CN108820861B - Manipulator easy to control and carry test equipment - Google Patents
Manipulator easy to control and carry test equipment Download PDFInfo
- Publication number
- CN108820861B CN108820861B CN201810817202.3A CN201810817202A CN108820861B CN 108820861 B CN108820861 B CN 108820861B CN 201810817202 A CN201810817202 A CN 201810817202A CN 108820861 B CN108820861 B CN 108820861B
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- manipulator
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- test equipment
- conveying mechanism
- handling
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- 238000012360 testing method Methods 0.000 title claims abstract description 78
- 239000000463 material Substances 0.000 claims abstract description 106
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 230000007723 transport mechanism Effects 0.000 claims description 21
- 239000002994 raw material Substances 0.000 abstract description 27
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 6
- 230000003749 cleanliness Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator for easily controlling and carrying test equipment, which comprises a test equipment bottom bearing platform, a four-axis manipulator, a material horizontal conveying mechanism and a manipulator, wherein the four-axis manipulator is movably connected to the upper surface of the test equipment bottom bearing platform, a manipulator moving drag chain is inserted into the bottom of the four-axis manipulator, the top of the four-axis manipulator is connected with a driving rotating shaft in a penetrating way, and the top of the four-axis manipulator is movably connected with the manipulator. This kind of easily control manipulator of transport test equipment, snatch the raw materials that need test through the manipulator, then, move about on test equipment bottom cushion cap, put into the assigned position of test machine with the raw materials, and, two four-axis manipulators that are equipped with can be for four uninterrupted raw materials that provide of test machine, because need not the manual work to feed, so a four-axis manipulator just reduced two artificial consumption, the human cost who consumes when having solved present enterprise production is great, personnel stability is poor, the mobility is great problem.
Description
Technical Field
The invention relates to the field of test equipment, in particular to a manipulator easy to control and carry test equipment.
Background
The test equipment is an enterprise, research and development aspect and equipment for testing products and parts developed by factories, the automation degree of the equipment is generally low, and many steps need to be manually operated.
However, the existing test equipment generally uses manual feeding and discharging, so that the consumed labor cost is high, when workers feed and discharge, products are easy to contact to cause secondary pollution, when workers operate improperly, the products are easy to damage, the test machine table is seriously damaged, and when the manipulators are used for feeding instead of the workers, the space of the equipment occupied by the manipulators is large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the manipulator which is easy to operate and transport test equipment, solves the problems of large labor cost, poor personnel stability and large mobility in the production of the prior enterprises, solves the problems of low flexibility and large space occupation in the working process of the prior manipulator, solves the problem of secondary pollution of the prior product after the prior product is contacted by personnel, solves the problem of damage to the product caused by difficult operation of personnel, and the problem of damage to a test machine caused by serious errors, and solves the problem of frequent mistakes in the pause position of the material in the prior material conveying process.
The technical aim of the invention is realized by the following technical scheme: the utility model provides an easily control manipulator of transport test equipment, includes test equipment bottom cushion cap, four-axis manipulator, horizontal transport mechanism of material and manipulator, the upper surface swing joint of test equipment bottom cushion cap has four-axis manipulator, peg graft in the bottom of four-axis manipulator has manipulator to remove the tow chain, the top through connection of four-axis manipulator has initiative pivot, the top swing joint of four-axis manipulator has the manipulator, the lower surface swing joint of manipulator has the xarm to connect the pivot, the top welding of manipulator has independent pivot, the last fixed surface of test equipment bottom cushion cap has material handling mechanism, the last fixed surface of material handling mechanism installs the transport frame, the one end fixedly connected with horizontal cylinder module of transport frame, the last fixed surface of test equipment bottom cushion cap installs Y axle transport mechanism, the last fixed surface of Y axle transport mechanism is connected with the removal module tow chain, the last fixed surface of test equipment bottom cushion cap has horizontal transport mechanism of material, the last surface of test equipment bottom cushion cap closely laminates there is the test machine.
Further, a rotating cross arm is sleeved at the top of the driving rotating shaft, and one end of the rotating cross arm is movably connected with the manipulator.
Further, the upper surface of the material horizontal conveying mechanism is fixedly provided with a stepping motor, and the stepping motor is positioned at the starting position of the material horizontal conveying mechanism.
Further, the bottom of the four-axis manipulator is fixedly provided with a manipulator moving base, and two sides of the manipulator moving base are connected with a manipulator moving drag chain.
