CN109194054A - A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure - Google Patents
A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure Download PDFInfo
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- CN109194054A CN109194054A CN201811277485.3A CN201811277485A CN109194054A CN 109194054 A CN109194054 A CN 109194054A CN 201811277485 A CN201811277485 A CN 201811277485A CN 109194054 A CN109194054 A CN 109194054A
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- 238000001179 sorption measurement Methods 0.000 claims description 33
- 238000013519 translation Methods 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 9
- 210000003734 kidney Anatomy 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000004806 packaging method and process Methods 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 abstract 1
- 230000000630 rising effect Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012946 outsourcing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000003181 co-melting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
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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
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
- H02K15/03—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies having permanent magnets
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Abstract
The invention discloses a kind of magnetic shoe circlips based on tow-armed robot structure to be embedded in unit, the technical issues of solution: the technical problem of the deficiency of existing magnetic shoe circlip assembling quality difference mentioned in the background art and low efficiency, automatic assembling magnetic shoe circlip equipment cost height and complicated composition etc..The technical solution taken, a kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure, including the rectangle warehouse for storing magnetic shoe, circlip, shell and assembling assembly, the left motion arm and right motion arm being installed at the top of rectangle warehouse, and the magnetic shoe circlip being installed in rectangle warehouse front end face is embedded in platform, end face is respectively provided with the left pipeline for conveying magnetic shoe circlip and the right pipeline for conveying shell and assembling assembly at left and right sides of rectangle warehouse.The beneficial effects of the present invention are: this embedded unit, using modularized design, left motion arm, right motion arm are embedded in the work of the big module coordination of platform three, and equipment cost is low, improves the packaging efficiency of magneto magnetic shoe circlip.
Description
Technical field
The present invention relates to a kind of magnetic shoe circlip inlaid device more particularly to a kind of magnetic shoe cards based on tow-armed robot structure
Spring is embedded in unit, belongs to the technical field of motor assembly tooling.
Background technique
The paces of industrial robot power-assisted China's manufacturing industry transition and upgrade are constantly raising speed.As industrial robot family
One important branch, tow-armed robot are introduced in various each industry with flexibility, easily co-melting, operating efficiency is high etc. advantages.Permanent magnetism
Direct current generator big, steady performance with torque, magnetic shoe fixed form have circlip fastening type, slot position edge to put formula, strength
Gluing is mounted, and wherein circlip fastening type is widely used due to complicated adverse circumstances ability is strong because adapting to, but multi-disc magnetic shoe circlip group
The efficiency and precision of dress are to be improved, and active service magnetic shoe circlip assembles equipment complicated composition, is unfavorable in medium-sized and small enterprises
Application.
Summary of the invention
The technical problem to be solved by the present invention is to existing magnetic shoe circlip assembling quality mentioned in the background art is poor
With the insufficient technical problem of low efficiency, automatic assembling magnetic shoe circlip equipment cost height and complicated composition etc..
To solve the above problems, tow-armed robot technology is introduced to meet the wilderness demand of high-quality permanent magnet direct current generator,
Exploitation becomes a kind of preferably selection for multi-disc magnetic shoe circlip assembly equipment.The present invention proposes a kind of based on tow-armed robot structure
Magnetic shoe circlip be embedded in unit, adopt the technical scheme that:
A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure, the rectangle warehouse including storing part, rectangle
At left and right sides of warehouse end face be equipped with left pipeline for conveying magnetic shoe and circlip and for convey shell and by magnetic shoe, circlip with
And the right pipeline of assembling assembly that shell is assembled to form, it is characterised in that: further include left motion arm, right motion arm and be embedded in
The left end at the top of rectangle warehouse and being located at rectangle warehouse is arranged in platform, left motion arm, and left motion arm is directed toward left pipeline for dividing
The magnetic shoe and circlip that left pipeline conveys are not grabbed and is sent into and is embedded in platform, and right motion arm is arranged at the top of rectangle warehouse and is located at square
The right end in shape warehouse, right motion arm are directed toward right pipeline and are embedded in platform for grabbing the shell of right pipeline conveying and being sent into, simultaneously
It grabs and is embedded in assembled assembling assembly in platform and is sent into right pipeline；Embedded platform is arranged under rectangle warehouse front end face
Portion forms assembling assembly for assembling magnetic shoe, circlip and shell step by step；
Left motion arm includes left shoulder armstand, left horizontal extension arm, left vertical lifting arm, circlip sticking module and magnetic shoe sticking
Module,
The bottom of left shoulder armstand is installed in the left end at the top of rectangle warehouse and being located at rectangle warehouse, in left shoulder armstand
First vertical machine is set in portion's cavity, and the motor shaft of the first vertical machine is arranged upward, and one end of left horizontal extension arm passes through
Flange connects firmly the motor shaft of the first vertical machine, and left vertical lifting arm connects the other end of left horizontal extension arm, left vertical lifting
The bottom end of arm connects the first rotary cylinder by " L " type connecting rod, and the cylinder shell of the first rotary cylinder connects firmly " L " type connecting rod, and first time
The revolving platform of rotaring cylinder connects hand support plate by first crossbar, and first crossbar connects the revolving platform of the first rotary cylinder, hand
Portion's support plate is perpendicular to first crossbar setting and first crossbar is located at the center of hand support plate, and circlip sticking module and magnetic shoe are inhaled
It holds module to be arranged on hand support plate, circlip sticking module and magnetic shoe sticking module and cross bar are non-coplanar, circlip sticking mould
Block and magnetic shoe sticking module are located at the both ends of hand support plate；
Circlip sticking module includes the second rotary cylinder, the first cylinder and circlip adsorption tool, the cylinder of the second rotary cylinder
Body is arranged on hand support plate, and the revolving platform of the second rotary cylinder connects the first cylinder by second crossbar, and second crossbar connects
The revolving platform of the second rotary cylinder is connect, the cylinder body connection second crossbar and second crossbar of the first cylinder are set perpendicular to the first cylinder
It sets, the piston rod end that the first cylinder is arranged in circlip adsorption tool is used to adsorb the circlip on left pipeline；
Magnetic shoe sticking module includes third rotary cylinder, the second cylinder and magnetic shoe adsorption tool, the cylinder of third rotary cylinder
Body is arranged on hand support plate, and the revolving platform of third rotary cylinder connects the second cylinder by third cross bar, and third cross bar connects
The revolving platform of third rotary cylinder is connect, the cylinder body connection third cross bar and third cross bar of the second cylinder are set perpendicular to the second cylinder
It sets, the piston rod end that the second cylinder is arranged in magnetic shoe adsorption tool is used to adsorb the magnetic shoe on left pipeline；
Right motion arm includes right shoulder armstand, right horizontal extension arm, right vertical lifting arm and is used for sticking shell and assembly
