CN108453775A - It is a kind of can automatic fine tuning section assembly manipulator - Google Patents
It is a kind of can automatic fine tuning section assembly manipulator Download PDFInfo
- Publication number
- CN108453775A CN108453775A CN201810242006.8A CN201810242006A CN108453775A CN 108453775 A CN108453775 A CN 108453775A CN 201810242006 A CN201810242006 A CN 201810242006A CN 108453775 A CN108453775 A CN 108453775A
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- section
- assembly
- workpiece
- fine tuning
- mechanical arm
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- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000005516 engineering process Methods 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 241000239290 Araneae Species 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 208000037805 labour Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
Abstract
The present invention relates to it is a kind of can automatic fine tuning section assembly manipulator, in assembly technology, using the hold assembly with automatic fine tuning section, to solve the problems, such as that the workpiece generated by the assembly precision of assembly manipulator in assembling process scratches and card resistance problem.Hold assembly in the application can also be applied to other occasions for needing clamping workpiece, and such as hold assembly is installed in feeding, discharge equipment, realizes the function of carrying material.
Description
Technical field
Assembly manipulator technical field in being manufactured the present invention relates to industry, more particularly to one kind can be real in assembling process
The assembly manipulator of existing automatic fine tuning section
Background technology
A large amount of labours are liberated in the raising of industry manufacture field, the degree of automation, the design for being conducive to product is fine
Change, process standardization and management unitize.But everything has dual character, the production line of height automation to require each link smooth
Without hindrance, especially on turning wiring, this proposes high requirement to the operating accuracy and daily maintenance of the manipulator on production line.
On assembly line, after assembly manipulator is used for a long time, influenced by parts depreciation even part aging, assembly precision is dropped
Low, in assembly, there is rigging error in workpiece, assembles by force at this time, on the one hand can scratch workpiece even manipulator, on the other hand
The error accumulation of multiple workpiece directly affects the assembly precision of entire assembly parts；In addition, the assembly precision of assembly manipulator is too low
Workpiece can be made to occur card resistance in assembling process, if the card resistance cannot solve in time, entire assembly line can all be affected, economical
Loss is very big.
Invention content
The purpose of the present invention is to provide it is a kind of can automatic fine tuning section assembly manipulator, solve because assembly manipulator assemble
The technical issues of scuffing workpiece and card resistance that precision problem generates.
To solve the above-mentioned problems, the technical scheme is that：
It is a kind of can automatic fine tuning section assembly manipulator, in assembly technology, including arm segments and hold assembly,
The arm segments use cylindrical coordinate type, the hold assembly to be set on arm segments；
The hold assembly includes holding frame and clamp assemblies, and the upper end of the holding frame connects institute by an air spider
State arm segments；The lower end of the holding frame is equipped with straight slot, and the straight slot both sides form two side plates, on two side plates
Respectively one clamp assemblies of setting；
The clamp assemblies include symmetrically arranged finger, paw and elastic component, and the upper end of the finger is rotationally set
In on the side plate, the lower end of the finger is hinged with the paw, and the both ends of the elastic component respectively can with side plate and paw
Rotation connection；
The upper end of the finger is engaging section, and the engaging section connect with the side plate, and the engaging section is equipped with tooth, two
A finger is engaged by engaging section；
The lower end of the paw is clamping part, and the clamping part includes holding tank section and block section, and the block section is located at
The both sides of the holding tank section, for being limited to workpiece；
Before assembly, the clamp assemblies move to suitable position with arm segments, and the engaging section rotation of two fingers is driven
It moves two paws to move toward one another, the workpiece is made to fall into holding tank section；Then, the workpiece and clamp assemblies are with arm segments
Rigging position is moved to be assembled.
Further, when there is little deviation in the position of workpiece in assembling process, company of the elastic component around itself and holding frame
The amplitude of contact rotation is 2-5 °.
Further, the elastic component is connected to the end of paw.
Further, the groove face of the holding tank section is Non-smooth surface face.
Further, the block section is equipped with several friction protrusions on the face towards workpiece.
Further, the holding tank section and block section are integrally formed.
Further, the arm segments include the rotary table of rotatable movement, vertical mechanical arm, horizontal mechanical arm and
Lifting assembly；
The vertical mechanical arm is set on the rotary table, and the horizontal mechanical arm is set to by the lifting assembly
On vertical mechanical arm；
The air spider is slidably connected with horizontal mechanical arm.
Further, the rotary motion of rotary table, horizontal mechanical arm use gas relative to the elevating movement of vertical mechanical arm
Dynamic control mode.
Compared with the existing technology, the advantageous effect of the application is：
1, in the application, elastic component is provided between paw and holding frame, in assembling process, when the tight slightly side in workpiece side
When partially loose, in tight slightly side, assembly has active force to workpiece, at this point, paw is under the action of the elastic member around finger
It is pico- to adjust, make the not loose loosely fit on of workpiece.
