CN107953317A - A kind of industrial robot and its method of work - Google Patents
A kind of industrial robot and its method of work Download PDFInfo
- Publication number
- CN107953317A CN107953317A CN201711481677.1A CN201711481677A CN107953317A CN 107953317 A CN107953317 A CN 107953317A CN 201711481677 A CN201711481677 A CN 201711481677A CN 107953317 A CN107953317 A CN 107953317A
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- China
- Prior art keywords
- paper
- fixed
- base
- connecting rod
- motor
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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
- B25J11/00—Manipulators not otherwise provided for
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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
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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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/003—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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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 industrial robot and its method of work, including base, support device, delta parallel institutions, slotting paper device and fixing device；The T-shaped platy structure of the base, support device is located at base rear side end, and it is connected between support device and base, delta parallel institutions are installed on support device front end, paper device is inserted to be located at immediately below delta parallel institutions, fixing device quantity is four, and fixing device is symmetrically arranged on base upper surface, and is connected between fixing device and base.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, reduce the input of labour, the cost of motor production is reduced, and improves the quality of motor production to a certain extent.
Description
Technical field
The present invention relates to motor production of intelligent machinery technical field, specifically a kind of industrial robot and its work
Method.
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)
Produce rotating excitation field and act on rotor, form electro-magnetic motor force rotation torque, motor can divide according to the difference using power supply
For dc motor and ac motor, the motor major part in electric system is 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 insertion insulating paper, insulating paper is the general name of electric insulation 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, is usually first manually to be rolled into insulating paper to want
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, whole stator insulated groove will be stuck with, so consume substantial amounts of work
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 have impact on the quality of motor to a certain extent.In consideration of it, the present invention provides
A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of six degree of freedom based on delta parallel institutions to insert
Paper industrial robot.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot, including base, support device, delta
Parallel institution, insert paper device and fixing device；The T-shaped platy structure of the base, support device are located at base rear side end, and
It is connected between support device and base, delta parallel institutions are installed on support device front end, insert paper device and are located at delta parallel connections
Immediately below mechanism, fixing device quantity is four, and fixing device is symmetrically arranged on base upper surface, and fixing device and bottom
It is connected between seat.
Further, the support device includes elevator, horizontally moving device and vertical lift device；The level
Mobile device is fixed on immediately ahead of elevator, and vertical lift device is fixed on immediately below elevator；The horizontally moving device
Including horizontal electric slide, horizontal slider and fixed seat, and the quantity of horizontal electric slide and horizontal slider is two, horizontal electricity
Dynamic slide Parallel Symmetric arrangement, horizontal electric slide front end are provided with baffle, and the vertical cross section of horizontal electric slide is I-shaped
Structure, horizontal slider be installed on horizontal electric slide on, fixed seat structure in the form of annular discs, fixed seat both ends respectively with horizontal slider
It is connected；By horizontal slider moving back and forth on horizontal electric slide, it can be achieved that inserting the tune of paper device horizontal level
Section.
Further, the vertical lift device includes lifting screw, sleeve, lifting motor, motor cabinet, shaft, active
Gear, locking end cap, fixed frame and driven gear；The quantity of the lifting screw, sleeve and driven gear is two, lifting
Screw rod upper end is connected with elevator, and lifting screw lower end is installed in sleeve, and sleeve inner offers outer with lifting screw
The matched internal thread of screw thread, sleeve bottom end are installed on base upper surface by bearing, and lifting motor is subtracted using adjustable speed
Speed motor, lifting motor are fixed on base upper surface by motor cabinet, are connected between shaft one end and lifting motor main shaft,
It is attached between the shaft other end and driving gear using key, and driving gear upper end by locking end cap lock admittedly
It is fixed, be fixed in the middle part of shaft by fixed frame, fixed frame in the U-shaped structure to stand upside down, be provided with fixed frame medium position with
Shaft is engaged the bearing of installation, and driven gear is fixed at sleeve medium position, and driven gear is meshed with driving gear；
The rotation of driving gear is driven by the rotation of lifting motor, driving gear is meshed with driven gear, and two driven gears are same
To synchronous rotation, and driven gear is fixedly connected with sleeve, so that the synchronous rotary in the same direction with moving sleeve, lifting screw and sleeve
Between be driven by screw thread, and then realize lifting screw raising and lowering movement function, easy to adjust support dress
The whole height put, can carry out the motor of different model size to insert paper operation, improve the scope of application of the present invention,
Design more rationalizes.