The third clamping device of component,
The bottom of right shoulder armstand is installed in the right end at the top of rectangle warehouse and being located at rectangle warehouse, in right shoulder armstand
Second vertical machine is set in portion's cavity, and the motor shaft of the second vertical machine is arranged upward, and one end of right horizontal extension arm passes through
Flange connects firmly the motor shaft of the second vertical machine, and right vertical lifting arm connects the other end of right horizontal extension arm, and third clamps work
The bottom end of right vertical lifting arm is arranged in for the shell and assembling assembly on the right pipeline of sticking in tool；
Third clamping device includes rear support cylinder, front support cylinder, third cylinder, third vertical machine, rotating disk, fixation
Disk, connection sleeve and combination collet,
Rear support cylinder includes the rear support cylinder of both ends open and is arranged in the intracorporal rear cylinder body intermediate bulkhead of rear support cylinder,
The inner cavity of rear support cylinder is separated into two independent inner cavities by rear cylinder body intermediate bulkhead, respectively inner cavity and rear branch on rear support cylinder
Cylinder lower inner cavity is supportted, inner cavity on rear support cylinder is protruded into the bottom of right vertical lifting arm, and the bottom end of right vertical lifting arm connects rear cylinder body
Intermediate bulkhead, third cylinder are located at interior intracavitary on rear support cylinder, and third cylinder is vertically set on rear cylinder body intermediate bulkhead and
The piston rod of three cylinders passes through rear cylinder body intermediate bulkhead and protrudes into rear support cylinder lower inner cavity；
Front support cylinder includes the front support cylinder of both ends open and is arranged in the intracorporal conveyor front barrel intermediate bulkhead of front support cylinder,
The inner cavity of front support cylinder is separated into two independent inner cavities by conveyor front barrel intermediate bulkhead, respectively inner cavity and preceding branch on front support cylinder
Cylinder lower inner cavity is supportted, on the lower part insertion front support cylinder of rear support cylinder in inner cavity,
The end of the piston rod of third cylinder is arranged in the cylinder bottom of connection sleeve, connects the open end connection conveyor front barrel of sleeve
Intermediate bulkhead, third vertical machine are located in the inner cavity of connection sleeve, and third vertical machine, which is vertically set in conveyor front barrel, to be spaced
On plate and the motor shaft of third vertical machine passes through conveyor front barrel intermediate bulkhead and protrudes into front support cylinder lower inner cavity, and rotating disk setting exists
On the motor shaft of third vertical machine, rotating disk is located in front support cylinder lower inner cavity, and fixed disk is fixed on front support cylinder lower part and opens
At mouthful, combines collet and be caught in rotating disk and fixed disk simultaneously, combination collet is along the waist type groove rotation in rotating disk and while edge
Dovetail groove sliding in fixed disk；
Being embedded in platform includes " L " type bracket, outer ring pattern, inner ring pattern, driving motor and linking clamping mechanism；
The short slab of " L " type bracket is fixed on the lower part of rectangle warehouse front end face, and driving motor is vertically arranged in " L " type branch
On the long slab of frame, the motor shaft of driving motor is arranged upward；Outer ring pattern is vertically arranged on the long slab of " L " type bracket, outer ring
Pattern covers on the periphery of driving motor, the top that inner ring pattern is inserted vertically into outer ring pattern and inner ring pattern be located at outer ring pattern it
Outside, the motor shaft of the bottom connection driving motor of inner ring pattern, inner ring pattern and outer ring pattern are coaxial, on inner ring pattern top
In axial direction it is arranged on outer surface and a plurality of puts slot and magnetic shoe puts slot for circlip；Circlip puts slot and magnetic shoe puts slot friendship
For setting；
Linking clamping mechanism is sleeved on the outside of outer ring pattern, including elevating mechanism, translation disk and at least three clamping jaws
Component,
Elevating mechanism includes annular brace cylinder and at least three the 4th cylinders, and annular brace cylinder is vertically arranged in " L " type branch
It on the long slab of frame and covers in the outside of outer ring pattern, indent is provided with and the 4th number of cylinders on the barrel of annular brace cylinder
Equal mounting groove, the 4th cylinder are respectively charged into mounting groove, the connected annular brace cylinder of the cylinder body of the 4th cylinder, and translation disk is horizontal
It is arranged and covers in the outside of outer ring pattern, the back side of translation disk is connected the piston rods of all 4th cylinders；
All clip claw assemblies are uniformly arranged, and clip claw assembly includes that radial slider, radial column and clamping jaw, radial slider are sliding
In the sliding slot that dynamic insertion translation panel surface is radially arranged, radial uprights vertical is arranged in the cam surface of outer ring, radial
Column is located at the surface of sliding slot；Clamping jaw includes a long-armed and galianconism, it is long-armed between short end by column hinge and
The free end of radial column is connected, and the long-armed other end is directed toward magnetic shoe and puts slot, and the other end of galianconism is connected by column hinge
Radial slider.
To the preferred of technical solution of the present invention, circlip adsorption tool includes circlip tool palette and is mounted on circlip tool palette
At least two vacuum chucks, circlip tool palette is arranged in the piston rod end of the first cylinder, and vacuum chuck is directed toward left pipeline.
To the preferred of technical solution of the present invention, magnetic shoe adsorption tool includes magnetic shoe tool palette and is mounted on magnetic shoe tool palette
At least four vacuum chucks, magnetic shoe tool palette is arranged in the piston rod end of the second cylinder, and vacuum chuck is directed toward left pipeline.
To the preferred of technical solution of the present invention, combining collet includes at least three " L " type collets and " L " type collet quantity
The equal axis bearing equal with " L " type collet quantity is provided with sliding card on the two sides of the bottom face of " L " type collet short side
Slot, " L " type collet are packed into the dovetail groove of fixed disk by slip draw-in groove, trapezoidal slot number and " L " type collet in fixed disk
Quantity it is equal, dovetail groove along fixed disk radial equipartition be arranged；Axis is vertically set on the end face of " L " type collet short side, axis
On the axis of bearing sleeve dress, bearing is embedded in the kidney slot in rotating disk, and the kidney slot in rotating disk is along the circumferential direction and positioned at rotation
The quantity of the edge of disk, the kidney slot in rotating disk is equal with " L " type collet quantity；All " L " type collet long sides surround one
It is a can clamping body and assembling assembly clamping element.
To the preferred of technical solution of the present invention, the sliding slot for translating panel surface is uniformly arranged, and the section of sliding slot is at trapezoidal.
To the preferred of technical solution of the present invention, annular convex platform is enclosed in the middle and upper part evagination setting one of the outer surface of outer ring pattern,
Radial uprights vertical is arranged on the outer surface of annular convex platform.
To the preferred of technical solution of the present invention, annular convex platform is located at the quartering position of outer ring pattern.
Heretofore described vertical machine, cylinder and rotary cylinder is outsourcing piece, is all that direct purchase obtains.
Magnetic shoe, circlip and shell in technical solution of the present invention are conventional hardware required in magneto.
The beneficial effects of the present invention are:
1, it is embedded in unit based on the magnetic shoe circlip of tow-armed robot structure, is embedded in the setting of platform, keeps multi-disc magnetic shoe same
When be pressed into electric machine casing inner hole, the mutual alignment and magnetic shoe and electric machine casing assembly precision between multi-disc magnetic shoe can obtain very well
Guarantee.
