CN105798879A - Intelligent micro-motion robot of printer sleeve - Google Patents
Intelligent micro-motion robot of printer sleeve Download PDFInfo
- Publication number
- CN105798879A CN105798879A CN201610265295.4A CN201610265295A CN105798879A CN 105798879 A CN105798879 A CN 105798879A CN 201610265295 A CN201610265295 A CN 201610265295A CN 105798879 A CN105798879 A CN 105798879A
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- CN
- China
- Prior art keywords
- printer
- sleeve
- accurate measurement
- less
- frock
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an intelligent micro-motion robot of a printer sleeve. The intelligent micro-motion robot of the printer sleeve comprises an accurate measurement tool smaller than the sleeve in size, a six-freedom-degree micro-motion platform and a control system. The accurate measurement tool comprises a plurality of dial indicators used for measuring the accurate relative positions of a printer assembling hole and the accurate measurement tool after the accurate measurement tool is inserted into the printer assembling hole. The six-freedom-degree micro-motion platform comprises six micro-motion electric cylinders and is provided with a clamp, the clamp is used for fixing the accurate measurement tool and the sleeve, and the six-freedom-degree micro-motion platform adjusts the accurate measurement tool to the position overlapping with the axis of the printer assembling hole. The control system is used for controlling the movement of the six-freedom-degree micro-motion platform and comprises a position information storage device, the position information storage device is used for receiving and storing the accurate relative positions of the printer assembling hole and the accurate measurement tool, and the control system calls the position information and moves the sleeve to the position again.
Description
Technical field
The present invention relates to printer, particularly a kind of intelligent jiggle robot for installing printer sleeve.
Background technology
Printer sleeve is a kind of device being arranged between printer roller bearing and body fuselage.Purpose is to install bearing to prevent roller bearing direct friction body fuselage, and this mechanism's weight is big, up to more than 40kg；Quality of fit requires height, it is desirable to quality of fit is within 5 μm.Therefore assemble extremely difficult.Current method is manual assembly, and efficiency is very low, can only fill 1-2 every day；Labor strength is big, carries out operation owing to needs are couchant, and a lot of assemblers have lumbar vertebra distinct issues.
For the problem that in prior art, printer sleeve efficiency of assembling is low, labor intensity is big, not yet there is effective solution at present.
Summary of the invention
In view of this, present invention aim at designing a kind of printer sleeve intelligence jiggle robot, it is possible to increase efficiency of assembling, reduction labor intensity.
Based on above-mentioned purpose, technical scheme provided by the invention is as follows:
Printer sleeve intelligence jiggle robot includes accurately measuring frock, six-freedom micro displacement platform and control system, wherein:
Accurately measure frock and be smaller in size than sleeve, accurately measure frock and include multiple amesdial, multiple amesdials for measuring printer pilot hole and the accurate relative position accurately measuring frock after accurately measuring frock insertion printer pilot hole, and accurately this positional information is sent to control system by measurement frock；
Six-freedom micro displacement platform includes six fine motion electric cylinders, six fine motion electric cylinders allow six-freedom micro displacement platform to carry out linear translation or rotation along XYZ tri-axle, six-freedom micro displacement platform is provided with fixture, fixture is fixing accurately measures frock and sleeve, and six-freedom micro displacement platform adjusts the position of the dead in line with printer pilot hole by accurately measuring frock；
Control system is used for controlling the motion of six-freedom micro displacement platform, control system includes positional information memorizer, positional information memorizer is for receiving also memory print machine pilot hole and the accurate relative position accurately measuring frock, and control system is called this positional information and sleeve is again moved into this position.
Wherein, accurately measuring between frock and six-freedom micro displacement platform and be fixed with silicone band, accurately measure and flexibly connected by silicone band between frock and six-freedom micro displacement platform, silicone band utilizes work lead angle flexible installing when assembling.
Further, accurately measure frock can in 5 minutes entirely without manual intervention complete the measurement to printer body pilot hole axis exact position.
Meanwhile, accurately measuring the straight line error of frock less than 1 micron, angular error is less than 0.2 point；Sleeve is again moved into the straight line error of this position less than 5 microns by control system.