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
Toroidal 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 in positive triangle shape on fixed platform bottom face, 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 use 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
Respectively be provided with the first mounting base and the second mounting base, limit spring between the first mounting base and the second mounting base, and
Limit 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, pass through
The rotation of parallel-connected induction motors drives the rotation of first rotating shaft, and first connecting rod is coaxially connected with first rotating shaft, so as to pass through first
The rotation of connecting rod drives the rotation of second connecting rod, and then drives the movement of moving platform, and reduces delta simultaneously by limit spring
Jitter when joining mechanism kinematic, adds the stationarity of delta parallel institutions movement, delta parallel institutions and serial mechanism phase
Specific stiffness 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 in space
Three translations three rotate the movement in six-freedom degree direction altogether, and space is small, movement velocity is fast, kinematic dexterity is good, at this
In invention, by delta parallel institutions whole slotting paper device can be driven to carry out three translations three in space and rotate totally six freedom
The movement in direction is spent, 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, slotting paper electric pushrod, reset
Spring, mounting post and insulating paper；The micro air pump lower end is provided with suction nozzle, and suction nozzle material is elastomeric 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 is in waist type shape thin-slab structure, and pressing plate left-hand end is uniformly provided with stomata, inserts paper electric pushrod and is 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 produced in suction nozzle by micro air pump
Power, under suction, the insulating paper that folds carries over c-type casing and is tightly held, 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 down moves, when the pressure of pressing plate is more than the suction that micro air pump produces, absolutely
Edge paper carries over c-type casing madial wall and vertically down moves, 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 when insulating paper is completely inserted into motor stator insulated groove inside after
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 of spacing reset, 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.
Further, the fixing device includes line slideway, mobile sliding block, geometrical clamp and clamping screw；Described is straight
Limit hole is linearly evenly arranged with line guide rail upper surface, mobile sliding block is installed on line slideway, and is opened on mobile sliding block
Equipped with through hole, geometrical clamp front end is arc shape structure, and geometrical clamp rear end is connected with mobile slip front, mobile sliding block and straight line
It is fixed between guide rail using clamping screw；In use, being disposed vertically motor stator among four fixing devices, pass through
Movement of the mobile sliding block on line slideway, when geometrical clamp front end is in contact with motor stator lateral wall, passes through clamping screw
Mobile sliding block is fixed on line slideway, has reached the effect fixed to motor stator, prevents that motor is determined during paper is inserted
The problem of sub- position movement dislocation.
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,
It is quick and convenient and safe to insert paper, inserts paper depth consistency height, reduces the input of labour, reduces motor production
Cost, and the quality of motor production is improved to a certain extent.
(2) support device of the invention can realize the effect of synchronous same-speed raising and lowering on the vertical plane, in horizontal plane
On can be moved back and forth, carrying out insulating paper to the motor stator of different model size easy to the present invention inserts paper, applied widely.
(3) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, in the present invention, can be driven by delta parallel institutions
Whole slotting paper device carries out the movement that three translations three rotate six-freedom degree direction altogether in space, can be to motor stator madial wall
On insulation tank carry out one by one align insert paper.
(4) slotting paper device of the invention can be held the insulating paper folded by suction principle, then former by pressure
The insulating paper held 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.
(5) fixing device of the invention can fix the motor stator of different model, prevent in slotting paper process
The problem of middle motor stator position movement dislocation.