2, unit, using modularized design, left motion arm, right behaviour are embedded in based on the magnetic shoe circlip of tow-armed robot structure
Make arm, be embedded in the work of the big module coordination of platform three, equipment cost is low, improves the packaging efficiency of magneto magnetic shoe circlip.
Detailed description of the invention
Fig. 1 is the model that the magnetic shoe circlip of the invention based on tow-armed robot structure is embedded in the preferable case study on implementation of unit one
Schematic diagram.
Fig. 2 is rectangle storehouse model figure of the invention.
Fig. 3 is left motion arm illustraton of model of the invention.
Fig. 4 is circlip sticking modular model figure of the invention.
Fig. 5 is magnetic shoe sticking modular model figure of the invention.
Fig. 6 is right motion arm illustraton of model of the invention.
Fig. 7 is third clamping device illustraton of model of the invention.
Fig. 8 is rotating disk illustraton of model of the invention.
Fig. 9 is fixed disk illustraton of model of the invention.
Figure 10 is combination collet illustraton of model of the invention.
Figure 11 is that magnetic shoe circlip of the invention is embedded in platform illustraton of model.
Figure 12 is the position view of magnetic shoe of the present invention, circlip in inner ring pattern.
Figure 13 is the assembling assembly cross-sectional view of magnetic shoe of the present invention, circlip and shell.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To keep the contents of the present invention more obvious and easy to understand, done further below in conjunction with attached drawing 1- Figure 13 and specific embodiment
Description.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, the magnetic shoe circlip in the present embodiment based on tow-armed robot structure is embedded in unit, including storage part
Rectangle warehouse 1, left motion arm 2, right motion arm 3 and embedded platform 4.
As shown in Fig. 2, 1 left and right sides end face of rectangle warehouse is equipped with the left pipeline 11 for conveying magnetic shoe and circlip and uses
In the right pipeline 12 of conveying shell and the assembling assembly being assembled to form by magnetic shoe, circlip and shell.
Left pipeline 11 and right pipeline 12 are all made of belt conveyor in the prior art in the present embodiment, are outsourcing
Part is directly bought.
The present embodiment is to take out circlip from rectangle warehouse 1 by operator and magnetic shoe is placed into a left side in implementation process
Pipeline 11 is sent by left pipeline 11 to the crawl point of left motion arm 2.Similarly, the shell transmitted on right pipeline 12 be also by
Operator takes out shell from rectangle warehouse 1 and is placed into right pipeline 12, is sent by right pipeline 12 to the crawl of right motion arm 3
Point is removed from embedded platform 4 by right motion arm 3 by the assembling assembly that embedded platform 4 is completed and is placed into right pipeline 12, by right defeated
The entrance in rectangle warehouse 1 is sent in line sending 12 back to, and operator fetches assembling assembly and stores.
As shown in Figure 1, left motion arm 2 is arranged in 1 top of rectangle warehouse and is located at the left end in rectangle warehouse 1, left motion arm 2
It is directed toward left pipeline 11 and is embedded in platform 4 for grabbing magnetic shoe and circlip that left pipeline 11 conveys respectively and being sent into, right motion arm 3 is set
The right end in rectangle warehouse 1 is set at 1 top of rectangle warehouse and is located at, right motion arm 3 is directed toward right pipeline 12 for grabbing right conveying
The shell and feeding that line 12 conveys are embedded in platform 4, while grabbing and being embedded in assembled assembling assembly in platform 4 and be sent into right pipeline
12；It is embedded in the lower part that 1 front end face of rectangle warehouse is arranged in platform 4, forms assembly for assembling magnetic shoe, circlip and shell step by step
Component.
As shown in Fig. 3,4 and 5, left motion arm 2 include left shoulder armstand 21, left horizontal extension arm 22, left vertical lifting arm 23,
Circlip sticking module 24 and magnetic shoe sticking module 25.
The bottom of left shoulder armstand 21 is installed in 1 top of rectangle warehouse and is located at the left end in rectangle warehouse 1, in left shoulder armstand
First vertical machine 211 is set in 21 internal cavities, and the motor shaft of the first vertical machine 211 is arranged upward, left horizontal extension
One end of arm 22 connects firmly the motor shaft of the first vertical machine 211 by flange, and left vertical lifting arm 23 connects left horizontal extension arm
The bottom end of 22 other end, left vertical lifting arm 23 connects the first rotary cylinder 232, the first revolution gas by " L " type connecting rod 231
The cylinder shell of cylinder 232 connects firmly " L " type connecting rod 231, and the revolving platform of the first rotary cylinder 232 connects hand support plate by first crossbar
233, first crossbar connects the revolving platform of the first rotary cylinder 232, and hand support plate 233 is perpendicular to first crossbar setting and first
Cross bar is located at the center of hand support plate 233, and circlip sticking module 24 and magnetic shoe sticking module 25 are arranged at hand support plate
On 233, circlip sticking module 24 and magnetic shoe sticking module 25 are non-coplanar with cross bar, circlip sticking module 24 and magnetic shoe sticking module
25 are located at the both ends of hand support plate 233.
As shown in figure 4, circlip sticking module 24 includes the second rotary cylinder 241, the first cylinder 242 and circlip adsorption tool
243, the cylinder body of the second rotary cylinder 241 is arranged on hand support plate 233, and the revolving platform of the second rotary cylinder 241 passes through the
Two cross bars connect the first cylinder 242, and second crossbar connects the revolving platform of the second rotary cylinder 241, and the cylinder body of the first cylinder 242 connects
It connects second crossbar and second crossbar is arranged perpendicular to the first cylinder 242, the first cylinder 242 is arranged in circlip adsorption tool 243
Piston rod end is used to adsorb the circlip on left pipeline 11.
As shown in figure 4, circlip adsorption tool 243 include circlip tool palette and be mounted on circlip tool palette at least two
The piston rod end of the first cylinder 242 is arranged in vacuum chuck, circlip tool palette, and vacuum chuck is directed toward left pipeline 11.This reality
Applying the vacuum chuck in a circlip adsorption tool 243 is existing outsourcing piece.
The course of work of circlip sticking module 24 is as follows in the present embodiment:
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to left 11 place side of pipeline；At this point, the revolving platform of the first rotary cylinder 232
Rotation adjusts card by the second rotary cylinder 241 and the first cylinder 242 so that circlip sticking module 24 is directed toward left pipeline 11
The position of spring adsorption tool 243, so that the alignment of circlip adsorption tool 243 is located at the circlip on left pipeline 11；Circlip adsorbs work
Vacuum chuck movement in tool 243, adsorbs circlip.
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to 4 place side of assembly bench；At this point, passing through the second rotary cylinder 241 and first
Cylinder 242 adjusts the position of circlip adsorption tool 243, so that the circlip that the vacuum chuck in circlip adsorption tool 243 adsorbs
Circlip in alignment assembly bench 4 puts slot, and vacuum chuck acts at this time, and the circlip of absorption is packed into circlip and puts slot.
