CN106002941B - A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator - Google Patents
A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator Download PDFInfo
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- CN106002941B CN106002941B CN201610459345.2A CN201610459345A CN106002941B CN 106002941 B CN106002941 B CN 106002941B CN 201610459345 A CN201610459345 A CN 201610459345A CN 106002941 B CN106002941 B CN 106002941B
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- paper
- connecting rod
- shaft
- pressing plate
- suction nozzle
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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
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/10—Applying solid insulation to windings, stators or rotors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The present invention relates to a kind of six degree of freedoms unidirectionally to insert paper industrial robot special manipulator, including delta parallel institutions and slotting paper device；The slotting paper device is located at immediately below delta parallel institutions, and inserts paper device and be connected with delta parallel institutions.The present invention can carry out insulating paper to motor stator and insert paper operation, and entirely slotting paper process is mechanical automation operation, it is quick and convenient and safe to insert paper, it is high to insert paper depth consistency, reduces the input of labour, and the insulating paper folded can be sucked by suction principle, then the insulating paper being sucked is inserted into the insulation tank of motor stator by pressure principle, and operation is quick and easy, slotting paper is efficient, improves the efficiency and quality of motor production.
Description
Technical field
The present invention relates to motor production of intelligent machinery technical field, specifically a kind of six degree of freedom unidirectionally inserts paper work
Industry robot special manipulator.
Background technology
Motor is a kind of equipment for converting electrical current into mechanical energy, it is to use the power on coil (namely stator winding)
It generates rotating excitation field and simultaneously acts on rotor, form electro-magnetic motor force rotation torque, motor can divide according to using the difference of power supply
For dc motor and ac motor, the motor in electric system is largely ac motor, can be synchronous motor
And asynchronous machine, motor are mainly made of stator and rotor, the direction of electrified wire movement under force in magnetic field is with electric current side
To related with magnetic induction line direction, electric motor operation principle is exactly effect of the magnetic field to electric current stress so that motor rotation；In electricity
Motivation production process is required to motor rotor and stator to be inserted into insulating paper, and insulating paper is the general name of electrical isolation paper, mainly
Insulating materials as every electrical equipment such as cable and coil, has good insulation performance and mechanical strength.
It is mostly at present manual operation for motor stator insulated paper insertion operation, being usually first manually rolled into insulating paper will
The shape asked mainly has V-type, c-type and semiellipse shape, is then manually sequentially inserted into inside the empty slot of motor stator at present, and
It is advancing to the position, while intermittent rotary motor stator, entire stator insulated groove will be stuck with, consume a large amount of labour in this way
Power causes motor production cost height, and low production efficiency, simultaneously as being manual operation, in motor stator insulated groove
The insulating paper of insertion promotes depth disparity very big, also affects the quality of motor to a certain extent.In consideration of it, the present invention provides
A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator.
Invention content
In order to make up for the deficiencies of the prior art, it is special that paper industrial robot is unidirectionally inserted the present invention provides a kind of six degree of freedom
Manipulator.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator, including delta parallel institutions and slotting paper device；
The slotting paper device is located at immediately below delta parallel institutions, and inserts paper device and be connected with delta parallel institutions.
Further, the delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft,
First connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform be in
Round structure, moving platform are located at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is with fixed platform
The center of circle centered on be fixed on fixed platform bottom face in positive triangle shape, rotating basis is centered on the center of circle of moving platform in just
Triangle is arranged on moving platform top end face, and motor cabinet installation site and rotating basis installation site correspond respectively,
Installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are using adjustable speed twin shaft output motor, first rotating shaft one end
It is connected with parallel-connected induction motors main shaft, the first rotating shaft other end is connected with first connecting rod upper end, and first connecting rod lower end connects with second
Bar is attached between upper end using rotational pin, and second connecting rod lower end is connected with second shaft one end, the second shaft other end
On rotating basis, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotation
Turn pedestal upper end to be provided with and the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside
The first mounting base and the second mounting base are respectively arranged with, limit spring limits between the first mounting base and the second mounting base
Position spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base；During specific works, by simultaneously
The rotation for joining motor drives the rotation of first rotating shaft, and first connecting rod is coaxially connected with first rotating shaft, so as to connect by first
The rotation of bar drives the rotation of second connecting rod, and then drives the movement of moving platform, and reduces delta parallel connections by limit spring
Jitter during mechanism kinematic increases the stationarity of delta parallel institutions movement, and delta parallel institutions are compared with serial mechanism
Rigidity is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, and delta parallel institutions can carry out three in space
The movement in the common six-freedom degree direction of three rotation of translation, and space is small, movement velocity is fast, kinematic dexterity is good, in this hair
In bright, entire slotting paper device can be driven to carry out three translations, three rotation six-freedom degree altogether in space by delta parallel institutions
The movement in direction to the insulation tank on motor stator madial wall can align one by one and insert paper.