Brief 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 support device of the present invention；
Fig. 3 is the dimensional structure diagram of vertical lift device of the present invention；
Fig. 4 is the top view of vertical lift device of the present invention；
Dimensional structure diagram when Fig. 5 is delta parallel institutions of the present invention and the cooperation of slotting paper device；
Fig. 6 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 7 is the dimensional structure diagram of the slotting paper device of the present invention；
Fig. 8 is the dimensional structure diagram of fixing device of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot, including base
1st, support device 2, delta parallel institutions 3, slotting paper device 4 and fixing device 5；The 1 T-shaped platy structure of base, support
Device 2 is located at 1 rear side end of base, and is connected between support device 2 and base 1, and delta parallel institutions 3 are installed on support device 2
Front end, inserts paper device 4 immediately below delta parallel institutions 3, and 5 quantity of fixing device is four, the respectively symmetrically cloth of fixing device 5
Put on 1 upper surface of base, and be connected between fixing device 5 and base 1.
As shown in Figures 2 to 4, the support device 2 includes elevator 21, horizontally moving device 22 and vertical lift dress
Put 23；The horizontally moving device 22 is fixed on the front of elevator 21, and vertical lift device 23 is being fixed on elevator 21 just
Lower section；The horizontally moving device 22 includes horizontal electric slide 221, horizontal slider 222 and fixed seat 223, and horizontal electricity
The quantity of dynamic slide 221 and horizontal slider 222 is two, 221 Parallel Symmetric of horizontal electric slide arrangement, horizontal electric slide
221 front ends are provided with baffle, and the vertical cross section of horizontal electric slide 221 is I-shaped structure, and horizontal slider 222 is installed on level
On electric sliding rail 221,223 structure in the form of annular discs of fixed seat, 223 both ends of fixed seat are connected with horizontal slider 222 respectively；Pass through
The moving back and forth on horizontal electric slide 221 of horizontal slider 222 is, it can be achieved that insert the adjusting of 4 horizontal level of paper device.
As shown in Figures 2 to 4, the vertical lift device 23 includes lifting screw 231, sleeve 232, lifting motor
233rd, motor cabinet 234, shaft 235, driving gear 236, locking end cap 237, fixed frame 238 and driven gear 239；The liter
The quantity for dropping screw rod 231, sleeve 232 and driven gear 239 is two, and 231 upper end of lifting screw is connected with elevator 21, is risen
Drop 231 lower end of screw rod to be installed in sleeve 232, offered inside sleeve 232 matched interior with the external screw thread of lifting screw 231
Screw thread, 232 bottom of sleeve are installed on 1 upper surface of base by bearing, and lifting motor 233 uses adjustable speed decelerating motor,
Lifting motor 233 is fixed on 1 upper surface of base by motor cabinet 234, between 233 main shaft of 235 one end of shaft and lifting motor
It is connected, is attached between 235 other end of shaft and driving gear 236 using key, and 236 upper end of driving gear passes through locking
End cap 237 is locked, and the middle part of shaft 235 is fixed by fixed frame 238, and fixed frame 238 is in the U-shaped knot to stand upside down
Structure, is provided with the bearing that installation is engaged with shaft 235 at 238 medium position of fixed frame, driven gear 239 is fixed on sleeve
At 232 medium positions, and driven gear 239 is meshed with driving gear 236；Driven actively by the rotation of lifting motor 233
The rotation of gear 236, driving gear 236 are meshed with driven gear 239, and two driven gears 239 rotate synchronously in the same direction, and from
Moving gear 239 is fixedly connected with sleeve 232, so that the synchronous rotary in the same direction with moving sleeve 232, lifting screw 231 and sleeve 232
Between be driven by screw thread, and then realize lifting screw 231 raising and lowering movement function, easy to adjust support
The whole height of device 2, can carry out the motor stator 6 of different model size to insert paper operation, improve the suitable of the present invention
With scope, design more rationalizes.
As shown in Figure 5 and Figure 6, 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 is 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 installed 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 provided 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, spacing 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 added, 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 in space and rotate altogether
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 whole 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 6 madial wall of motor stator can align one by one and insert paper.
