easily like this cause lifting uneven, and due to stator quality large, be not easy during manual operation to control, careless slightly meeting causes stator to collide, and produces damage.Also there is many potential safety hazards in manual operation, brings inconvenience to installation, especially for large-size machine, manually cannot 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, for the assembling of motor stator, to ensure the safety of operator, enhance productivity, although make some progress, in practice, still there is the technical barrier not yet overcome.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of robot device for motor stator assembling is provided, the equilibrium principle of employing power and air pressure control principle is designed in conjunction forms, make operating personnel when fundamental sensation is less than object gravity, easily complete the operations such as the carrying of stator, upset, assembling, simple to operate, operate laborsaving, highly effective and safe.
The technical solution adopted for the present invention to solve the technical problems is: containing base plate, column, telescopic cylinder, main rotating seat, main rotating shaft, little side plate, large side plate, swing principal arm, swing auxiliary, connecting plate, transverse arm rotating seat, turning arm main shaft, turning arm, plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handle, fixture, base plate is fixed on the ground by expansion bolt, column is provided with in the middle part of base plate, column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, pneumatic control valve is provided with in large side plate, pneumatic control valve is connected with telescopic cylinder, on the left of large side plate, lower end is provided with telescopic cylinder, guide rod is connected with the guide pin bushing of little side plate lower end, large side plate is provided with little side plate, rectangular mounting hole slip axial trough is provided with on the left of large side plate, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with little side plate, swing principal arm to be connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swing auxiliary to be positioned at and to swing on the downside of principal arm and to parallel with swing principal arm, transverse arm rotating seat is connected with turning arm by turning arm main shaft, transverse arm rotating seat is connected with turning arm main shaft, rotatable 360 °, turning arm is connected with plumbing arm rotating seat, rotatable 360 ° of plumbing arm rotating seat, plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handle, handle lower end inside is provided with computer controling box, lower plumbing arm end is provided with rotary cylinder, the main shaft of rotary cylinder is connected with the clamping cylinder of fixture, workpiece is accompanied in fixture.
Described fixture contains 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, fixture is positioned at lower plumbing arm end, 180 ° of upsets can be carried out, 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 is 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 adopts the equilibrium principle of power and air pressure control principle is designed in conjunction forms, by gas pressure in inspecting manipuator end clamp and telescopic cylinder, automatically can identify that mechanical arm has no-load, and the air pressure automatically adjusted through aerodynamics logic control loop in telescopic cylinder, reach self balancing object.During work, weight is aerial just as being suspended in, collision when product can be avoided to dock.In the working range of mechanical arm, operator can be moved to optional position in three dimensions, and personnel itself can easy manipulation.Meanwhile, pneumatic circuit prevents maloperation from falling the interlock protection such as thing and o-volt protection function in addition.Handle is provided with personal computer control box, and computer controling box controls rotary cylinder, realizes the upset of fixture within the scope of 180 °, and realizes fixture folding, for holding workpiece by control clamping cylinder I, clamping cylinder II.This manipulator makes operator when fundamental sensation is less than object gravity, easily completes the operations such as the carrying of stator, upset, assembling, simple to operate, operate laborsaving, highly effective and safe.
Beneficial effect of the present invention is: this manipulator according to ergonomic designs, with operator tractive force up and down all around the automatic frame of three dimensions survey and run, alleviate workman's work load, flexible to operation, increase work efficiency.Move accurately location at random during the docking of guarantee workpiece, avoid when workpiece assembles owing to colliding the damage produced.Workpiece is in zero-g suspended state, makes operating personnel when fundamental sensation is less than object gravity, easily completes the operations such as the carrying of stator, upset, assembling, simple to operate, operate laborsaving, highly effective and safe.
Accompanying drawing explanation
Here further describes the present invention in conjunction with the accompanying drawings and embodiments:
Fig. 1 is the robot device structural representation for motor stator assembling;
Fig. 2 is the robot device A direction view for motor stator assembling.