Further, the bearing capacity of six degree of freedom platform is not less than 40 kilograms, and the movable distance carrying out linear translation along XYZ tri-axle is not less than 100 millimeters；The normal thrust of each fine motion electric cylinder is not less than 600 Ns, and effective travel is not less than 200 millimeters, and normal speed is not less than 200 millimeters per second, and maximum speed is not less than 330 millimeters per second, and power of motor is not less than 0.35 kilowatt per second, and motor operating voltage is 380 volts.
As can be seen from above, technical scheme provided by the invention is accurately measured frock position by using six-freedom micro displacement platform adjustment and uses accurately measurement frock to measure the technical scheme of position, the Fast Installation of pinpoint accuracy can be carried out under the premise not needing manual intervention, improve efficiency of assembling, reduce labor intensity.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall construction drawing of printer sleeve intelligence jiggle robot according to embodiments of the present invention；
Fig. 2 is the accurately measurement tool structure figure of printer sleeve intelligence jiggle robot according to embodiments of the present invention；
Fig. 3 is the six degree of freedom platform structure figure of printer sleeve intelligence jiggle robot according to embodiments of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is carried out further clear, complete, describe in detail, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, broadly fall into the scope of protection of the invention.
According to embodiments of the invention, it is provided that a kind of printer sleeve intelligence jiggle robot.
As it is shown in figure 1, printer sleeve intelligence jiggle robot includes accurately measuring frock 11, six-freedom micro displacement platform 12 and controlling system (not shown) according to an embodiment of the invention, wherein:
Accurately measure frock 11 and be smaller in size than sleeve, accurately measure frock 11 and include multiple amesdial, multiple amesdials are for measuring printer pilot hole and the accurate relative position accurately measuring frock 11 in accurately measurement frock 11 after inserting printer pilot hole, accurately this positional information is sent to control system (not shown) by measurement frock 11；
Six-freedom micro displacement platform 12 includes six fine motion electric cylinders, six fine motion electric cylinders allow six-freedom micro displacement platform 12 to carry out linear translation or rotation along XYZ tri-axle, six-freedom micro displacement platform 12 is provided with fixture, fixture is fixing accurately measures frock 11 and sleeve, and six-freedom micro displacement platform 12 adjusts the position of the dead in line with printer pilot hole by accurately measuring frock 11；
Control system (not shown) is used for controlling six-freedom micro displacement platform 12 and moves, control system (not shown) includes positional information memorizer, positional information memorizer is used for receiving also memory print machine pilot hole and the accurate relative position accurately measuring frock 11, and control system (not shown) calls this positional information and sleeve again moves into this position.
In one embodiment, accurately measure frock 11 with 6 amesdials, can measuring the accurate relative position obtaining pilot hole with frock behind plugging in fitting hole, this position feeds back to control system (not shown), frock can be adjusted and pilot hole dead in line by micromotion platform.
In one embodiment, control system (not shown) can control six axle micromotion platform motions, first by manual operation, control six shaft platforms and less frock 11 of accurately measuring is inserted in hole, and there is position memory function, the position measured time frock overlaps with body pilot hole can be write down, and sleeve is again moved into this position, it is achieved assembling.
Wherein, accurately measuring between frock 11 and six-freedom micro displacement platform 12 and be fixed with silicone band, accurately measure and flexibly connected by silicone band between frock 11 and six-freedom micro displacement platform 12, silicone band utilizes work lead angle flexible installing when assembling.
Further, accurately measure frock 11 can in 5 minutes entirely without manual intervention complete the measurement to printer body pilot hole axis exact position.
Meanwhile, accurately measuring the straight line error of frock 11 less than 1 micron, angular error is less than 0.2 point；Sleeve is again moved into the straight line error of this position less than 5 microns by control system (not shown).
Further, the bearing capacity of six degree of freedom platform is not less than 40 kilograms, and the movable distance carrying out linear translation along XYZ tri-axle is not less than 100 millimeters；The normal thrust of each fine motion electric cylinder is not less than 600 Ns, and effective travel is not less than 200 millimeters, and normal speed is not less than 200 millimeters per second, and maximum speed is not less than 330 millimeters per second, and power of motor is not less than 0.35 kilowatt per second, and motor operating voltage is 380 volts.
Technical scheme is expanded on further below according to specific embodiment.