2, the groove face of holding tank section is Non-smooth surface face, makes to keep certain frictional force between holding tank section and workpiece, thus,
When hold assembly is rotated with arm segments or itself is turned round, workpiece is not fallen off；Similarly, block section court
Several friction protrusions are provided on the face of workpiece, especially when block section needs to contact with workpiece in assembly, friction projection
Rising makes it keep rational frictional force between workpiece, to ensure that workpiece will not slide from clamp assemblies.
3, the hold assembly in the application can also be applied to other occasions for needing clamping workpiece, such as pacify hold assembly
Loaded in feeding, discharge equipment, the function of carrying material is realized.
Description of the drawings
Fig. 1 is the structural schematic diagram of hold assembly；
Fig. 2 is the overall schematic of assembly manipulator；
Fig. 3 is the schematic diagram of paw.
Wherein, 1, hold assembly, 101, holding frame, 101-1, straight slot, 101-2, side plate, 102, finger, 102-1, engagement
Portion, 103, paw, 103-1, upper section paw, 103-2, lower section paw, 103-2-1, holding tank section, 103-2-2, block section,
104, elastic component, 2, horizontal mechanical arm, 3, lifting assembly, 4, vertical mechanical arm, 5, rotary table.
Specific implementation mode
It is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 to Figure 3, it is a kind of can automatic fine tuning section assembly manipulator, in assembly technology, including mechanical arm
Component and hold assembly 1.Arm segments are used to adjust the up and down motion, side-to-side movement and rotation of hold assembly 1, make clamping
Component 1 is located at suitable position, and coordinates the assembly work of the completion workpiece of hold assembly 1；In the application, arm segments use
Cylindrical-coordinate system formula has three degree of freedom；Hold assembly 1 is arranged on arm segments, clamping workpiece is used for, in the application
Hold assembly 1 has the function of automatic fine tuning section, with solve the problems, such as to generate by the assembly precision of manipulator in assembling process
Workpiece scratches and card resistance problem.
Hold assembly 1 includes holding frame 101, clamp assemblies and air spider.Holding frame 101 is for installing clamp assemblies
In on arm segments, specifically, the upper end of holding frame 101 is connect by air spider with arm segments, the connection side
Formula is conveniently replaceable the hold assembly 1 of different model, to improve the applicability of assembly manipulator.As shown in Figure 1, holding frame 101
Lower end be equipped with straight slot 101-1, the both sides of straight slot 101-1 respectively each are arranged one there are one side plate 101-2, each side plate 101-2 are upper
A clamp assemblies.Two clamp assemblies form four junctions on workpiece, and compared to two junctions will stablize many.Consider
To the overall stiffness and intensity of holding frame 101, holding frame 101 is a complete part, can be by the processing such as casting, being heat-treated
Technique is manufactured and is handled.
As shown in Figure 1, clamp assemblies include two groups of symmetrically arranged fingers 102, paw 103 and elastic component 104.Each group
In, the upper end of finger 102 is engaging section 102-1, and side plate 101-2 corresponding engaging section 102-1 is rotatably connected by axis pin
It connects, is arranged with teeth on engaging section 102-1, symmetrically arranged finger 102 is nibbled by the tooth of corresponding engaging section 102-1
It closes；The lower end of finger 102 and the upper end of paw 103 are rotatably connected.In view of the working trajectory of paw 103, in order to avoid it
Interfering with two paws 103 in workpiece interference or same clamp assemblies, paw 103 includes upper and lower two section in the application,
Angled setting between upper section paw 103-1 and lower section paw 103-2；The upper end of upper section paw 103-1 and finger 102
Lower end is hinged；Lower section paw 103-2 includes clamping part, specifically, as shown in figure 3, clamping part includes holding tank section 103-2-1
With block section 103-2-2, wherein holding tank section 103-2-1 is used for clamping workpiece, and block section 103-2-2 is located at holding tank section
The both sides of 103-2-1, for being limited to workpiece.
The both ends of elastic component 104 are rotatably connected with holding frame 101 and paw 103 respectively, wherein elastic component 104 and paw
103 connection can be arranged on upper section paw 103-1, can also be arranged on lower section paw 103-2, according to specific operating mode
It needs and is set.Elastic component 104 makes paw 103 realize the function of automatic fine tuning, such as assembling process under clamp position
In, when the tight slightly lateral deviation pine in workpiece side, in tight slightly side, assembly has active force to workpiece, at this point, paw
103 are adjusted under the action of elastic component 104 around finger 102 slightly, make the not loose loosely fit on of workpiece.The choosing of elastic component 104
It selects and is determined in conjunction with Multiple factors such as workpiece, operating modes, can be helical spring, gas spring, disc spring etc..