At Fig. 1, in 2: 1 base plate, 2 columns, 3 telescopic cylinders, 4 main rotating seats, 5 main rotating shafts, 6 little side plates, 7 large side plates, 8 swing principal arm, 9 swing auxiliary, 10 connecting plates, 11 transverse arm rotating seats, 12 turning arm main shafts, 13 turning arms, 14 plumbing arm rotating seats, 15 secondary rotating shafts, 16 times plumbing arms, 17 handles, 18 fixtures, 19 workpiece, 20 leather packing I, 21 chuck I, 22 fixture contiguous block I, 23 clamp arm I, 24 cylinder contiguous block I, 25 clamping cylinder I, 26 air cylinder fixed plate, 27 clamping cylinder II, 28 cylinder contiguous block II, 29 clamp arm II, 30 fixture contiguous block II, 31 chuck II, 32 leather packing II.
Detailed description of the invention
At Fig. 1, in 2, base plate 1 is fixed on the ground by expansion bolt, column 2 is provided with in the middle part of base plate 1, column 2 top is provided with main rotating seat 4, rotatable 360 °, main rotating seat 4 is connected with large side plate 7 by main rotating shaft 5, pneumatic control valve is provided with in large side plate 7, pneumatic control valve is connected with telescopic cylinder 3, on the left of large side plate 7, lower end is provided with telescopic cylinder 3, guide rod is connected with the guide pin bushing of little side plate 6 lower end, large side plate 7 is provided with little side plate 6, rectangular mounting hole slip axial trough is provided with on the left of large side plate 7, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with little side plate 6, swing principal arm 8 to be connected with large side plate 7 respectively with swing auxiliary 9 one end, the other end is connected with connecting plate 10 respectively, swing auxiliary 9 to be positioned at and to swing on the downside of principal arm 8 and to parallel with swing principal arm 8, transverse arm rotating seat 11 is connected with turning arm 13 by turning arm main shaft 12, transverse arm rotating seat 11 is connected with turning arm main shaft 12, rotatable 360 °, turning arm 13 is connected with plumbing arm rotating seat 14, rotatable 360 ° of plumbing arm rotating seat 14, plumbing arm rotating seat 14 is connected with secondary rotating shaft 15, secondary rotating shaft 15 is connected with lower plumbing arm 16, lower plumbing arm 16 is provided with handle 17, 17 lower end inside of shaking hands are provided with computer controling box, lower plumbing arm 16 end is provided with rotary cylinder, the main shaft of rotary cylinder and the clamping cylinder I25 of fixture 18, clamping cylinder II27 is connected, workpiece is accompanied in fixture 18.
Described fixture contains leather packing I20, chuck I21, fixture contiguous block I22, clamp arm I23, cylinder contiguous block I24, clamping cylinder I25, air cylinder fixed plate 26, clamping cylinder II27, cylinder contiguous block II28, clamp arm II29, fixture contiguous block II30, chuck II31, leather packing II32, fixture 18 is positioned at lower plumbing arm 16 end, 180 ° of upsets can be carried out, clamping cylinder 125 is connected with lower plumbing arm 16 by air cylinder fixed plate 26 with clamping cylinder II27, clamping cylinder I25 and clamping cylinder II27 is positioned at lower plumbing arm 16 both sides, be symmetrically set, clamping cylinder I25 is connected with clamp arm I23 by cylinder contiguous block I24, clamp arm I23 is connected with fixture contiguous block I22, fixture contiguous block I22 end is provided with chuck I21, chuck I21 is provided with leather packing I20, the opposite side of lower plumbing arm 16 is provided with clamping cylinder II27, clamping cylinder II27 is connected with clamp arm II29 by cylinder contiguous block II28, clamp arm II29 is connected with fixture contiguous block II28, and fixture contiguous block II28 end is provided with chuck II31, and chuck II31 is provided with leather packing II32, leather packing I20, chuck I21, fixture contiguous block I22, clamp arm I23, cylinder contiguous block I24, clamping cylinder I25 are symmetrically set with leather packing II32, chuck II31, fixture contiguous block II30, clamp arm II29, cylinder contiguous block II28, clamping cylinder II27 respectively.
This manipulator adopts the equilibrium principle of power and air pressure control principle is designed in conjunction forms, by gas pressure in inspecting manipuator end clamp 18 and telescopic cylinder 3, automatically can identify that mechanical arm has no-load, and automatically adjust the air pressure in telescopic cylinder 3 through aerodynamics logic control loop, reach self balancing object.During work, weight is aerial just as being suspended in, collision when product can be avoided to dock.In the working range of mechanical arm, operator can be moved to optional position in three dimensions, and personnel itself can easy manipulation.Meanwhile, pneumatic circuit prevents maloperation from falling the interlock protection such as thing and o-volt protection function in addition.Handle 17 is provided with personal computer control box, and computer controling box controls rotary cylinder, realizes the upset of fixture 18 within the scope of 180 °, and realizes fixture 18 folding, for holding workpiece by control clamping cylinder I25, clamping cylinder II27.This manipulator makes operator when fundamental sensation is less than object gravity, easily completes the operations such as the carrying of stator, upset, assembling, simple to operate, operate laborsaving, highly effective and safe.
