CN107538476A - Linear module rectangular coordinate manipulator - Google Patents
Linear module rectangular coordinate manipulator Download PDFInfo
- Publication number
- CN107538476A CN107538476A CN201711007907.0A CN201711007907A CN107538476A CN 107538476 A CN107538476 A CN 107538476A CN 201711007907 A CN201711007907 A CN 201711007907A CN 107538476 A CN107538476 A CN 107538476A
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- CN
- China
- Prior art keywords
- mechanical arm
- linear module
- right angle
- air
- longitudinal
- 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.)
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Links
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000004140 cleaning Methods 0.000 claims description 18
- 239000003292 glue Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract 2
- 210000000078 claw Anatomy 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 11
- 230000007812 deficiency Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000007789 gas Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a linear module rectangular coordinate manipulator, which comprises an air pump, an air guide pipe, a vacuum chuck, an air delivery pipe, a miniature air compressor, a universal spray head and a pipe clamp, wherein the air pump is arranged at the lower part of the left end surface of a longitudinal mechanical arm, the upper end of the air guide pipe is connected with the air pump, the lower end of the air guide pipe extends into the right end surface of a claw head, the vacuum chuck is fixed on the lower end surface of the air guide pipe, the design realizes the auxiliary clamping function of a workpiece, improves the stability when the workpiece is clamped, the upper end of the air delivery pipe is connected with the miniature air compressor, the lower part of the air delivery pipe is assembled in the pipe clamp, the miniature air compressor is arranged at the lower part of the right end surface of the longitudinal mechanical arm, the universal spray head is arranged on the lower end surface of the air delivery pipe, multiple functional, the centre gripping stability is good, and the practicality is strong, and the reliability is high.
Description
Technical field
The present invention is a kind of linear module right angle coordinate manipulator, belongs to machinery equipment field.
Background technology
Right angle coordinate manipulator is can to realize automatically control, be repeatable programming, multi-functional, more in commercial Application
The free degree, between freedom of motion into space right-angle relationship, multiduty operation machine.He can carry an object, operation instrument, with
Various operations are completed, the characteristics of right angle coordinate manipulator：1st, multifreedom motion, the space angle between each freedom of motion
For right angle；2nd, automatically control, repeat programming, all motions are run by program；3rd, typically by control system, drivetrain
System, mechanical system, operation instrument etc. form；4th, flexibly, it is multi-functional, because the difference in functionality of operation instrument is also different；5th, it is highly reliable
Property, high speed, high accuracy.6th, available for rugged environment, can long-term work, maintenance easy to operation.
Right angle coordinate manipulator clamping workpiece stability deficiency in the prior art, and the feelings for easily causing workpiece surface to scratch
Condition occurs；Right angle coordinate manipulator of the prior art can not carry out cleaning treatment, feature deficiency, so anxious to workpiece surface
A kind of linear module right angle coordinate manipulator is needed to solve above-mentioned produced problem.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of linear module right angle coordinate manipulator, with
Solve the problems, such as to propose in above-mentioned background technology, the present invention is rational in infrastructure, and multiple functional, clamping stability is good, practical, can
By property height.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of linear module right angle is sat
Manipulator, including body assembly, assistant fixing mechanism and workpiece cleaning mechanism are marked, the body assembly is installed including manipulator
Seat, longitudinal mechanical arm, horizontal mechanical arm, support feet and pawl head, the manipulator mounting seat are arranged on longitudinal mechanical arm front end
On face, longitudinal mechanical arm is installed with horizontal mechanical arm in 90 ° of angles, and the horizontal mechanical arm is arranged in support feet
On end face, the pawl head is arranged on manipulator mounting seat lower surface, and it is left that the assistant fixing mechanism is arranged on longitudinal mechanical arm
On end face, the assistant fixing mechanism includes air pump, airway tube and vacuum cup, and it is left that the air pump is arranged on longitudinal mechanical arm
End face lower position, the airway tube upper end are connected with air pump, and the airway tube lower end is extended in pawl head right side, described
Vacuum cup is fixed on airway tube lower surface, and the workpiece cleaning mechanism is arranged on longitudinal mechanical arm right side, the work
Part cleaning mechanism includes appendix, micro-air compressor, gimbaled nozzle and pipe clamp, the appendix upper end and miniature air
Compressor is connected, and the appendix bottom is assemblied in pipe clamp, and it is right that the micro-air compressor is arranged on longitudinal mechanical arm
End face lower position, the gimbaled nozzle are arranged on appendix lower surface, and the pipe clamp is arranged on manipulator mounting seat front end
On face.
Further, the mechanical arm configuration of the horizontal mechanical arm and longitudinal direction is identical.
Further, the support feet is provided with two groups, and support feet described in two groups is symmetricly set on horizontal mechanical arm lower surface
On, and it is mounted on balancing weight on two groups of support feet lower surfaces.
