CN109590995A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN109590995A CN109590995A CN201811591664.4A CN201811591664A CN109590995A CN 109590995 A CN109590995 A CN 109590995A CN 201811591664 A CN201811591664 A CN 201811591664A CN 109590995 A CN109590995 A CN 109590995A
- Authority
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- China
- Prior art keywords
- axis
- driving assembly
- guide rail
- hard disk
- axis guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000005192 partition Methods 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators, it includes cabinet, driving assembly and grabbing device, driving assembly is provided with above cabinet, driving assembly includes X to driving assembly, Y-direction driving assembly and Z-direction driving assembly, the left and right sides is provided with Y-direction driving assembly above cabinet, the top sliding of Y-direction driving assembly is provided with can be along the X that Y-axis is slided to driving assembly, and X is slided on driving assembly is provided with Z-direction driving assembly, and sliding is provided with grabbing device on Z-direction driving assembly；The present invention realizes manipulator and moves along X-axis, Y-axis and Z axis, manipulator is realized by rotating electric machine to be rotated, hard disk driving frame fixture is clamped by hard disk driving frame fixture, it realizes automation and is collected hard disk driving frame, hard disk driving frame fixture is arranged to bilayer, collection efficiency is improved, ensure that product is not damaged.
Description
Technical field
The present invention relates to a kind of manipulators, and in particular to a kind of for clamping the manipulator of hard disk driving frame.
Background technique
Hard disk driving frame in computer is a kind of component very widely used in modern electronic product, in hard drive
It in the production process of frame, needs that the hard disk driving frame processed on processing unit (plant) is clamped out and is collected, in existing skill
In art, to hard disk driving frame clamping be all by being manually collected, it is this to artificially collect mode not only inefficiency, gathering speed
It is difficult to ensure, and is easy to scratch inside the aperture by product.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of manipulator, hard disk in the prior art is solved
Bogie is unable to that automatically collecting, collection efficiency be low and the vulnerable problem of product.
The technical scheme adopted by the invention is that: a kind of manipulator comprising cabinet, driving assembly and grabbing device, institute
It states and is provided with driving assembly above cabinet, the driving component includes X to driving assembly, Y-direction driving assembly and Z-direction driving group
Part, the cabinet top left and right sides are provided with Y-direction driving assembly, and Y-direction driving assembly top sliding is provided with can be along Y-axis
For the X of sliding to driving assembly, the X is slided on driving assembly is provided with Z-direction driving assembly, sliding on the Z-direction driving assembly
Dynamic to be provided with grabbing device, the grabbing device includes the handgrip for grabbing bar and being connected with crawl bar, the crawl bar upper end
It is connected with Z-direction driving assembly, the handgrip includes adapter, rotating electric machine, clamp connecting plate and hard disk driving frame fixture, is led to
The adapter connection crawl bar and rotating electric machine are crossed, is provided with clamp connecting plate below the rotating electric machine, the fixture connects
Hard disk driving frame fixture is provided with below fishplate bar.
Preferably, partition is provided among the cabinet, the partition divides the chassis into ante-chamber and back cavity, the machinery
Hand is arranged in ante-chamber, and the back cavity is provided with numerical control processing apparatus, several slots are provided among the partition.
Preferably, the Y-direction driving assembly includes the Y-axis guide rail being symmetricly set at left and right sides of enclosure top, two Y
Sliding is provided with Y-axis sliding block on axis rail, and wherein one end is equipped with and the matched y-axis motor of Y-axis guide rail on the right side of the Y-axis guide rail.
Preferably, the X to driving assembly include the X-axis connecting plate being arranged in above Y-axis sliding block, the X-axis connecting plate
Top is provided with the first X-axis guide rail, and sliding is provided with the first X-axis slide block, first X-axis guide rail in first X-axis guide rail
Wherein one end is equipped with and the matched X-axis motor of the first X-axis guide rail.
Preferably, the Z-direction driving assembly includes the Z axis guide rail being arranged in the first X-axis slide block, in the Z axis guide rail
Sliding is provided with Z axis sliding block, is equipped with above the Z axis guide rail and erects with the matched Z axis motor of Z axis guide rail, the Z axis sliding block lower section
It is directly provided with crawl bar, is provided with handgrip below the crawl bar.
Preferably, the hard disk driving frame fixture is set as inverted L shape comprising upper layer fixture and lower layer's fixture, it is described on
Fixture partition is provided among layer fixture and lower layer's fixture, lower layer's clamp base clamps hard disk driving frame metallic support position
It is set as triangle, lower layer's clamp base clamping hard disk driving frame coil position is set as semicircle.
Preferably, it is provided with the second X-axis guide rail below first X-axis guide rail, the is arranged with outside second X-axis guide rail
Two X-axis slide blocks.
Preferably, workbench is provided with below the hard disk driving frame fixture, there are six works for setting above the workbench
, hard disk driving frame to be collected is provided on the station.
Preferably, the left and right sides is provided with the placement platform for placing hard disk driving frame, the placement above the workbench
Platform is fixed at left and right sides of cabinet by platform connecting column, is provided with rack on each placement platform.
Preferably, the rack on each placement platform is provided with 6 groups altogether, and the rack includes arranged side by side
One thick collection column and one thin collection column.
The beneficial effect that the present invention reaches is: the present invention provides a kind of manipulators, by the way that X is arranged to driving assembly, Y-direction
Driving assembly and Z-direction driving assembly realize manipulator and are moved along X-axis, Y-axis and Z axis, realize machine by rotating electric machine
Tool hand is rotated, and is clamped by hard disk driving frame fixture to hard disk driving frame fixture, realizes automation and carries out
Hard disk driving frame is collected, hard disk driving frame fixture is arranged to bilayer, improves collection efficiency, ensure that product is not damaged.