Further, the top of Y axle transport mechanism fixed mounting has Y axle horizontal pole, the upper surface swing joint of Y axle horizontal pole has the removal module, and removes the module and can remove on Y axle horizontal pole.
Further, the two sides of the material handling mechanism are fixedly provided with vertical cylinder modules, two vertical cylinder modules are arranged, and the two vertical cylinder modules are inserted on the handling frame.
Further, the outer wall of the movable module is fixedly provided with a cylinder module, and the cylinder module is formed by combining two cylinders.
Further, the outer wall of the stepping motor is sleeved with a material power belt, a material moving slide rail is fixedly arranged at the front part of the stepping motor, and the material moving slide rail is arranged in parallel with the material power belt.
In summary, the invention has the following beneficial effects:
1. This kind of easily control manipulator of transport test equipment, top swing joint at four-axis manipulator has the manipulator, can snatch the raw materials that needs to test through the manipulator, then, left and right sides removes on test equipment bottom cushion cap, put into the assigned position of test machine with the raw materials, and, two four-axis manipulators that are equipped with, can be for four uninterrupted provision raw materials of test machine, because need not the manual work to feed, so a four-axis manipulator just reduced two artificial consumption, the human cost that consumes when having solved present enterprise production is great, personnel stability is poor, the great problem of mobility, thereby play the effect of reducing the human cost for the customer.
2. This kind of easily control handling test equipment's manipulator has cup jointed the rotation xarm at the top of initiative pivot, can create a condition that can freely remove in the geometric plane for the manipulator through rotating the xarm, let the manipulator carry out the snatch work of raw materials in the nimble rotation of a less space of equipment inside, solved present manipulator flexibility low, the during operation needs the problem in great space of occupation, so rotate the xarm and played the flexibility that improves the manipulator and improve the effect of space utilization to also make the manipulator can once only supply the raw materials for many testers when the flexibility improves.
3. This kind of manipulator of easy handling transport test equipment, the last fixed surface at test equipment bottom cushion cap installs material handling mechanism, can control the lift of carrying the frame through material handling mechanism when transporting the material, lift or put down the material, can transport the raw materials that have tested and the raw materials that need test, the problem of the product secondary pollution of easily causing the product after having solved past product through personnel contact, so material handling mechanism has played and has avoided personnel and material contact, has reached the effect that has improved the material cleanliness factor, and through autoloading and receipts material have reduced personnel reload time, thereby the transport time of product has been reached and has been reduced.
4. This kind of easily control manipulator of transport test equipment, upper surface fixed mounting at test equipment bottom cushion cap has Y axle transport mechanism, through Y axle transport mechanism, can utilize the cylinder module to snatch the raw materials of transport on the material transport mechanism, cylinder module after snatching is driven by the removal module, remove along Y axle horizontal pole, place the raw materials in the snatch area of manipulator, this whole process is because step more and the volume is bigger, if personnel's operation easily causes the product damage, so Y axle transport mechanism has solved in the past because personnel's operation is difficult for blocking easily causes the product damage, the problem of the damage of test machine platform is easily caused in serious error, thereby the degree of automation of the supply process of the whole test material of improvement has been played, strengthen the effect of product security.
5. This kind of manipulator of easy control transport test equipment, fixed mounting has step motor on the upper surface of material horizontal transport mechanism, can drive material power belt and advance a fixed length after receiving a signal on the test equipment through step motor, material power belt drives the raw materials and removes a fixed length along the material removal slide rail at this moment, just so the mobile distance of material is confirmed to the signal number that the accessible was sent to step motor, the problem that the pause position of material often makeed mistakes when having solved the transport material in the past to reach the effect to the accurate positioning of raw materials.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an enlarged view of the four-axis manipulator of FIG. 1;
FIG. 3 is an enlarged view of the material handling mechanism of FIG. 1;
FIG. 4 is an enlarged view of the Y-axis handling mechanism of FIG. 1;
Fig. 5 is an enlarged view of the material horizontal transport mechanism of fig. 1.
In the figure, 1, a test equipment bottom bearing platform; 2. a four-axis manipulator; 201. the mechanical arm moves the base; 202. the mechanical arm moves the drag chain; 203. rotating the cross arm; 204. a driving rotating shaft; 205. a manipulator; 206. an independent rotating shaft; 207. the cross arm is connected with the rotating shaft; 3. a material handling mechanism; 301. a vertical cylinder module; 302. a transport rack; 303. a horizontal cylinder module; 4. a Y-axis carrying mechanism; 401. a Y-axis cross bar; 402. a mobile module drag chain; 403. a mobile module; 404. a cylinder module; 5. a material horizontal transport mechanism; 501. a stepping motor; 502. a material power belt; 503. a material moving slide rail; 6. and a testing machine.