As shown in figure 5 and figure 7, 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 provided with suction nozzle
42, and 42 material of suction nozzle is elastomeric 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 directly over the middle part of pressing plate 44, and insert 45 top of paper electric pushrod with
44 phase of pressing plate is fixed, and resetting spring 46 is located at the right side of pressing plate 44, 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 produced 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 held, and when inserting paper, passes through delta parallel machines first
Then insulation tank on 48 lower end aligned motor stator of insulating paper, 6 madial wall is started and inserts paper electric pushrod 45, by inserting by structure 3
The stretching routine band dynamic pressure plate 44 of paper electric pushrod 45 vertically down moves, when the pressure of pressing plate 44 is produced more than micro air pump 41
Suction when, insulating paper 48 carries over 43 madial wall of c-type casing and vertically down moves, and is perpendicularly inserted into 6 madial wall of motor stator
On insulation tank in, realize motor stator 6 insulation insert paper function, insulate when insulating paper 48 is completely inserted into motor stator 6
Behind groove inside, by inserting vertical ascending motion of the contractile motion of paper electric pushrod 45 with dynamic pressure plate 44, and by resetting bullet
Spring 46 has not only acted as the suspension strut effect to pressing plate 44, and also plays the effect of spacing reset, and inserting paper device 4 can be real
The now function of upper paper and slotting paper, and operate quickly and easily, slotting paper is efficient, improves the efficiency and quality of motor production.
As shown in figure 8, the fixing device 5 includes line slideway 51, mobile sliding block 52, geometrical clamp 53 and clamping screw
54；Limit hole is linearly evenly arranged with 51 upper surface of line slideway, mobile sliding block 52 is installed on line slideway 51
On, and through hole is offered on mobile sliding block 52,53 front end of geometrical clamp is arc shape structure, 53 rear end of geometrical clamp and mobile sliding block 52
Front end is connected, and is fixed between mobile sliding block 52 and line slideway 51 using clamping screw 54；In use, by motor stator
6 are disposed vertically among four fixing devices 5, by movement of the mobile sliding block 52 on line slideway 51, before geometrical clamp 53
When end is in contact with 6 lateral wall of motor stator, mobile sliding block 52 is fixed on line slideway 51 by clamping screw 54, is reached
The effect fixed to motor stator 6, prevents the movement dislocation in motor stator 6 position during inserting paper the problem of.
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 simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, 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
Define.
Claims (1)
1. a kind of six degree of freedom based on delta parallel institutions inserts the method for work of paper industrial robot, it is characterised in that the machine
Device people：Including base, support device, delta parallel institutions, slotting paper device and fixing device；The T-shaped tabular knot of the base
Structure, support device is located at base rear side end, and is connected between support device and base, and delta parallel institutions are installed on support and fill
Front end is put, paper device is inserted and is located at immediately below delta parallel institutions, fixing device quantity is four, and fixing device is symmetrically arranged
On base upper surface, and it is connected between fixing device and base；Wherein：
The support device includes elevator, horizontally moving device and vertical lift device；The horizontally moving device is consolidated
It is scheduled on immediately ahead of elevator, vertical lift device is fixed on immediately below elevator；The horizontally moving device includes horizontal electricity
Dynamic slide, horizontal slider and fixed seat, and the quantity of horizontal electric slide and horizontal slider is two, horizontal electric slide is parallel
It is arranged symmetrically, horizontal electric slide front end is provided with baffle, and the vertical cross section of horizontal electric slide is I-shaped structure, and level is sliding
Block is installed on horizontal electric slide, and fixed seat structure in the form of annular discs, fixed seat both ends are connected with horizontal slider respectively；
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 on fixed platform bottom face in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform
Put on moving platform top end face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors lead to
Cross 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 installed 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