Degree-of-freedom micro platform is arranged on initial point, loads onto and accurately measures frock, uses flexible suitable silica gel to cushion between frock and micromotion platform, two clamping screw clampings.Manual operation controls system and makes the distance measuring frock four positional distance printer installing holes up and down consistent, and it is basic coaxial with the hole maintenance level on printer body to measure frock, now measures frock and has been directed at the installing hole on printer body.
Aligned measurement frock is inserted in installing hole by manual control.The size measuring frock is more smaller than real sleeve, just can be inserted in installing hole after coarse alignment.After inserting installing hole, eight amesdials measured in frock are started working, and measure, calculate axially bored line, utilize six-freedom micro displacement platform to be adjusted, make measurement frock axis overlap with axially bored line, computer memory location point.
Initial point regained by six-freedom micro displacement platform, pulls down measurement frock.Taking out sleeve from refrigerator and be put on micromotion platform, two clamping screw clampings, robot motion arrives computer memory location point, and a complete set of Process Precision can accomplish that, within 5 μm, this time only needs the 30-60 second.
When printer sleeve intelligence jiggle robot installs sleeve, six degree of freedom platform, at initial point, loads onto measurement frock.Manual control will be measured frock and insert body pilot hole.Utilize the amesdial measurement measured in frock afterwards so that measuring frock pilot hole dead in line substantially and on printer body, control system writes down this location point.Initial point regained by six-freedom micro displacement platform afterwards, pulls down measurement frock.Taking out sleeve from refrigerator and be put on micromotion platform, robot motion arrives computer memory location point, completes assembling.
It is complete that the measurement system of the present invention can fixedly mount debugging in 5 minutes, and did not have in manual intervention condition the relative position that once property is automatically performed sleeve and body accurately measure in 1 minute.Then, after changing sleeve workpiece, in one minute, the installation of sleeve is completed.With traditional manually installed method ratio, this system achieves intelligent installation.Workman is freed from this onerous toil, and efficiency of assembling is greatly improved.
In sum, technique scheme by means of the present invention, by using six-freedom micro displacement platform adjustment accurately measure frock position and use the technical scheme accurately measuring frock measurement position, the Fast Installation of pinpoint accuracy can be carried out under the premise not needing manual intervention, reduce assembly difficulty, improve efficiency of assembling, reduce labor intensity.
Those of ordinary skill in the field are it is understood that the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (5)
1. a printer sleeve intelligence jiggle robot, it is characterised in that include accurately measuring frock, six-freedom micro displacement platform and control system, wherein:
Described accurate measurement frock is smaller in size than sleeve, described accurate measurement frock includes multiple amesdial, the plurality of amesdial for measuring the accurate relative position of described printer pilot hole and described accurate measurement frock after described accurate measurement frock inserts printer pilot hole, and this positional information is sent to control system by described accurate measurement frock；
Described six-freedom micro displacement platform includes six fine motion electric cylinders, described six fine motion electric cylinders allow described six-freedom micro displacement platform to carry out linear translation or rotation along XYZ tri-axle, described six-freedom micro displacement platform is provided with fixture, described fixture fixes described accurate measurement frock and sleeve, and described accurate measurement frock is adjusted the position of the dead in line with described printer pilot hole by described six-freedom micro displacement platform；
Described control system is used for controlling the motion of six-freedom micro displacement platform, described control system includes positional information memorizer, described positional information memorizer is for receiving and store the accurate relative position of described printer pilot hole and described accurate measurement frock, and described control system is called this positional information and sleeve is again moved into this position.
2. the printer sleeve intelligence jiggle robot described in claim 1, it is characterized in that, it is fixed with silicone band between described accurate measurement frock and described six-freedom micro displacement platform, being flexibly connected by described silicone band between described accurate measurement frock and described six-freedom micro displacement platform, described silicone band utilizes work lead angle flexible installing when assembling.
3. the printer sleeve intelligence jiggle robot described in claim 2, it is characterised in that described accurate measurement frock can in 5 minutes entirely without manual intervention complete the measurement to printer body pilot hole axis exact position.
4. the printer sleeve intelligence jiggle robot described in claim 2, it is characterised in that the straight line error of described accurate measurement frock is less than 1 micron, and angular error is less than 0.2 point；Sleeve is again moved into the straight line error of this position less than 5 microns by described control system.