Further, switch valve is installed on the airway tube.
Further, the gimbaled nozzle is connected by snap joint with appendix.
Further, antiskid glue cushion is installed on the pawl head left side.
Beneficial effects of the present invention：A kind of linear module right angle coordinate manipulator of the present invention, because the present invention with the addition of gas
Pump, airway tube and vacuum cup, the design achieves the auxiliary clamping function of workpiece, improve stabilization during piece-holder
Property, and the quality of workpiece surface is ensure that, solve original right angle coordinate manipulator clamping workpiece stability deficiency, and easily make
The problem of being scratched into workpiece surface.
Because the present invention with the addition of appendix, micro-air compressor, gimbaled nozzle and pipe clamp, the design achieves workpiece
The cleaning function on surface, workpiece later stage cleaning difficulty is reduced, solving original right angle coordinate manipulator can not be to workpiece surface
Cleaning treatment is carried out, the problem of feature deficiency.
Because the present invention with the addition of balancing weight, the design improves the stability when present invention places, because the present invention with the addition of
Snap joint, the installation and dismounting of gimbaled nozzle are easy in the design, and because the present invention with the addition of antiskid glue cushion, the design improves pawl
Stability during head clamping, the present invention is rational in infrastructure, and multiple functional, clamping stability is good, practical, and reliability is high.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural representation of linear module right angle coordinate manipulator of the present invention；
Fig. 2 is the structural representation of assistant fixing mechanism in a kind of linear module right angle coordinate manipulator of the present invention；
Fig. 3 is the structural representation of workpiece cleaning mechanism in a kind of linear module right angle coordinate manipulator of the present invention；
In figure：1- assistant fixing mechanisms, 2- workpiece cleaning mechanism, 3- manipulators mounting seat, 4- longitudinal directions mechanical arm, 5- are laterally mechanical
Arm, 6- support feets, 7- pawls head, 11- air pumps, 12- airway tubes, 13- vacuum cups, 21- appendixs, 22- micro-air compressors,
23- gimbaled nozzles, 24- pipe clamps.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, the present invention is expanded on further.
Fig. 1-Fig. 3 is referred to, the present invention provides a kind of technical scheme：A kind of linear module right angle coordinate manipulator, including
Body assembly, assistant fixing mechanism 1 and workpiece cleaning mechanism 2, body assembly include manipulator mounting seat 3, longitudinal mechanical arm
4th, horizontal mechanical arm 5, support feet 6 and pawl first 7, manipulator mounting seat 3 are arranged on longitudinal front end face of mechanical arm 4, longitudinal machine
Tool arm 4 is installed with horizontal mechanical arm 5 in 90 ° of angles, and horizontal mechanical arm 5 is arranged on the upper surface of support feet 6, and pawl first 7 is pacified
On the lower surface of manipulator mounting seat 3.
Assistant fixing mechanism 1 is arranged on longitudinal left side of mechanical arm 4, and assistant fixing mechanism 1 includes air pump 11, airway tube
12 and vacuum cup 13, air pump 11 be arranged on longitudinal left side lower position of mechanical arm 4, the upper end of airway tube 12 and the phase of air pump 11
Connection, the lower end of airway tube 12 are extended in first 7 right side of pawl, and vacuum cup 13 is fixed on the lower surface of airway tube 12, the design
The auxiliary clamping function of workpiece is realized, improves stability during piece-holder, and ensure that the quality of workpiece surface.
Workpiece cleaning mechanism 2 is arranged on longitudinal right side of mechanical arm 4, and workpiece cleaning mechanism 2 includes appendix 21, miniature
Air compressor 22, gimbaled nozzle 23 and pipe clamp 24, the upper end of appendix 21 are connected with micro-air compressor 22, appendix
21 bottoms are assemblied in pipe clamp 24, and micro-air compressor 22 is arranged on longitudinal right side lower position of mechanical arm 4, gimbaled nozzle
23 are arranged on the lower surface of appendix 21, and pipe clamp 24 is arranged on the front end face of manipulator mounting seat 3, and the design achieves workpiece table
The cleaning function in face, reduce workpiece later stage cleaning difficulty.
Horizontal mechanical arm 5 and the structure of longitudinal mechanical arm 4 are identical, and support feet 6 is provided with two groups, and two groups of support feets 6 are symmetrically set
Put on the horizontal lower surface of mechanical arm 5, and balancing weight is mounted on two groups of lower surfaces of support feet 6, be provided with airway tube 12
Switch valve, gimbaled nozzle 23 are connected by snap joint with appendix 21, and pawl is provided with antiskid glue cushion on first 7 left side.