Detailed Description
The technical scheme in the embodiment of the invention will be clear and completed by combining the drawings in the embodiment of the invention
Throughout this description, it will be apparent that the embodiments described are merely some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution: the manipulator comprises a bottom bearing platform 1 of the testing equipment, a four-axis manipulator 2, a material horizontal conveying mechanism 5 and a manipulator 205, wherein the upper surface of the bottom bearing platform 1 of the testing equipment is movably connected with the four-axis manipulator 2, the bottom of the four-axis manipulator 2 is inserted with a manipulator moving drag chain 202, the top of the four-axis manipulator 2 is connected with a driving rotating shaft 204 in a penetrating way, the top of the four-axis manipulator 2 is movably connected with the manipulator 205, raw materials to be tested can be grabbed by the manipulator 205, then, the manipulator moves left and right on the bottom bearing platform 1 of the testing equipment to put the raw materials into the appointed position of the testing machine 6, and the two four-axis manipulators 2 can provide the raw materials for the four testing machines 6 uninterruptedly, because the feeding is not needed by manpower, the two manpower consumption is reduced by one four-axis manipulator 2, the problem that the labor cost is high, personnel stability is poor and mobility is high in production of the current enterprises is solved, thereby achieving the effect of reducing labor cost for customers, the lower surface of the manipulator 205 is movably connected with the cross arm connecting rotating shaft 207, the top of the manipulator 205 is welded with the independent rotating shaft 206, the upper surface of the bottom bearing platform 1 of the testing equipment is fixedly provided with the material handling mechanism 3, the vertical cylinder module 301 can control the lifting of the handling frame 302 to lift or put down the material when the material is conveyed by the material handling mechanism 3, the tested raw materials and the raw materials to be tested can be conveyed, the problem of secondary pollution of the product easily caused after the traditional products are contacted by personnel is solved, the material handling mechanism 3 achieves the effect of avoiding personnel to contact with the material, improving the cleanliness of the material, the handling frame 302 is fixedly arranged on the upper surface of the material handling mechanism 3, one end fixedly connected with horizontal cylinder module 303 of transport frame 302, the upper surface fixed mounting of test equipment bottom cushion cap 1 has Y axle transport mechanism 4, through Y axle transport mechanism 4, can utilize cylinder module 404 to snatch the raw materials of carrying on the material handling mechanism 3, cylinder module 404 after snatching is driven by movable module 403, remove along Y axle horizontal pole 401, place the raw materials in the snatch region of manipulator 205, this whole process is because step more and the volume is bigger, if be that personnel's operation easily causes the product damage, so Y axle transport mechanism 4 has solved in the past because personnel's operation is difficult for causing the product damage, serious error easily causes the problem of damage of test board, thereby the degree of automation of the supply process of improving whole test material has been played, the effect of strengthening product security, the upper surface fixed connection of Y axle transport mechanism 4 has material horizontal transport mechanism 5 by movable module 402, the upper surface of test equipment bottom cushion cap 1 closely laminates with test machine 6.
Further, the top of the driving rotating shaft 204 is sleeved with the rotating cross arm 203, one end of the rotating cross arm 203 is movably connected with the manipulator 205, a condition that the manipulator 205 can freely move in a geometric plane can be created through the rotating cross arm 203, the manipulator 205 can flexibly rotate in a small space in the equipment and perform grabbing work of raw materials, the problem that the existing manipulator 205 is low in flexibility and needs to occupy a large space during working is solved, and therefore the rotating cross arm 203 has the effects of improving the flexibility of the manipulator 205 and improving the space utilization rate, and the manipulator 205 can supply raw materials for a plurality of testers at one time while improving the flexibility.
Further, the upper surface fixed mounting of material horizontal transport mechanism 5 has step motor 501, and step motor 501 is located the initial position of material horizontal transport mechanism 5, can drive material power belt 502 and advance a fixed length after receiving a signal on the test equipment through step motor 501, at this moment material power belt 502 drives the raw materials and removes a fixed length along material removal slide rail 503, just so can confirm the removal distance of material through setting for the signal number that sends to step motor 501, the problem that the pause position of material often makes mistakes when having solved the transport material in the past to reach the effect to the accurate positioning of raw materials.