It resets.
As shown in figure 5, magnetic shoe sticking module 25 includes third rotary cylinder 251, the second cylinder 252 and magnetic shoe adsorption tool
253, the cylinder body of third rotary cylinder 251 is arranged on hand support plate 233, and the revolving platform of third rotary cylinder 251 passes through the
Three cross bars connect the second cylinder 252, and third cross bar connects the revolving platform of third rotary cylinder 251, and the cylinder body of the second cylinder 252 connects
It connects third cross bar and third cross bar is arranged perpendicular to the second cylinder 252, the second cylinder 252 is arranged in magnetic shoe adsorption tool 253
Piston rod end is used to adsorb the magnetic shoe on left pipeline 11.
Magnetic shoe adsorption tool 253 includes magnetic shoe tool palette and at least four vacuum chucks being mounted on magnetic shoe tool palette,
The piston rod end of the second cylinder 252 is arranged in magnetic shoe tool palette, and vacuum chuck is directed toward left pipeline 11.The present embodiment circlip is inhaled
Vacuum chuck in attached tool 243 is existing outsourcing piece.
In the present embodiment, the course of work of magnetic shoe sticking module 25 is as follows:
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to left 11 place side of pipeline；At this point, the revolving platform of the first rotary cylinder 232
Rotation so that, magnetic shoe sticking module 25 is directed toward left pipeline 11, is adjusted by third rotary cylinder 251 and the second cylinder 252
The position of magnetic shoe adsorption tool 253, so that the alignment of magnetic shoe adsorption tool 253 is located at the magnetic shoe on left pipeline 11；Magnetic shoe absorption
Vacuum chuck movement in tool 253, adsorbs magnetic shoe.
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to 4 place side of assembly bench；At this point, passing through the second rotary cylinder 241 and first
Cylinder 242 adjusts the position of magnetic shoe sticking module 25, so that the magnetic shoe pair that the vacuum chuck in magnetic shoe sticking module 25 adsorbs
Magnetic shoe in quasi- assembly bench 4 puts slot, and vacuum chuck acts at this time, and the magnetic shoe of absorption is packed into magnetic shoe and puts slot.
It resets.
As shown in fig. 6, right motion arm 3 includes right shoulder armstand 31, right horizontal extension arm 32, right vertical lifting arm 33 and is used for
The third clamping device 34 of sticking shell and assembling assembly.
The bottom of right shoulder armstand 31 is installed in 1 top of rectangle warehouse and is located at the right end in rectangle warehouse 1, in right shoulder armstand
Second vertical machine 311 is set in 31 internal cavities, and the motor shaft of the second vertical machine 311 is arranged upward, right horizontal extension
One end of arm 32 connects firmly the motor shaft of the second vertical machine 311 by flange, and right vertical lifting arm 33 connects right horizontal extension arm
The bottom end of right vertical lifting arm 33 is arranged in for the shell on the right pipeline 12 of sticking in 32 other end, third clamping device 34
And assembling assembly.
Third clamping device 34 as shown in Figure 7 is vertical including rear support cylinder 341, front support cylinder 342, third cylinder 343, third
Formula motor 344, rotating disk 345, fixed disk 346, connection sleeve 347 and combination collet 348.
Rear support cylinder 341 includes that the rear support cylinder of both ends open and setting are spaced in the intracorporal rear cylinder body of rear support cylinder
The inner cavity of rear support cylinder is separated into two independent inner cavities by plate, rear cylinder body intermediate bulkhead, respectively on rear support cylinder inner cavity and
Inner cavity on rear support cylinder is protruded into rear support cylinder lower inner cavity, the bottom of right vertical lifting arm 33, and the bottom end of right vertical lifting arm 33 connects
Connect rear cylinder body intermediate bulkhead, third cylinder 343 is located at interior intracavitary on rear support cylinder, and third cylinder 343 is vertically set on rear cylinder body
On intermediate bulkhead and the piston rod of third cylinder 343 passes through rear cylinder body intermediate bulkhead and protrudes into rear support cylinder lower inner cavity；Front support
Cylinder 342 includes the front support cylinder of both ends open and is arranged among the intracorporal conveyor front barrel intermediate bulkhead of front support cylinder, conveyor front barrel
The inner cavity of front support cylinder is separated into two independent inner cavities by partition, respectively on front support cylinder under inner cavity and front support cylinder in
Chamber, the lower part of rear support cylinder 341 are inserted on front support cylinder in inner cavity, and third cylinder 343 is arranged in the cylinder bottom of connection sleeve 347
The open end of the end of piston rod, connection sleeve 347 connects conveyor front barrel intermediate bulkhead, and third vertical machine 344 is located at connector sleeve
In the inner cavity of cylinder 347, third vertical machine 344 is vertically set on conveyor front barrel intermediate bulkhead and the electricity of third vertical machine 344
Arbor passes through conveyor front barrel intermediate bulkhead and protrudes into front support cylinder lower inner cavity, and the electricity of third vertical machine 344 is arranged in rotating disk 345
On arbor, rotating disk 345 is located in front support cylinder lower inner cavity, and fixed disk 346 is fixed at 342 lower openings of front support cylinder, group
Co-clip head 348 is caught in rotating disk 345 and fixed disk 346 simultaneously, combines collet 348 along the waist type groove 3451 in rotating disk 345
It rotates and the dovetail groove 3461 in fixed disk 346 slides simultaneously.
As shown in Fig. 8,9 and 10, the combination collet 348 in the present embodiment includes four " L " type collets, 3481, four axis
3482 and four bearings 3483, it is provided with slip draw-in groove on the two sides of the bottom face of 3481 short side of " L " type collet, " L " type
Collet 3481 is packed into the dovetail groove 3461 of fixed disk 346 by slip draw-in groove.As shown in figure 9, the dovetail groove in fixed disk 346
346 quantity are four, and dovetail groove 346 is arranged along the radial equipartition of fixed disk 346.Four dovetail grooves 346 in the present embodiment at
Crosswise setting.Axis 3482 is vertically set on the end face of 3481 short side of " L " type collet, on the axis 3482 that bearing 3483 is set with,
Bearing 3483 is embedded in the kidney slot 3451 in rotating disk 345.As shown in figure 8, the kidney slot 3451 in rotating disk 345 is circumferentially
Direction and the edge for being located at rotating disk 345, the quantity of the kidney slot 3451 in rotating disk 345 are four, four in the present embodiment
A 3481 long side of " L " type collet surround one can clamping body and assembling assembly clamping element.