Further, the slotting paper device includes micro air pump, suction nozzle, c-type casing, pressing plate, inserts paper electric pushrod, resets
Spring, mounting post and insulating paper；The micro air pump lower end is equipped with suction nozzle, and suction nozzle material is rubber material, and suction nozzle is in
Shaped hollow round table structure, c-type casing are located at immediately below suction nozzle, and using technology progress of expanding with heat and contract with cold between c-type casing and suction nozzle
Connection, pressing plate are in waist type shape thin-slab structure, and pressing plate left-hand end is uniformly provided with stomata, insert paper electric pushrod and are located in the middle part of pressing plate just
Top, and insert paper electric pushrod top and mutually fixed with pressing plate, resetting spring is located on the right side of pressing plate, and resetting spring lower end passes through peace
Dress column is fixed on pressing plate, and insulating paper is located at c-type inside pipe casing；Suction from bottom to top is generated in suction nozzle by micro air pump
Power, under suction, the insulating paper that folds carries over c-type casing and is tightly sucked, and when inserting paper, it is in parallel to pass through delta first
Insulation tank on insulating paper lower end aligned motor stator madial wall, then startup are inserted paper electric pushrod by mechanism, are passed through and are inserted paper electricity
The stretching routine band dynamic pressure plate of dynamic push rod vertically moves down, when the pressure of pressing plate is more than the suction that micro air pump generates, absolutely
Edge paper carries over c-type casing madial wall and vertically moves down, and in the insulation tank being perpendicularly inserted on motor stator madial wall, realizes
The function of motor stator insulated slotting paper, it is electronic by inserting paper after insulating paper is completely inserted into motor stator insulated groove inside
Vertical ascending motion of the contractile motion of push rod with dynamic pressure plate, and not only acted as by resetting spring the suspension branch to pressing plate
Support acts on, and also plays the effect that limiting resets, and the function of paper and slotting paper can be realized by inserting paper device, and operate quick letter
Single, slotting paper is efficient, improves the efficiency and quality of motor production.
Compared with prior art, the present invention has the following advantages：
(1) present invention can carry out motor stator insulating paper and insert paper operation, and entirely slotting paper process is mechanical automation
Operation, slotting paper is quick and convenient and safe, inserts paper depth consistency height, reduces the input of labour, reduce motor
The cost of production, and the quality of motor production is improved to a certain extent.
(2) delta parallel institutions of the invention can carry out the common six-freedom degree direction of three translations three rotation in space
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, in the present invention, can be driven by delta parallel institutions
Entire slotting paper device carries out the movement in the common six-freedom degree direction of three translations, three rotation in space, can be to motor stator madial wall
On insulation tank carry out one by one align insert paper.
(3) slotting paper device of the invention the insulating paper folded can be sucked by suction principle, then pass through pressure original
The insulating paper being sucked is inserted into the insulation tank of motor stator by reason, and is operated quickly and easily, and slotting paper is efficient, improves electronic
The efficiency and quality of machine production.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 3 is the dimensional structure diagram of the slotting paper device of the present invention
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to Figure 3, a kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator, including delta parallel connections
Mechanism 3 and slotting paper device 4；The slotting paper device 4 is located at immediately below delta parallel institutions 3, and inserts paper device 4 and delta simultaneously
Online structure 3 is connected.