Further, the bottom of the four-axis manipulator 2 is fixedly provided with a manipulator moving base 201, two sides of the manipulator moving base 201 are connected with manipulator moving drag chains 202, and the manipulator 205 can be driven to move left and right along the X direction of the equipment bottom bearing platform 1 after the manipulator 205 grabs materials through the manipulator moving base 201, so that the manipulator 205 is brought to the front part of the testing machine 6, and therefore the manipulator moving base 201 has the effect of adjusting the position of the manipulator 205.
Further, a Y-axis cross bar 401 is fixedly mounted on the top of the Y-axis handling mechanism 4, a moving module 403 is movably connected to the upper surface of the Y-axis cross bar 401, and the moving module 403 can move on the Y-axis cross bar 401, and passes through the moving module 403 and the Y-axis cross bar
After the cylinder module 404 grabs the material on the material moving slide rail 503, the moving module 403 moves along the Y-axis direction on the Y-axis cross bar 401 with the cylinder module 401 to send the material to the carrying frame 302, so that the moving module 401 and the Y-axis cross bar 401 have the effect of horizontally moving along the Y-axis.
Further, the vertical cylinder modules 301 are fixedly installed on two sides of the material handling mechanism 3, two vertical cylinder modules 301 are arranged, the two vertical cylinder modules 301 are inserted into the handling frame 302, when a worker puts a material into the material handling mechanism 3 to handle the material through the vertical cylinder modules 301, the two cylinders on the vertical cylinder modules 301 are shortened, at this time, the handling frame 302 is lifted, meanwhile, the material is lifted, and then the four-axis manipulator 2 grabs the material, so that the effect of conveying the material is achieved.
Further, the outer wall of the moving module 403 is fixedly provided with the cylinder module 404, and the cylinder module 404 is formed by combining two cylinders, and when the Y-axis carrying mechanism 4 carries the raw materials, the two cylinders on the cylinder module 404 extend and move to the position of the materials, then shorten again, lift the materials to a certain position, and then are driven by the moving module 403, thereby playing the role of carrying the materials.
Further, the outer wall of the stepping motor 501 is sleeved with a material power belt 502, a material moving slide rail 503 is fixedly installed at the front part of the stepping motor 501, the material moving slide rail 503 is arranged parallel to the material power belt 502, and the material is pushed out to be placed on the material power belt 502 and the material moving slide rail 503 after being processed by the testing machine 6, at this time, the stepping motor 501 is started, and meanwhile, the material power belt 502 is moved, at this time, the material is driven by the material power belt 502 and moves along the material moving slide rail 503, so that the effect of conveying the raw materials to a specified distance is achieved.
Working principle: firstly, the materials to be processed are placed on the carrying frame 302 of the material carrying mechanism 3, then, the vertical cylinder module 301 is contracted, meanwhile, the carrying frame 302 is lifted, then, the horizontal cylinder module 303 is horizontally moved, the carrying frame 302 is pulled out, at this time, the manipulator moving base 201 at the bottom of the four-axis manipulator 2 is moved, the manipulator 205 is moved to the vicinity of the carrying frame 302, at this time, the rotating cross arm 203 is moved around the driving rotating shaft 204, at the same time, the manipulator 205 grabs the materials, then, the rotating cross arm 203 is rotated, the manipulator 205 is moved before the testing machine 6, the materials are placed in the testing machine 6, then, the testing machine 6 is tested, after the testing machine 6 is finished, the materials are pushed onto the material power belt 502 and the material moving rail 503, at this time, the stepping motor 501 receives an electric signal and rotates, the material power belt 502 is moved on the material moving slide rail 503, at this time, after a certain distance is moved, the stepping motor 501 is stopped, at this time, the cylinder module 404 is sucked, at this time, the moving module Yan Y axis cross bar 401 is moved, then, the materials are placed on the carrying frame 302, then, the materials are pushed up and then, the testing machine 6, and then, the testing machine 6 is tested, and the testing machine 6 is moved, and then, the vertical cylinder module 302 is pushed down, and the material is moved down.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (6)