Claims (2)
1. for the robot device of motor stator assembling, containing base plate, column, telescopic cylinder, main rotating seat, main rotating shaft, little side plate, large side plate, swing principal arm, swing auxiliary, connecting plate, transverse arm rotating seat, turning arm main shaft, turning arm, plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handle, fixture, it is characterized in that: base plate is fixed on the ground by expansion bolt, column is provided with in the middle part of base plate, column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, pneumatic control valve is provided with in large side plate, pneumatic control valve is connected with telescopic cylinder, on the left of large side plate, lower end is provided with telescopic cylinder, guide rod is connected with the guide pin bushing of little side plate lower end, large side plate is provided with little side plate, rectangular mounting hole slip axial trough is provided with on the left of large side plate, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with little side plate, swing principal arm to be connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swing auxiliary to be positioned at and to swing on the downside of principal arm and to parallel with swing principal arm, transverse arm rotating seat is connected with turning arm by turning arm main shaft, transverse arm rotating seat is connected with turning arm main shaft, rotatable 360 °, turning arm is connected with plumbing arm rotating seat, rotatable 360 ° of plumbing arm rotating seat, plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handle, handle lower end inside is provided with computer controling box, lower plumbing arm end is provided with rotary cylinder, the main shaft of rotary cylinder is connected with the clamping cylinder of fixture, workpiece is accompanied in fixture.
2. the robot device for motor stator assembling according to claim 1, it is characterized in that: described fixture contains 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, fixture is positioned at lower plumbing arm end, 180 ° of upsets can be carried out, 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 is 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270221.6A CN104227707A (en) | 2013-06-20 | 2013-06-20 | Manipulator device for motor stator assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270221.6A CN104227707A (en) | 2013-06-20 | 2013-06-20 | Manipulator device for motor stator assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104227707A true CN104227707A (en) | 2014-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310270221.6A Pending CN104227707A (en) | 2013-06-20 | 2013-06-20 | Manipulator device for motor stator assembly |
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| Country | Link |
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| CN (1) | CN104227707A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041907A (en) * | 2016-07-06 | 2016-10-26 | 福州幻科机电科技有限公司 | Manipulator for transferring cargos on conveyor belts left and right as well as control method thereof |
| CN106671068A (en) * | 2017-03-23 | 2017-05-17 | 四川协诚智达科技有限公司 | Flexible adsorption type manipulator |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| CN110076760A (en) * | 2019-06-06 | 2019-08-02 | 深圳市时代高科技设备股份有限公司 | Flexible linking device and robot |
| WO2020093480A1 (en) * | 2018-11-08 | 2020-05-14 | 江苏昱博自动化设备有限公司 | Power-assisted manipulator |
| CN116873548A (en) * | 2023-07-26 | 2023-10-13 | 上海果栗自动化科技有限公司 | Air supply module and conveying line |
-
2013
- 2013-06-20 CN CN201310270221.6A patent/CN104227707A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041907A (en) * | 2016-07-06 | 2016-10-26 | 福州幻科机电科技有限公司 | Manipulator for transferring cargos on conveyor belts left and right as well as control method thereof |
| CN106671068A (en) * | 2017-03-23 | 2017-05-17 | 四川协诚智达科技有限公司 | Flexible adsorption type manipulator |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| WO2020093480A1 (en) * | 2018-11-08 | 2020-05-14 | 江苏昱博自动化设备有限公司 | Power-assisted manipulator |
| CN110076760A (en) * | 2019-06-06 | 2019-08-02 | 深圳市时代高科技设备股份有限公司 | Flexible linking device and robot |
| CN116873548A (en) * | 2023-07-26 | 2023-10-13 | 上海果栗自动化科技有限公司 | Air supply module and conveying line |
| CN116873548B (en) * | 2023-07-26 | 2024-04-12 | 果栗智造(上海)技术股份有限公司 | Air supply module and conveying line |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141224 |