As depicted in figs. 1 and 2, the delta parallel institutions 3 include fixed platform 31, moving platform 32, motor cabinet 33, simultaneously
Join motor 34, first rotating shaft 35, first connecting rod 36, rotational pin 37, second connecting rod 38, the second shaft 39, rotating basis 310 and limit
Position spring 311；Fixed platform 31 and moving platform 32 structure in rounded shape, moving platform 32 are located at immediately below fixed platform 31,
The quantity of motor cabinet 33 and rotating basis 310 is three, and motor cabinet 33 is in positive triangle shape centered on the center of circle of fixed platform 31
It is fixed on 31 bottom face of fixed platform, rotating basis 310 is arranged in dynamic centered on the center of circle of moving platform 32 in positive triangle shape
On 32 top end face of platform, and 33 installation site of motor cabinet and 310 installation site of rotating basis correspond respectively, parallel-connected induction motors 34
Installation is fixed by motor cabinet 33, and parallel-connected induction motors 34 use adjustable speed twin shaft output motor, 35 one end of first rotating shaft with
34 main shaft of parallel-connected induction motors is connected, and 35 other end of first rotating shaft is connected with 36 upper end of first connecting rod, 36 lower end of first connecting rod with
It being attached between 38 upper end of second connecting rod using rotational pin 37,38 lower end of second connecting rod is connected with 39 one end of the second shaft,
Second shaft, 39 other end is mounted on rotating basis 310, and 310 lower end of rotating basis is provided with swivel bearing, and swivel bearing
Mutually fixed with 32 upper surface of moving platform, 310 upper end of rotating basis be provided with 39 matched double end sleeve of the second shaft, first
36 middle inside of connecting rod and 38 middle inside of second connecting rod are respectively arranged with the first mounting base and the second mounting base, limit spring
311 between the first mounting base and the second mounting base, and 311 upper end of limit spring is connected with the first mounting base, limits bullet
311 lower end of spring is connected with the second mounting base；During specific works, the rotation of first rotating shaft 35 is driven by the rotation of parallel-connected induction motors 34
Turn, and first connecting rod 36 is coaxially connected with first rotating shaft 35, so as to drive second connecting rod 38 by the rotation of first connecting rod 36
Rotation, and then drive moving platform 32 movement, and by limit spring 311 reduce delta parallel institutions 3 move when shake
Property, the stationarity of the movement of delta parallel institutions 3 is increased, the rigidity compared with serial mechanism of delta parallel institutions 3 is big, movement spirit
Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 3 can carry out three translations three rotation altogether in space
The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good, in the present invention, passes through
Delta parallel institutions 3 can drive entire slotting paper device to carry out the fortune that three translations three rotate six-freedom degree direction altogether in space
It is dynamic, the insulation tank on motor stator madial wall can align one by one and insert paper.
As shown in figures 1 and 3, the slotting paper device 4 include micro air pump 41, suction nozzle 42, c-type casing 43, pressing plate 44,
Insert paper electric pushrod 45, resetting spring 46, mounting post 47 and insulating paper 48；41 lower end of micro air pump is equipped with suction nozzle
42, and 42 material of suction nozzle is rubber material, suction nozzle 42 is in shaped hollow round table structure, and c-type casing 43 is located at immediately below suction nozzle 42, and
It is attached between c-type casing 43 and suction nozzle 42 using the technology of expanding with heat and contract with cold, pressing plate 44 is in waist type shape thin-slab structure, and pressing plate 44 is left
Side is uniformly provided with stomata, inserts paper electric pushrod 45 and is located at right over 44 middle part of pressing plate, and insert 45 top of paper electric pushrod with
44 phase of pressing plate is fixed, and resetting spring 46 is located at 44 right side of pressing plate, and 46 lower end of resetting spring is fixed on pressing plate by mounting post 47
On 44, insulating paper 48 is located inside c-type casing 43；Suction from bottom to top is generated in the suction nozzle 42 by micro air pump 41,
Under suction, the insulating paper 48 that folds carries over c-type casing 43 and is tightly sucked, and when inserting paper, passes through delta parallel machines first
Insulation tank on 48 lower end aligned motor stator madial wall of insulating paper, then startup are inserted paper electric pushrod 45, pass through and insert paper by structure 3
The stretching routine band dynamic pressure plate 44 of electric pushrod 45 vertically moves down, when the pressure of pressing plate 44 is more than what micro air pump 41 generated
During suction, insulating paper 48 carries over 43 madial wall of c-type casing and vertically moves down, and is perpendicularly inserted on motor stator madial wall