1. The utility model provides an easily control manipulator of transport test equipment, includes test equipment bottom cushion cap (1), four-axis manipulator (2), material horizontal transport mechanism (5) and manipulator (205), its characterized in that: the automatic testing device comprises a testing device, wherein a four-axis manipulator (2) is movably connected to the upper surface of a testing device bottom bearing platform (1), a manipulator moving drag chain (202) is inserted into the bottom of the four-axis manipulator (2), an active rotating shaft (204) is connected to the top of the four-axis manipulator (2) in a penetrating manner, a manipulator (205) is movably connected to the top of the four-axis manipulator (2), a transverse arm connecting rotating shaft (207) is movably connected to the lower surface of the manipulator (205), an independent rotating shaft (206) is welded to the top of the manipulator (205), a material conveying mechanism (3) is fixedly arranged on the upper surface of the testing device bottom bearing platform (1), a conveying frame (302) is fixedly arranged on the upper surface of the material conveying mechanism (3), a horizontal cylinder module (303) is fixedly connected to one end of the conveying frame (302), a Y-axis conveying mechanism (4) is fixedly arranged on the upper surface of the testing device bottom bearing platform (1), a movable module drag chain (402) is fixedly connected to the upper surface of the Y-axis conveying mechanism (4), and a testing device bottom (1) is fixedly provided with a material conveying mechanism (6), and a material conveying mechanism (6) is tightly attached to the upper surface of the testing device bottom (6);
The top of the driving rotating shaft (204) is sleeved with a rotating cross arm (203), and one end of the rotating cross arm (203) is movably connected with a manipulator (205);
The upper surface of the material horizontal conveying mechanism (5) is fixedly provided with a stepping motor (501), and the stepping motor (501) is positioned at the starting position of the material horizontal conveying mechanism (5).
2. The manipulator for easy handling of a handling test device of claim 1, wherein: the bottom of the four-axis manipulator (2) is fixedly provided with a manipulator moving base (201), and two sides of the manipulator moving base (201) are connected with a manipulator moving drag chain (202).
3. The manipulator for easy handling of a handling test device of claim 1, wherein: the top of Y axle transport mechanism (4) fixed mounting has Y axle horizontal pole (401), the upper surface swing joint of Y axle horizontal pole (401) has movable module (403), and movable module (403) can remove on Y axle horizontal pole (401).
4. The manipulator for easy handling of a handling test device of claim 1, wherein: two sides of the material carrying mechanism (3) are fixedly provided with vertical cylinder modules (301), two vertical cylinder modules (301) are arranged, and the two vertical cylinder modules (301) are inserted into the carrying frame (302).
5. A manipulator for easy handling of a handling test apparatus according to claim 3, wherein: the outer wall of the movable module (403) is fixedly provided with a cylinder module (404), and the cylinder module (404) is formed by combining two cylinders.
6. The manipulator for easy handling of a handling test device of claim 1, wherein: the outer wall of the stepping motor (501) is sleeved with a material power belt (502), a material moving slide rail (503) is fixedly arranged at the front part of the stepping motor (501), and the material moving slide rail (503) and the material power belt (502) are arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810817202.3A CN108820861B (en) | 2018-07-24 | 2018-07-24 | Manipulator easy to control and carry test equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810817202.3A CN108820861B (en) | 2018-07-24 | 2018-07-24 | Manipulator easy to control and carry test equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108820861A CN108820861A (en) | 2018-11-16 |
| CN108820861B true CN108820861B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810817202.3A Active CN108820861B (en) | 2018-07-24 | 2018-07-24 | Manipulator easy to control and carry test equipment |
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| CN (1) | CN108820861B (en) |
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| CN206927249U (en) * | 2017-06-21 | 2018-01-26 | 歌尔股份有限公司 | Test equipment automatic handing system |
| CN207450968U (en) * | 2017-11-24 | 2018-06-05 | 深圳市优界科技有限公司 | A kind of computer main board flexibility automatic on-line tests system |
| CN209321954U (en) * | 2018-07-24 | 2019-08-30 | 昆山赛腾平成电子科技股份有限公司 | It is a kind of to be easily manipulated the manipulator for carrying test equipment |
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2018
- 2018-07-24 CN CN201810817202.3A patent/CN108820861B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5949002A (en) * | 1997-11-12 | 1999-09-07 | Teradyne, Inc. | Manipulator for automatic test equipment with active compliance |
| CN104071570A (en) * | 2014-06-20 | 2014-10-01 | 厦门弘信电子科技股份有限公司 | Automatic feeding machine matched with electric detecting machine device |
| CN204184914U (en) * | 2014-09-25 | 2015-03-04 | 深圳市科汇龙科技有限公司 | A kind of circuit board testing machine blanking equipment |
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| CN108820861A (en) | 2018-11-16 |
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