Embodiment：In progress in use, operating personnel first is checked the present invention, check for scarce
Fall into, can not just carry out using if there is defect, now need to notify maintenance personal to be repaired, if there is no asking
It can be carried out using if topic, in use, during first 7 clamping workpiece of pawl, operating personnel runs micro-air compressor 22, miniature
Outside air compression is delivered to appendix 21 by air compressor 22, and pressure-air is delivered to gimbaled nozzle 23 by appendix 21,
Operating personnel adjusts the angle of gimbaled nozzle 23, and gimbaled nozzle 23 is by spraying high-pressure gas to workpiece surface, and gases at high pressure are by work
The dust and debris on part surface blow off, it is achieved thereby that the cleaning function of workpiece surface, reduce the labor of later stage operating personnel
Fatigue resistance.
When first 7 clamping workpiece of pawl, after the vacuum cup 13 on pawl first 7 is brought into close contact with workpiece surface, operating personnel
Air pump 11 is run, the air in vacuum cup 13 is delivered to airway tube 12 by air pump 11, and airway tube 12 delivers the air to air pump
11 are discharged, and when it is in vacuum state that vacuum cup 13 is interior, vacuum cup 13 fixes workpiece, it is achieved thereby that workpiece is auxiliary
Fixation is helped, and ensure that workpiece surface is not scratched, improves the quality of workpiece.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above, for this area skill
For art personnel, it is clear that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Which point therefore, no matter from the point of view of, all should incite somebody to action
Embodiment regards exemplary as, and be it is nonrestrictive, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that all changes fallen in the implication and scope of the equivalency of claim are included in the present invention
It is interior.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of linear module right angle coordinate manipulator, including body assembly, assistant fixing mechanism and workpiece cleaning mechanism, its
It is characterised by：The body assembly includes manipulator mounting seat, longitudinal mechanical arm, horizontal mechanical arm, support feet and pawl head, institute
State manipulator mounting seat to be arranged on longitudinal mechanical arm front end face, longitudinal mechanical arm enters with horizontal mechanical arm in 90 ° of angles
Row installation, the horizontal mechanical arm are arranged on support feet upper surface, and the pawl head is arranged on manipulator mounting seat lower surface；
The assistant fixing mechanism is arranged on longitudinal mechanical arm left side, and the assistant fixing mechanism includes air pump, airway tube
And vacuum cup, the air pump are arranged on longitudinal mechanical arm left side lower position, the airway tube upper end is connected with air pump
Connect, the airway tube lower end is extended in pawl head right side, and the vacuum cup is fixed on airway tube lower surface；
The workpiece cleaning mechanism is arranged on longitudinal mechanical arm right side, and the workpiece cleaning mechanism includes appendix, miniature
Air compressor, gimbaled nozzle and pipe clamp, the appendix upper end is connected with micro-air compressor, under the appendix
Portion is assemblied in pipe clamp, and the micro-air compressor is arranged on longitudinal mechanical arm right side lower position, the gimbaled nozzle
On appendix lower surface, the pipe clamp is arranged on manipulator mounting seat front end face.
A kind of 2. linear module right angle coordinate manipulator according to claim 1, it is characterised in that：The horizontal mechanical arm
And the mechanical arm configuration in longitudinal direction is identical.
A kind of 3. linear module right angle coordinate manipulator according to claim 1, it is characterised in that：The support feet is provided with
Two groups, support feet described in two groups is symmetricly set on horizontal mechanical arm lower surface, and is mounted on two groups of support feet lower surfaces
Balancing weight.
A kind of 4. linear module right angle coordinate manipulator according to claim 1, it is characterised in that：Pacify on the airway tube
Equipped with switch valve.
A kind of 5. linear module right angle coordinate manipulator according to claim 1, it is characterised in that：The gimbaled nozzle leads to
Snap joint is crossed with appendix to be connected.
A kind of 6. linear module right angle coordinate manipulator according to claim 1, it is characterised in that：The pawl head left side
On antiskid glue cushion is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711007907.0A CN107538476A (en) | 2017-10-25 | 2017-10-25 | Linear module rectangular coordinate manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711007907.0A CN107538476A (en) | 2017-10-25 | 2017-10-25 | Linear module rectangular coordinate manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107538476A true CN107538476A (en) | 2018-01-05 |
Family
ID=60968121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711007907.0A Withdrawn CN107538476A (en) | 2017-10-25 | 2017-10-25 | Linear module rectangular coordinate manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107538476A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428141A (en) * | 2020-11-09 | 2021-03-02 | 彩虹（合肥）液晶玻璃有限公司 | Spraying device capable of being used for increasing grinding and cleaning functions |
-
2017
- 2017-10-25 CN CN201711007907.0A patent/CN107538476A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428141A (en) * | 2020-11-09 | 2021-03-02 | 彩虹（合肥）液晶玻璃有限公司 | Spraying device capable of being used for increasing grinding and cleaning functions |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180105 |