It is above-mentioned that the application is illustrated from configuration aspects, it is further to the application below in conjunction with the flow of assembly work
Explanation.Before assembly, clamp assemblies move to suitable position with arm segments, and the engaging section 102-1 of two fingers 102 is rotated,
Two paws 103 of driving move toward one another, and the workpiece is made to fall into holding tank section 103-2-1；Then, the workpiece and clamp assemblies
Rigging position is moved to arm segments to be assembled.In assembling process, if workpiece to be assembled and be assembled between body
Position relationship has slight error, then will produce interaction force between the two, and after power is transmitted to elastic component 104, elastic component 104 is certainly
Dynamic micro-adjustment also avoids the problem of workpiece to be assembled is scratched to make workpiece to be assembled and be assembled body accurate fit.
In one embodiment, rotation amplitude of the elastic component 104 in assembling process is optimized, that is, workpiece
When little deviation occurs in position, the amplitude that the elastic component 104 is rotated around the tie point of itself and holding frame 101 is 2-5 °, this turn
Dynamic amplitude can also be locked by being realized to 104 reasonable selection of elastic component by the way that locking structure is arranged to elastic component 104
The motion amplitude of elastic component 104 in assembling process, the application do not limit the concrete structure at this.It will be elastic in assembling process
The rotation amplitude of part 104 is defined, and can ensure that paw 103 is in preferable range to the active force of workpiece, because without
Phenomena such as chucking power of appearance workpiece is insufficient.
In another embodiment, elastic component 104 is connected to the end of paw 103, to avoid phase in non-assembling process
Interference problem between symmetrical two paws 103.
In another embodiment, the groove face of holding tank section 103-2-1 is Non-smooth surface face.In clamping process, the present embodiment
The groove face of holding tank section 103-2-1 contacted with workpiece, Non-smooth surface face can make to keep between holding tank section 103-2-1 and workpiece
Certain frictional force, thus, when hold assembly 1 is rotated with arm segments or itself is turned round, workpiece will not be slided
It falls.
In another embodiment, block section 103-2-2 is equipped with several friction protrusions on the face towards workpiece.Block section
103-2-2 is used to carry out the workpiece in holding tank section 103-2-1 the limit of upper and lower directions, it is contemplated that paw 103 passes through elasticity
Part 104 connects holding frame 101, thus paw 103 has certain flexibility, therefore block section 103-2-2 courts in clamping process
After friction protrusion is set on the face of workpiece, it is set to keep certain frictional force between workpiece, to prevent workpiece from sliding.
In another embodiment, bare terminal end and block section 103-2-2 are integrally formed, simultaneously, it is contemplated that paw 103 it is whole
Body intensity, rigidity and its stability, in the application, upper section paw 103-1 and lower section paw 103-2 are integrally formed.
In another embodiment, arm segments include rotary table 5, vertical mechanical arm 4, horizontal mechanical arm 2 and lifting
Component 3, as shown in Figure 2.Wherein, vertical mechanical arm 4 is set on the rotary table 5, can be returned under the control of rotary table 5
Transhipment is dynamic；Horizontal mechanical arm 2 is set to by lifting assembly 3 on vertical mechanical arm 4, and lifting assembly 3 drives horizontal mechanical arm 2 to exist
It is moved above and below on vertical mechanical arm 4；Meanwhile horizontal mechanical arm 2 can also OQ t component 3 and vertical mechanical arm 4 into
Row side-to-side movement.
Rotary motion, the horizontal mechanical arm 2 of rotary table 5 can be used pneumatically relative to the elevating movement of vertical mechanical arm 4
Any one in control, Electronic control and hydraulic control, selects pneumatic control mode, to realize higher fortune in the present embodiment
Dynamic precision.
In the present embodiment, above-mentioned air spider is slidably connected with horizontal mechanical arm 2, specifically, air spider passes through one
Sliding block is arranged on horizontal mechanical arm 2, and the sliding of sliding block can be realized by pneumatic, electronic or mechanical mechanism, the application
It is not specific to this work to limit.
In other embodiments, wrist, the make-up machinery of the application can also be set between air spider and mechanical arm
Hand is provided with four degree of freedom, to widen applicable surface.
Disclosed above is only some embodiments of the application, and however, this application is not limited to this, any this field
Technical staff can think variation, should all fall in the protection domain of the application.