The course of work of third clamping device 34 is as follows in the present embodiment:
The rotation of second vertical machine 311, drives right horizontal extension arm 32 and is mounted on right 32 upper-part of horizontal extension arm
Unitary rotation, so that third clamping device 34 turns to right 12 place side of pipeline；At this point, third cylinder 343 acts, after adjusting
Relative position between support tube 341 and front support cylinder 342, so that the combination collet 348 on front support cylinder 342 is located at right conveying
Around 12 upper housing of line, third vertical machine 344 is acted, and rotating disk 345 follows third vertical machine 344 to rotate together, and is revolved
345 rotate driving of turntable combines collet 348 in the rotation of waist type groove 3451 in rotating disk 345 and while in fixed disk 346
Dovetail groove 3461 slides, the final position for adjusting combination collet 348, so that the clamping element clamping body that collet is constituted.
The rotation of second vertical machine 311, drives right horizontal extension arm 32 and is mounted on right 32 upper-part of horizontal extension arm
Unitary rotation, so that third clamping device 34 turns to embedded 4 place side of platform；Pass through third cylinder 343 and third vertical machine
The position of 344 adjustment combination collets 348, so that the shell that the clamping element that collet is constituted clamps is located at the group that circlip and magnetic shoe are constituted
It closes in single piece, shell is inserted on the composite entity part that circlip and magnetic shoe are constituted.
Later, combination collet 348 picks up the assembling assembly being made of circlip, magnetic shoe and shell again.
The rotation of second vertical machine 311, drives right horizontal extension arm 32 and is mounted on right 32 upper-part of horizontal extension arm
Unitary rotation, so that third clamping device 34 turns to right 12 place side of pipeline.It combines collet 348 and unclamps assembling assembly, dress
Distribution assembly falls in right pipeline 12, and assembling assembly is sent back to the entrance in rectangle warehouse 1 by right pipeline 12, and operator fetches assembly
Component is simultaneously stored.
As shown in figure 11, being embedded in platform 4 includes " L " type bracket 41, outer ring pattern 42, inner ring pattern 43, driving motor and connection
Dynamic clamp system 44.
The short slab of " L " type bracket 41 is fixed on the lower part of 1 front end face of rectangle warehouse, and driving motor is vertically arranged in " L "
On the long slab of type bracket 41, the motor shaft of driving motor is arranged upward；Outer ring pattern 42 is vertically arranged in the length of " L " type bracket 41
On plate, outer ring pattern 42 covers on the periphery of driving motor, and inner ring pattern 43 is inserted vertically into outer ring pattern 42 and inner ring pattern 43
Top is located at except outer ring pattern 42, the motor shaft of the bottom connection driving motor of inner ring pattern 43, inner ring pattern 43 and outer ring
Pattern 42 is coaxial, and a plurality of circlip that is used in axial direction is arranged on the outer surface on 43 top of inner ring pattern and puts slot 43-2 and magnetic
Watt put slot 43-1；Circlip puts slot 43-2 and magnetic shoe is put slot 43-1 and is arranged alternately.
Linking clamping mechanism 44 is sleeved on the outside of outer ring pattern 42, including elevating mechanism 441, translation disk 442 and five
A clip claw assembly.
Elevating mechanism 441 includes annular brace cylinder and four the 4th cylinders, and annular brace cylinder is vertically arranged in " L " type bracket
It on 41 long slab and covers in the outside of outer ring pattern 42, indent is provided with and the 4th number of cylinders on the barrel of annular brace cylinder
Equal mounting groove is measured, the 4th cylinder is respectively charged into mounting groove, the connected annular brace cylinder of the cylinder body of the 4th cylinder, translation disk
442 are horizontally disposed with and cover in the outside of outer ring pattern 42, the piston rod of connected four the 4th cylinders in the back side of translation disk 442.
The flexible drive translation disk 442 of the piston rod of four the 4th cylinders rises or falls.
Three clip claw assemblies are uniformly arranged in the present embodiment, and clip claw assembly includes radial slider 443, radial column 444
In the sliding slot being radially arranged with clamping jaw 445, the sliding insertion of radial slider 443 442 surface of translation disk, 442 table of translation disk
The sliding slot in face is uniformly arranged, and the section of sliding slot is at trapezoidal.A ring shape is arranged in the middle and upper part evagination of the outer surface of outer ring pattern 42
Boss, annular convex platform are located at the quartering position of outer ring pattern 42.Radial column 444 is vertically set on the appearance of annular convex platform
On face.Radial column 444 is located at the surface of sliding slot；Clamping jaw 445 includes a long-armed and galianconism, long-armed between short end
It is connected by column hinge with the free end of radial column 444, the long-armed other end is directed toward magnetic shoe and puts slot, the other end of galianconism
Radial slider 443 is connected by column hinge.
The course of work of linking clamping mechanism 44 is as follows in the present embodiment:
The stretching of the piston rod of four the 4th cylinders in elevating mechanism 441 drives the rising of translation disk 442, translation disk
442 rising drives the radial slider 443 being located in 442 sliding slot of translation disk to be displaced outwardly, and radial slider 443 is displaced outwardly promotion
445 galianconism of clamping jaw is displaced outwardly, while clamping jaw 445 is long-armed moves inward, and the long-armed other end of clamping jaw 445 is simultaneously to internal pressure at this time
Tightly, magnetic shoe will be located at and puts the compression of the magnetic shoe in slot.
The course of work that platform 4 is embedded in the present embodiment is as follows:
Discontinuously start the driving motor being embedded in platform 4, drives inner ring pattern 43 to rotate, so that magnetic shoe is put slot 43-1 and successively revolve
Turn corresponding embedded magnetic shoe position.
Magnetic by the sticking magnetic shoe module 25 of left motion arm 2, by magnetic shoe by left pipeline 11 on inner ring pattern 43
It watt puts on slot 43-1, until all magnetic shoes are put in slot 43-1 and are well placed magnetic shoe on inner ring pattern 43.
Discontinuously start the driving motor being embedded in platform 4, drives inner ring pattern 43 to rotate, so that circlip is put slot 43-2 and successively revolve
Turn corresponding embedded circlip position.
Card by the sticking circlip module 24 of left motion arm 2, by circlip by left pipeline 11 on inner ring pattern 43
Spring is put on slot 43-2, until all circlips are put in slot 43-2 and are well placed circlip on inner ring pattern 43.
The linking clamping mechanism 44 being embedded in platform 4 acts, and starts four the 4th cylinders in elevating mechanism 441, and four the
The stretching of the piston rod of four cylinders drives the rising of translation disk 442, and the rising of translation disk 442, which drives, is located at 442 sliding slot of translation disk
Interior radial slider 443 is displaced outwardly, and radial slider 443, which is displaced outwardly, pushes 445 galianconism of clamping jaw to be displaced outwardly, while clamping jaw
445 it is long-armed move inward, at this time the long-armed other end of clamping jaw 445 simultaneously inwardly compress, will be located at magnetic shoe put in slot 43-1
Magnetic shoe compresses, and magnetic shoe is caught in circlip at this time, and all magnetic shoes and circlip form a composite entity part.
Complete the assembly of magnetic shoe and circlip.
The course of work that magnetic shoe circlip in the present embodiment based on tow-armed robot structure is embedded in unit is as follows:
A) circlip 5, magnetic shoe 6 and shell 7 are delivered to accordingly through left pipeline 11 and right pipeline 12 by rectangle warehouse 1
Position.