It is provided with and is respectively set with the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside
There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring
End is connected with the first mounting base, and 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, slotting paper electric pushrod, resetting spring, mounting post
And insulating paper；The micro air pump lower end is provided with suction nozzle, and suction nozzle material is elastomeric 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；
The fixing device includes line slideway, mobile sliding block, geometrical clamp and clamping screw；The line slideway upper surface
On be linearly evenly arranged with limit hole, mobile sliding block is installed on line slideway, and offers through hole on mobile sliding block, fixed
Folder front end is arc shape structure, and geometrical clamp rear end is connected with mobile slip front, is used between mobile sliding block and line slideway
Clamping screw is fixed；
The method of work, including：Motor stator is disposed vertically among four fixing devices, by mobile sliding block straight
Movement on line guide rail, when geometrical clamp front end is in contact with motor stator lateral wall, is consolidated mobile sliding block by clamping screw
It is scheduled on line slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481677.1A CN107953317A (en) | 2016-06-23 | 2016-06-23 | A kind of industrial robot and its method of work |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481677.1A CN107953317A (en) | 2016-06-23 | 2016-06-23 | A kind of industrial robot and its method of work |
| CN201610459333.XA CN106002940B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot |
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| CN201610459333.XA Division CN106002940B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot |
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| CN107953317A true CN107953317A (en) | 2018-04-24 |
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| CN201610459333.XA Expired - Fee Related CN106002940B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot |
| CN201711481677.1A Withdrawn CN107953317A (en) | 2016-06-23 | 2016-06-23 | A kind of industrial robot and its method of work |
| CN201711477454.8A Withdrawn CN108115656A (en) | 2016-06-23 | 2016-06-23 | Industrial robot and method of work that insulating paper inserts paper operation are carried out to motor stator |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610459333.XA Expired - Fee Related CN106002940B (en) | 2016-06-23 | 2016-06-23 | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711477454.8A Withdrawn CN108115656A (en) | 2016-06-23 | 2016-06-23 | Industrial robot and method of work that insulating paper inserts paper operation are carried out to motor stator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789383A (en) * | 2018-08-30 | 2018-11-13 | 广东宏穗晶科技服务有限公司 | A kind of robot body's frame |
| CN109304707A (en) * | 2018-10-22 | 2019-02-05 | 甯歌开 | A kind of stalk plate production system paving line mechanical arm |
| CN109736133B (en) * | 2019-02-11 | 2024-01-26 | 天津市金汇源电材有限公司 | Semi-automatic cable paper preprocessing device for paper envelope wire |
| CN111478532B (en) * | 2020-04-27 | 2021-03-16 | 巧力电机有限公司 | Motor stator insulated paper inserting machine |
| CN111604931B (en) * | 2020-06-29 | 2024-06-14 | 四川伏安特智能装备制造有限公司 | Four-claw center positioning heavy manipulator |
| CN113790343A (en) * | 2021-09-07 | 2021-12-14 | 湖北联城通科技股份有限公司 | Thing networking label information collection station |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004046659A1 (en) * | 2004-09-25 | 2006-03-30 | Vorwerk & Co. Interholding Gmbh | Method for introducing a cover insulation in a groove of an electric motor rotor and device for this purpose |
| DE102009057585B4 (en) * | 2009-12-09 | 2013-11-28 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Method for calibrating a robot |
| CN202475189U (en) * | 2011-12-31 | 2012-10-03 | 温岭市第二绝缘材料厂 | Paper pushing device of stator coiling and inserting combined machine |
| CN103029120B (en) * | 2012-12-11 | 2015-03-25 | 燕山大学 | Folding static load balance adjusting parallel platform |
| CN103312099B (en) * | 2013-06-21 | 2018-05-08 | 苏州市圣玛特电机设备制造有限公司 | A kind of stator insulating paper is pushed into mechanism |
| CN204468616U (en) * | 2015-02-06 | 2015-07-15 | 安徽理工大学 | Three-freedom-degree hybrid formula Chinese massage robot |
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2016
- 2016-06-23 CN CN201610459333.XA patent/CN106002940B/en not_active Expired - Fee Related
- 2016-06-23 CN CN201711481677.1A patent/CN107953317A/en not_active Withdrawn
- 2016-06-23 CN CN201711477454.8A patent/CN108115656A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002940A (en) | 2016-10-12 |
| CN106002940B (en) | 2018-06-08 |
| CN108115656A (en) | 2018-06-05 |
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Application publication date: 20180424 |