In insulation tank, the function of motor stator insulated slotting paper is realized, when insulating paper 48 is completely inserted into inside motor stator insulated groove
Afterwards, by inserting vertical ascending motion of the contractile motion of paper electric pushrod 45 with dynamic pressure plate 44, and by resetting spring 46 not
Only play the role of the suspension strut to pressing plate 44, and also play the effect that limiting resets, paper can be realized by inserting paper device 4
It with the function of slotting paper, and operates quick and easy, inserts that paper is efficient, improve the efficiency and quality of motor production.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator, it is characterised in that：Including delta parallel institutions and
Insert paper device；The slotting paper device is located at immediately below delta parallel institutions, and inserts paper device and be connected with delta parallel institutions；
Wherein：
The delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turn
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in
The heart is fixed in positive triangle shape on fixed platform bottom face, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
It puts on moving platform top end face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors lead to
It crosses motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
It is attached using rotational pin, second connecting rod lower end is connected with second shaft one end, and the second shaft other end is mounted on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end
Be provided with the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside are respectively arranged with
First mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and limit spring upper end
It is connected with the first mounting base, limit spring lower end is connected with the second mounting base；
The slotting paper device includes micro air pump, suction nozzle, c-type casing, pressing plate, inserts paper electric pushrod, resetting spring, mounting post
And insulating paper；The micro air pump lower end is equipped with suction nozzle, and suction nozzle material is rubber material, and suction nozzle is in shaped hollow round table knot
Structure, c-type casing is located at immediately below suction nozzle, and is attached between c-type casing and suction nozzle using the technology of expanding with heat and contract with cold, and pressing plate is in waist
Type shape thin-slab structure, pressing plate left-hand end are uniformly provided with stomata, insert paper electric pushrod and are located at surface in the middle part of pressing plate, and insert paper electricity
Dynamic push rod top is mutually fixed with pressing plate, and resetting spring is located on the right side of pressing plate, and resetting spring lower end is fixed on pressure by mounting post
On plate, insulating paper is located at c-type inside pipe casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459345.2A CN106002941B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459345.2A CN106002941B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002941A CN106002941A (en) | 2016-10-12 |
| CN106002941B true CN106002941B (en) | 2018-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610459345.2A Active CN106002941B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator |
Country Status (1)
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5849071A (en) * | 1982-09-06 | 1983-03-23 | Hitachi Ltd | Interphase insulator shaping device |
| JPS6248235A (en) * | 1985-08-23 | 1987-03-02 | Toshiba Corp | Insulation of coil support of rotary electric machine and its manufacture |
| JPS63268453A (en) * | 1987-04-27 | 1988-11-07 | Sanko Kiki Kk | Device for inserting interphase insulating paper of stator coil |
| EP2449658A4 (en) * | 2009-06-29 | 2016-03-02 | Tm4 Inc | Insertion system and method to insert insulators and coils in the slots of the stator of an electric machine |
| CN204290654U (en) * | 2014-07-28 | 2015-04-22 | 嘉兴格鲁博机械有限公司 | For the automation equipment of setting-in motor insulating strips |
| CN204334253U (en) * | 2014-12-24 | 2015-05-13 | 常州金康精工机械股份有限公司 | Multiple groove stator paper-inserting automatic manufacturing device |
| CN204868856U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Delta parallel robot |
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2016
- 2016-06-23 CN CN201610459345.2A patent/CN106002941B/en active Active
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| CN106002941A (en) | 2016-10-12 |
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Effective date of registration: 20180323 Address after: No. 48-3 in Tao Zhou Village, Tao Zhou Village, Anxi County, Quanzhou City, Fujian Province Applicant after: Zhang Siyu Address before: China Anhui road 246001 Anqing Yingjiang District No. 556 Huakang village 11 Building 2 unit 503 room Applicant before: Yao Haili |
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Effective date of registration: 20200106 Address after: Dongling town of Huian County in Fujian province 362000 Quanzhou city before CuO CuO Cun 186 Patentee after: Zhang Linghong Address before: No. 48-3 in Tao Zhou Village, Tao Zhou Village, Anxi County, Quanzhou City, Fujian Province Patentee before: Zhang Siyu |