Concrete operations are as follows: operator takes out circlip from rectangle warehouse 1 and magnetic shoe is placed into left pipeline 11, by left defeated
Line sending 11 is sent to the crawl point of left motion arm 2.Similarly, the shell transmitted on right pipeline 12 is also by operator from rectangle storehouse
Shell is taken out in library 1 and is placed into right pipeline 12, is sent by right pipeline 12 to the crawl point of right motion arm 3, is assembled by being embedded in platform 4
The assembling assembly of completion is removed from embedded platform 4 by right motion arm 3 and is placed into right pipeline 12, sends rectangle storehouse back to by right pipeline 12
The entrance in library 1, operator fetch assembling assembly and store.
B) discontinuously start the driving motor being embedded in platform 4, drive inner ring pattern 43 to rotate, magnetic shoe is made to put slot 43-1 successively
The corresponding embedded magnetic shoe position of rotation.By the sticking magnetic shoe module 25 of left motion arm 2, magnetic shoe is fitted to inner ring by left pipeline 11
Magnetic shoe on pattern 43 is put on slot 43-1, until all magnetic shoes are put in slot 43-1 and are well placed magnetic shoe on inner ring pattern 43.
Concrete operations are as follows: the rotation of the first vertical machine 211 drives left horizontal extension arm 22 and is mounted on left horizontal extension
22 upper-part unitary rotation of arm, so that hand support plate 233 turns to left 11 place side of pipeline；At this point, the first rotary cylinder
232 revolving platform rotates so that circlip sticking module 24 is directed toward left pipeline 11, passes through the second rotary cylinder 241 and the first cylinder
242 adjust the position of circlip adsorption tool 243, so that the alignment of circlip adsorption tool 243 is located at the circlip on left pipeline 11；
Vacuum chuck movement in circlip adsorption tool 243, adsorbs circlip.
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to 4 place side of assembly bench；At this point, passing through the second rotary cylinder 241 and first
Cylinder 242 adjusts the position of circlip adsorption tool 243, so that the circlip that the vacuum chuck in circlip adsorption tool 243 adsorbs
Circlip in alignment assembly bench 4 puts slot, and vacuum chuck acts at this time, and the circlip of absorption is packed into circlip and puts slot.
It resets.
It repeats the above process, is put in slot 43-1 in the magnetic shoe on inner ring pattern 43 and be put into magnetic shoe.
C) discontinuously start the driving motor being embedded in platform 4, drive inner ring pattern 43 to rotate, circlip is made to put slot 43-2 successively
The corresponding embedded circlip position of rotation.By the sticking circlip module 24 of left motion arm 2, circlip is fitted to inner ring by left pipeline 11
Circlip on pattern 43 is put on slot 43-2, until all circlips are put in slot 43-2 and are well placed circlip on inner ring pattern 43.
Concrete operations are as follows: left motion arm 2 grabs circlip, and the circlip that magnetic shoe is placed on inner ring pattern 43 is put slot 43-2
It is interior.Left motion arm 2 grabs the course of work of circlip: the rotation of the first vertical machine 211 drives left horizontal extension arm 22 and installation
In left 22 upper-part unitary rotation of horizontal extension arm, so that hand support plate 233 turns to left 11 place side of pipeline；At this point,
The revolving platform of first rotary cylinder 232 rotates so that circlip sticking module 24 is directed toward left pipeline 11, passes through the second rotary cylinder
241 and first cylinder 242 adjust the position of circlip adsorption tool 243 so that the alignment of circlip adsorption tool 243 is located at left conveying
Circlip on line 11；Vacuum chuck movement in circlip adsorption tool 243, adsorbs circlip.
The rotation of first vertical machine 211, drives left horizontal extension arm 22 and is mounted on left 22 upper-part of horizontal extension arm
Unitary rotation, so that hand support plate 233 turns to 4 place side of assembly bench；At this point, passing through the second rotary cylinder 241 and first
Cylinder 242 adjusts the position of circlip adsorption tool 243, so that the circlip that the vacuum chuck in circlip adsorption tool 243 adsorbs
Circlip in alignment assembly bench 4 puts slot, and vacuum chuck acts at this time, and the circlip of absorption is packed into circlip and puts slot.
It resets.
It repeats the above process, is put in slot 43-2 in the circlip on inner ring pattern 43 and be put into circlip.
D the linking clamping mechanism 44) being embedded in platform 4 acts, four the 4th cylinders in starting elevating mechanism 441, and four
The stretching of the piston rod of 4th cylinder drives the rising of translation disk 442, and the rising of translation disk 442 drives sliding positioned at translation disk 442
Radial slider 443 in slot is displaced outwardly, and radial slider 443, which is displaced outwardly, pushes 445 galianconism of clamping jaw to be displaced outwardly, while clamping jaw
445 it is long-armed move inward, at this time the long-armed other end of clamping jaw 445 simultaneously inwardly compress, will be located at magnetic shoe put in slot 43-1
Magnetic shoe compresses, and magnetic shoe is caught in circlip at this time, and all magnetic shoes and circlip form a composite entity part.
Complete the assembly of magnetic shoe and circlip.As shown in figure 12.
E it) by the third clamping device 34 on right motion arm 3, shell is taken out from right pipeline 12 and is covered is attached to embedded platform 4
On magnetic shoe circlip composite entity part on.
Concrete operations are as follows: the rotation of the second vertical machine 311 drives right horizontal extension arm 32 and is mounted on right horizontal extension
32 upper-part unitary rotation of arm, so that third clamping device 34 turns to right 12 place side of pipeline；At this point, third cylinder 343
Movement adjusts the relative position between rear support cylinder 341 and front support cylinder 342, so that the combination collet on front support cylinder 342
348 are located at around right 12 upper housing of pipeline, and third vertical machine 344 acts, and rotating disk 345 follows third vertical machine
344 rotate together, and 345 rotate driving of rotating disk combines waist type groove 3451 rotation and while edge of the collet 348 in rotating disk 345
Dovetail groove 3461 in fixed disk 346 slides, the final position for adjusting combination collet 348, so that the clamping element folder that collet is constituted
Tight shell.
The rotation of second vertical machine 311, drives right horizontal extension arm 32 and is mounted on right 32 upper-part of horizontal extension arm
Unitary rotation, so that third clamping device 34 turns to embedded 4 place side of platform；Pass through third cylinder 343 and third vertical machine
The position of 344 adjustment combination collets 348, so that the shell that the clamping element that collet is constituted clamps is located at the group that circlip and magnetic shoe are constituted
It closes in single piece, shell is inserted on the composite entity part that circlip and magnetic shoe are constituted.
Complete magnetic shoe, circlip and shell assembling.As shown in figure 13.
F) by the third clamping device 34 on right motion arm 3, the assembling assembly that magnetic shoe, circlip and shell are assembled into is removed again
To right pipeline 12, sent by right pipeline 12 to rectangle warehouse 1；So far it is embedding just to complete a permanent magnet DC motor magnetic shoe circlip
Dress operation.