5. the printer sleeve intelligence jiggle robot described in claim 4, it is characterised in that the bearing capacity of described six degree of freedom platform is not less than 40 kilograms, and the movable distance carrying out linear translation along XYZ tri-axle is not less than 100 millimeters；The normal thrust of each described fine motion electric cylinder is not less than 600 Ns, effective travel is not less than 200 millimeters, and normal speed is not less than 200 millimeters per second, and maximum speed is not less than 330 millimeters per second, power of motor is not less than 0.35 kilowatt per second, and motor operating voltage is 380 volts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265295.4A CN105798879B (en) | 2016-04-26 | 2016-04-26 | A kind of printing machine sleeve intelligence jiggle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610265295.4A CN105798879B (en) | 2016-04-26 | 2016-04-26 | A kind of printing machine sleeve intelligence jiggle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105798879A true CN105798879A (en) | 2016-07-27 |
| CN105798879B CN105798879B (en) | 2017-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610265295.4A Active CN105798879B (en) | 2016-04-26 | 2016-04-26 | A kind of printing machine sleeve intelligence jiggle robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595558A (en) * | 2016-11-07 | 2017-04-26 | 北京印刷学院 | Printing machine sleeve installation device and application method therefor |
| CN111043965A (en) * | 2020-01-09 | 2020-04-21 | 北京印刷学院 | Force position mixing shaft hole position measuring system and method |
| CN111069873A (en) * | 2020-01-09 | 2020-04-28 | 北京印刷学院 | Precision assembly robot system and assembly method thereof |
| CN111185738A (en) * | 2020-01-09 | 2020-05-22 | 北京印刷学院 | Precision assembly robot under complex operating conditions |
| CN113001165A (en) * | 2021-04-01 | 2021-06-22 | 中国工程物理研究院机械制造工艺研究所 | Automatic assembling device and method for small-clearance fit shaft hole |
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| US6587802B1 (en) * | 1998-09-17 | 2003-07-01 | Dr. Johannes Heidenhain Gmbh | Calibration device for a parallel kinematic manipulator |
| CN1693071A (en) * | 2004-04-30 | 2005-11-09 | 曼.罗兰.德鲁克马辛伦公司 | Apparatus for pulling a sleeve on and off |
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| US20090199732A1 (en) * | 2008-02-12 | 2009-08-13 | Mueller Martini Holding Ag | Cylinder for a printing unit of a printing machine and method for replacing a sleeve for such the cylinder |
| CN103344203A (en) * | 2013-06-24 | 2013-10-09 | 上海工程技术大学 | Trilinear coordinates measuring instrument fine-adjustment working platform with six degrees of freedom |
| CN103846649A (en) * | 2014-03-20 | 2014-06-11 | 清华大学 | Two-stage parallel robot device applied to precision assembly |
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| US6587802B1 (en) * | 1998-09-17 | 2003-07-01 | Dr. Johannes Heidenhain Gmbh | Calibration device for a parallel kinematic manipulator |
| CN1693071A (en) * | 2004-04-30 | 2005-11-09 | 曼.罗兰.德鲁克马辛伦公司 | Apparatus for pulling a sleeve on and off |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595558A (en) * | 2016-11-07 | 2017-04-26 | 北京印刷学院 | Printing machine sleeve installation device and application method therefor |
| CN106595558B (en) * | 2016-11-07 | 2019-07-16 | 北京印刷学院 | A kind of printing machine sleeve mounting device and its application method |
| CN111043965A (en) * | 2020-01-09 | 2020-04-21 | 北京印刷学院 | Force position mixing shaft hole position measuring system and method |
| CN111069873A (en) * | 2020-01-09 | 2020-04-28 | 北京印刷学院 | Precision assembly robot system and assembly method thereof |
| CN111185738A (en) * | 2020-01-09 | 2020-05-22 | 北京印刷学院 | Precision assembly robot under complex operating conditions |
| CN113001165A (en) * | 2021-04-01 | 2021-06-22 | 中国工程物理研究院机械制造工艺研究所 | Automatic assembling device and method for small-clearance fit shaft hole |
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| Publication number | Publication date |
|---|---|
| CN105798879B (en) | 2017-11-28 |
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