Claims (8)
1. it is a kind of can automatic fine tuning section assembly manipulator, in assembly technology, including arm segments and hold assembly, institute
Stating arm segments uses cylindrical coordinate type, the hold assembly to be set on arm segments；It is characterized in that,
The hold assembly includes holding frame and clamp assemblies, and the upper end of the holding frame connects the machine by an air spider
Tool arm member；The lower end of the holding frame is equipped with straight slot, and the straight slot both sides form two side plates, respectively set on two side plates
Set the clamp assemblies；
The clamp assemblies include symmetrically arranged finger, paw and elastic component, and the upper end of the finger is rotatably arranged in institute
It states on side plate, the lower end of the finger is hinged with the paw, and the both ends of the elastic component are rotatable with side plate and paw respectively
Connection；
The upper end of the finger is engaging section, and the engaging section is connect with the side plate, and the engaging section is equipped with tooth, same folder
The finger held in component is engaged by the tooth of engaging section；
The lower end of the paw is clamping part, and the clamping part includes holding tank section and block section, and the block section is located at described
The both sides of holding tank section, for being limited to workpiece；
Before assembly, the clamp assemblies move to suitable position, the engaging section rotation of two fingers, driving two with arm segments
A paw moves toward one another, and the workpiece is made to fall into holding tank section；Then, the workpiece and clamp assemblies are moved with arm segments
It is assembled to rigging position.
2. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the position of workpiece in assembling process
It sets when there is little deviation, the elastic component is 2-5 ° around the amplitude of the tie point of itself and holding frame rotation.
3. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the elastic component is connected to hand
The end of pawl.
4. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the groove face of the holding tank section
For Non-smooth surface face.
5. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the block section is towards work
The face of part is equipped with friction protrusion.
6. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the holding tank section and block
Section is integrally formed.
7. as described in claim 1 can automatic fine tuning section assembly manipulator, which is characterized in that the arm segments include
The rotary table of rotatable movement, vertical mechanical arm, horizontal mechanical arm and lifting assembly；
The vertical mechanical arm is set on the rotary table, and the horizontal mechanical arm is set to vertically by the lifting assembly
On mechanical arm；
The air spider is slidably connected with horizontal mechanical arm.
8. as claimed in claim 6 can automatic fine tuning section assembly manipulator, which is characterized in that the revolution of rotary table is transported
Dynamic, horizontal mechanical arm uses pneumatic control mode relative to the elevating movement of vertical mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242006.8A CN108453775B (en) | 2018-03-22 | 2018-03-22 | Assembly manipulator capable of being automatically and finely adjusted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242006.8A CN108453775B (en) | 2018-03-22 | 2018-03-22 | Assembly manipulator capable of being automatically and finely adjusted |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108453775A true CN108453775A (en) | 2018-08-28 |
| CN108453775B CN108453775B (en) | 2021-04-13 |
Family
ID=63237167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810242006.8A Active CN108453775B (en) | 2018-03-22 | 2018-03-22 | Assembly manipulator capable of being automatically and finely adjusted |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108453775B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9014388D0 (en) * | 1989-06-30 | 1990-08-22 | Nat Res Dev | Gripping and manipulating device and handling method |
| CN102069491A (en) * | 2010-12-04 | 2011-05-25 | 沈阳工业大学 | Rescue robot with flexible manipulator |
| KR20110095998A (en) * | 2010-02-20 | 2011-08-26 | 김도훈 | Driving apparatus of end effector for transporting wafer by seizing side thereof |
| CN103786159A (en) * | 2014-01-26 | 2014-05-14 | 叶炬锋 | Robot |
| CN106553186A (en) * | 2015-09-24 | 2017-04-05 | 褚秀清 | A kind of Pneumatic Manipulator |
| WO2018033716A1 (en) * | 2016-08-15 | 2018-02-22 | Heriot-Watt University | An Improved Gripper |
-
2018
- 2018-03-22 CN CN201810242006.8A patent/CN108453775B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9014388D0 (en) * | 1989-06-30 | 1990-08-22 | Nat Res Dev | Gripping and manipulating device and handling method |
| KR20110095998A (en) * | 2010-02-20 | 2011-08-26 | 김도훈 | Driving apparatus of end effector for transporting wafer by seizing side thereof |
| CN102069491A (en) * | 2010-12-04 | 2011-05-25 | 沈阳工业大学 | Rescue robot with flexible manipulator |
| CN103786159A (en) * | 2014-01-26 | 2014-05-14 | 叶炬锋 | Robot |
| CN106553186A (en) * | 2015-09-24 | 2017-04-05 | 褚秀清 | A kind of Pneumatic Manipulator |
| WO2018033716A1 (en) * | 2016-08-15 | 2018-02-22 | Heriot-Watt University | An Improved Gripper |
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| Publication number | Publication date |
|---|---|
| CN108453775B (en) | 2021-04-13 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An assembly robot arm with automatic micro adjustment Effective date of registration: 20231008 Granted publication date: 20210413 Pledgee: Ningbo Cixi Rural Commercial Bank Co.,Ltd. Pledgor: NINGBO JINKAI MACHINE SHARES CO.,LTD. Registration number: Y2023980060041 |
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