Concrete operations are as follows: combination collet 348 picks up the assembling assembly being made of circlip, magnetic shoe and shell again.
The rotation of second vertical machine 311, drives right horizontal extension arm 32 and is mounted on right 32 upper-part of horizontal extension arm
Unitary rotation, so that third clamping device 34 turns to right 12 place side of pipeline.It combines collet 348 and unclamps assembling assembly, dress
Distribution assembly falls in right pipeline 12, and assembling assembly is sent back to the entrance in rectangle warehouse 1 by right pipeline 12, and operator fetches assembly
Component is simultaneously stored.
So far it just completes a permanent magnet DC motor magnetic shoe circlip and is embedded in operation.
G above-mentioned A-F step) is repeated.
What is be not specifically noted in all description of the invention is the prior art or can be realized by existing technology,
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, and it is all this
A little modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of magnetic shoe circlip based on tow-armed robot structure is embedded in unit, the rectangle warehouse (1) including storing part, rectangle
End face is equipped with for conveying the left pipeline (11) of magnetic shoe and circlip and for conveying shell and by magnetic at left and right sides of warehouse (1)
Watt, the right pipeline (12) of assembling assembly that is assembled to form of circlip and shell, it is characterised in that: further include left motion arm (2),
Right motion arm (3) and embedded platform (4), a left side of left motion arm (2) setting at the top of rectangle warehouse (1) and positioned at rectangle warehouse (1)
End, the left pipeline (11) of left motion arm (2) direction are used to grab the magnetic shoe and circlip that left pipeline (11) convey respectively and are sent into
It is embedded in platform (4), right end of right motion arm (3) setting at the top of rectangle warehouse (1) and positioned at rectangle warehouse (1), right motion arm (3)
It is directed toward right pipeline (12) and is embedded in platform (4) for grabbing the shell of right pipeline (12) conveying and being sent into, while grabbing and being embedded in platform
(4) assembled assembling assembly and right pipeline (12) are sent into；Platform (4) are embedded in be arranged in rectangle warehouse (1) front end face
Lower part forms assembling assembly for assembling magnetic shoe, circlip and shell step by step；
Left motion arm (2) includes left shoulder armstand (21), left horizontal extension arm (22), left vertical lifting arm (23), circlip sticking mould
Block (24) and magnetic shoe sticking module (25),
The bottom of left shoulder armstand (21) is installed in the left end at the top of rectangle warehouse (1) and being located at rectangle warehouse (1), vertical in left shoulder
It is arranged in the internal cavities of arm (21) the first vertical machine (211), the motor shaft of the first vertical machine (211) is arranged upward, left
One end of horizontal extension arm (22) connects firmly the motor shaft of the first vertical machine (211) by flange, and left vertical lifting arm (23) is even
The other end of left horizontal extension arm (22) is connect, the bottom end of left vertical lifting arm (23) is connected first time by " L " type connecting rod (231)
Rotaring cylinder (232), the cylinder shell of the first rotary cylinder (232) connect firmly " L " type connecting rod (231), the revolution of the first rotary cylinder (232)
Platform connects hand support plate (233) by first crossbar, and first crossbar connects the revolving platform of the first rotary cylinder (232), hand
Support plate (233) is perpendicular to first crossbar setting and first crossbar is located at the center of hand support plate (233), circlip sticking module
(24) it is arranged on hand support plate (233) with magnetic shoe sticking module (25), circlip sticking module (24) and magnetic shoe sticking mould
Block (25) and cross bar are non-coplanar, and circlip sticking module (24) and magnetic shoe sticking module (25) are located at the two of hand support plate (233)
End；
Circlip sticking module (24) includes the second rotary cylinder (241), the first cylinder (242) and circlip adsorption tool (243), the
The cylinder body of two-revolution cylinder (241) is arranged on hand support plate (233), and the revolving platform of the second rotary cylinder (241) passes through the
Two cross bars connect the first cylinder (242), and second crossbar connects the revolving platform of the second rotary cylinder (241), the first cylinder (242)
Cylinder body connects second crossbar and second crossbar is arranged perpendicular to the first cylinder (242), and circlip adsorption tool (243) is arranged first
The piston rod end of cylinder (242) is used to adsorb the circlip on left pipeline (11)；
Magnetic shoe sticking module (25) includes third rotary cylinder (251), the second cylinder (252) and magnetic shoe adsorption tool (253), and
The cylinder bodies of three rotary cylinders (251) is arranged on hand support plate (233), and the revolving platform of third rotary cylinder (251) passes through the
Three cross bars connect the second cylinder (252), and third cross bar connects the revolving platform of third rotary cylinder (251), the second cylinder (252)
Cylinder body connects third cross bar and third cross bar is arranged perpendicular to the second cylinder (252), and magnetic shoe adsorption tool (253) is arranged second
The piston rod end of cylinder (252) is used to adsorb the magnetic shoe on left pipeline (11)；
Right motion arm (3) includes right shoulder armstand (31), right horizontal extension arm (32), right vertical lifting arm (33) and is used for sticking shell
The third clamping device (34) of body and assembling assembly,
The bottom of right shoulder armstand (31) is installed in the right end at the top of rectangle warehouse (1) and being located at rectangle warehouse (1), vertical in right shoulder
It is arranged in the internal cavities of arm (31) the second vertical machine (311), the motor shaft of the second vertical machine (311) is arranged upward, right
One end of horizontal extension arm (32) connects firmly the motor shaft of the second vertical machine (311) by flange, and right vertical lifting arm (33) is even
The other end of right horizontal extension arm (32) is connect, third clamping device (34) setting is in the bottom end of right vertical lifting arm (33) for inhaling
Hold the shell and assembling assembly on right pipeline (12)；
Third clamping device (34) includes rear support cylinder (341), front support cylinder (342), third cylinder (343), the vertical electricity of third
Machine (344), rotating disk (345), fixed disk (346), connection sleeve (347) and combination collet (348),
Rear support cylinder (341) includes that the rear support cylinder of both ends open and setting are spaced in the intracorporal rear cylinder body of rear support cylinder
The inner cavity of rear support cylinder is separated into two independent inner cavities by plate, rear cylinder body intermediate bulkhead, respectively on rear support cylinder inner cavity and
Inner cavity on rear support cylinder, the bottom of right vertical lifting arm (33) are protruded into rear support cylinder lower inner cavity, the bottom of right vertical lifting arm (33)
End connection rear cylinder body intermediate bulkhead, third cylinder (343) is located at interior intracavitary on rear support cylinder, and third cylinder (343) is vertically arranged
On rear cylinder body intermediate bulkhead and the piston rod of third cylinder (343) passes through rear cylinder body intermediate bulkhead and protrudes into rear support cylinder lower inner cavity
It is interior；
Front support cylinder (342) includes that the front support cylinder of both ends open and setting are spaced in the intracorporal conveyor front barrel of front support cylinder
The inner cavity of front support cylinder is separated into two independent inner cavities by plate, conveyor front barrel intermediate bulkhead, respectively on front support cylinder inner cavity and
Front support cylinder lower inner cavity, the lower part of rear support cylinder (341) are inserted on front support cylinder in inner cavity,
The cylinder bottom setting of sleeve (347) is connected in the end of the piston rod of third cylinder (343), connects the opening of sleeve (347)
End connection conveyor front barrel intermediate bulkhead, third vertical machine (344) are located in the inner cavity of connection sleeve (347), third vertical machine
(344) it is vertically set on conveyor front barrel intermediate bulkhead and the motor shaft of third vertical machine (344) passes through conveyor front barrel intermediate bulkhead
It protrudes into front support cylinder lower inner cavity, rotating disk (345) is arranged on the motor shaft of third vertical machine (344), rotating disk (345)
In front support cylinder lower inner cavity, fixed disk (346) is fixed at front support cylinder (342) lower openings, and combination collet (348) is same
When be caught in rotating disk (345) and fixed disk (346), combination collet (348) turns along the waist type groove (3451) on rotating disk (345)
Dynamic and dovetail groove (3461) sliding on fixed disk (346) simultaneously；
Being embedded in platform (4) includes " L " type bracket (41), outer ring pattern (42), inner ring pattern (43), driving motor and linkage clamping machine
Structure (44)；
The short slab of " L " type bracket (41) is fixed on the lower part of rectangle warehouse (1) front end face, and driving motor is vertically arranged in " L "
On the long slab of type bracket (41), the motor shaft of driving motor is arranged upward；Outer ring pattern (42) is vertically arranged in " L " type bracket
(41) on long slab, outer ring pattern (42) covers on the periphery of driving motor, and inner ring pattern (43) is inserted vertically into outer ring pattern (42)
And the top of inner ring pattern (43) is located at except outer ring pattern (42), the motor of the bottom connection driving motor of inner ring pattern (43)
Axis, inner ring pattern (43) and outer ring pattern (42) coaxially, are in axial direction arranged on the outer surface on inner ring pattern (43) top
It is a plurality of to put slot (43-2) and magnetic shoe puts slot (43-1) for circlip；Circlip puts slot (43-2) and magnetic shoe puts slot (43-1)
It is arranged alternately；
Linking clamping mechanism (44) is sleeved on the outside of outer ring pattern (42), including elevating mechanism (441), translation disk (442)
With at least three clip claw assemblies,
Elevating mechanism (441) includes annular brace cylinder and at least three the 4th cylinders, and annular brace cylinder is vertically arranged in " L " type branch
It on the long slab of frame (41) and covers in the outside of outer ring pattern (42), indent is provided with and the 4th on the barrel of annular brace cylinder
The equal mounting groove of number of cylinders, the 4th cylinder are respectively charged into mounting groove, and the connected annular brace cylinder of the cylinder body of the 4th cylinder is put down
Move that disk (442) are horizontally disposed and cover in the outside of outer ring pattern (42), and the back side of translation disk (442) is connected all 4th cylinders
Piston rod；
All clip claw assemblies are uniformly arranged, and clip claw assembly includes radial slider (443), radial column (444) and clamping jaw
(445), in the sliding slot that radial slider (443) sliding insertion translation disk (442) surface is radially arranged, radial column
(444) it is vertically set on outer ring pattern (42) surface, radial column (444) is located at the surface of sliding slot；Clamping jaw (445) includes
One long-armed and galianconism, it is long-armed to be connected by column hinge with the free end of radial column (444) between short end, it is long-armed
The other end be directed toward magnetic shoe and put slot, the other end of galianconism passes through column hinge connection radial slider (443).
2. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as described in claim 1, which is characterized in that circlip is inhaled
Attached tool (243) includes circlip tool palette and at least two vacuum chucks that are mounted on circlip tool palette, and circlip tool palette is set
The piston rod end in the first cylinder (242) is set, vacuum chuck is directed toward left pipeline (11).
3. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as described in claim 1, which is characterized in that magnetic shoe is inhaled
Attached tool (253) includes magnetic shoe tool palette and at least four vacuum chucks that are mounted on magnetic shoe tool palette, and magnetic shoe tool palette is set
The piston rod end in the second cylinder (252) is set, vacuum chuck is directed toward left pipeline (11).
4. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as described in claim 1, which is characterized in that group co-clip
Head (348) includes at least three " L " type collets (3481), the axis equal with " L " type collet (3481) quantity (3482) and " L " type
The equal bearing (3483) of collet (3481) quantity, is provided with cunning on the two sides of the bottom face of " L " type collet (3481) short side
Dynamic card slot, " L " type collet (3481) are packed into the dovetail groove (3461) of fixed disk (346) by slip draw-in groove, fixed disk (346)
On dovetail groove (346) quantity it is equal with the quantity of " L " type collet (3481), radial direction of the dovetail groove (346) along fixed disk (346)
It is uniformly arranged；Axis (3482) is vertically set on the end face of " L " type collet (3481) short side, the axis of bearing (3483) suit
(3482) on, bearing (3483) is embedded in the kidney slot (3451) on rotating disk (345), the kidney slot in rotating disk (345)
(3451) along the circumferential direction and be located at the edge of rotating disk (345), the quantity of the kidney slot (3451) in rotating disk (345) with
" L " type collet (3481) quantity is equal；All " L " type collet (3481) long sides surround one can clamping body and assembling assembly
Clamping element.
5. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as described in claim 1, which is characterized in that translation disk
(442) sliding slot on surface is uniformly arranged, and the section of sliding slot is at trapezoidal.
6. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as described in claim 1, which is characterized in that outer ring is leaned on
The one circle annular convex platform of middle and upper part evagination setting of the outer surface of mould (42), radial column (444) are vertically set on annular convex platform
On outer surface.
7. the magnetic shoe circlip based on tow-armed robot structure is embedded in unit as claimed in claim 6, which is characterized in that convex annular
Platform is located at the quartering position of outer ring pattern (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811277485.3A CN109194054A (en) | 2018-10-30 | 2018-10-30 | A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811277485.3A CN109194054A (en) | 2018-10-30 | 2018-10-30 | A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure |
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| Publication Number | Publication Date |
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| CN109194054A true CN109194054A (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811277485.3A Pending CN109194054A (en) | 2018-10-30 | 2018-10-30 | A kind of embedded unit of the magnetic shoe circlip based on tow-armed robot structure |
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| CN (1) | CN109194054A (en) |
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|---|---|---|---|---|
| CN110571984A (en) * | 2019-08-28 | 2019-12-13 | 中车洛阳机车有限公司 | Motor dismouting auxiliary device |
| CN114759747A (en) * | 2022-03-30 | 2022-07-15 | 江苏烽禾升智能科技有限公司 | Motor rotor magnetic shoe assembling system |
| CN114759747B (en) * | 2022-03-30 | 2023-12-26 | 江苏烽禾升智能科技有限公司 | Motor rotor magnetic shoe assembling system |
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