Detailed description of the invention
The following further describes the present invention with reference to the drawings,
Fig. 1 is the schematic perspective view of manipulator of the present invention；
Fig. 2 is the main view of manipulator of the present invention；
Fig. 3 is the front view of cabinet of the present invention；
Fig. 4 is the rearview of cabinet of the present invention；
Fig. 5 is the schematic perspective view of grabbing device of the present invention；
Fig. 6 is the schematic perspective view of hard disk driving frame fixture of the present invention；
Fig. 7 is the schematic perspective view of hard disk driving frame of the present invention；
Wherein, 1, cabinet, 11, partition, 12, ante-chamber, 13, back cavity, 14, slot, 2, driving assembly, 21, X to driving assembly,
211, X-axis connecting plate, the 212, first X-axis guide rail, the 213, first X-axis slide block, 214, X-axis motor, the 215, second X-axis guide rail,
216, the second X-axis slide block, 22, Y-direction driving assembly, 221, Y axis rail, 222, Y-axis sliding block, 223, y-axis motor, 23, Z-direction drive
Dynamic component, 231, Z axis guide rail, 232, Z axis sliding block, 233, Z axis motor, 3, grabbing device, 31, crawl bar, 32, handgrip, 321,
Adapter, 322, rotating electric machine, 323, clamp connecting plate, 324, hard disk driving frame fixture, 3241, upper layer fixture, 3242, lower layer
Fixture, 3243, fixture partition, 4, workbench, 41, station, 42, hard disk driving frame, 5, placement platform, 51, platform connecting column,
52, rack, 521, slightly collect column, 522, carefully collect column.
Specific embodiment
The following further describes the specific embodiments of the present invention with reference to the drawings.
As shown in Figures 1 to 6, a kind of manipulator comprising cabinet 1, driving assembly 2 and grabbing device 3, the cabinet 1
Top is provided with driving assembly 2, and the driving component 2 includes X to driving assembly 21, Y-direction driving assembly 22 and Z-direction driving assembly
23, the 1 top left and right sides of the cabinet is provided with Y-direction driving assembly 22, and be provided with can for sliding above the Y-direction driving assembly 22
To driving assembly 21, the X is slided on driving assembly 21 and is provided with Z-direction driving assembly 23 X along Y-axis sliding, and the Z-direction is driven
Sliding is provided with grabbing device 3 on dynamic component 23, and the grabbing device 3 includes crawl bar 31 and grabs with what crawl bar 31 was connected
Hand 32,31 upper end of crawl bar are connected with Z-direction driving assembly 23, state crawl 31 lower end of bar and are connected with handgrip 32, described
Handgrip 32 includes adapter 321, rotating electric machine 322, clamp connecting plate 323 and hard disk driving frame fixture 324, passes through the switching
First 321 connection grabs bar 31 and rotating electric machine 322, is provided with clamp connecting plate 323, the folder below the rotating electric machine 322
Hard disk driving frame fixture 324 is provided with below tool connecting plate 323.
In this application, it realizes that manipulator is moved along X-axis to driving assembly 21 by X, passes through Y-direction driving assembly 22
It realizes that manipulator is moved along Y-axis, realizes that manipulator is moved along Z axis by Z-direction driving assembly 23, pass through grabbing device
3 realize that manipulator carries out spinning movement.
Preferable scheme is that being provided with partition 11 among the cabinet 1, cabinet 1 is separated into ante-chamber 12 by the partition 11
With back cavity 13, the manipulator is arranged in ante-chamber 12, and the back cavity 13 is provided with numerical control processing apparatus, sets among the partition 11
It is equipped with several slots 14.
Manipulator and numerical control processing apparatus are arranged in the same cabinet 1, facilitated to the hard disk driving frame processed
42 carry out ordered collection, and slot 14 can be used for placing required cutter etc. in production process, facilitate in production process and carry out
Storage.
Preferable scheme is that the Y-direction driving assembly 22 includes that the Y-axis being symmetricly set at left and right sides of 1 top of cabinet is led
Rail 221, sliding is provided with Y-axis sliding block 222 in two Y-axis guide rail 221,221 right side of Y-axis guide rail wherein one end be equipped with
The matched y-axis motor 223 of Y-axis guide rail 221.
Y-axis motor 223 provides Y-axis driving force, drives Y-axis sliding block 222 sliding in Y-axis guide rail 221 by y-axis motor 223
It is dynamic, it drives the X-axis connecting plate 211 that 222 top of Y-axis sliding block is set to be slided along Y-axis by Y-axis sliding block 222, realizes machine
Tool hand is moved along the y axis.
Preferable scheme is that X-axis connecting plate 211 of the X to driving assembly 21 including 222 top of Y-axis sliding block is arranged in,
The first X-axis guide rail 212 is provided with above the X-axis connecting plate 211, sliding is provided with the first X in first X-axis guide rail 212
Axis sliding block 213, wherein one end is equipped with and the matched X-axis motor 214 of the first X-axis guide rail 212 first X-axis guide rail 212.
X-axis motor 214 drives X-axis slide block 213 to slide in the first X-axis guide rail 212, is driven and is arranged by X-axis slide block 213
Z axis guide rail 231 above X-axis slide block 213 is slided along X-axis, is realized manipulator and is moved along the x axis.
Preferable scheme is that the Z-direction driving assembly 23 includes the Z axis guide rail 231 being arranged in the first X-axis slide block 213,
Sliding is provided with Z axis sliding block 232 in the Z axis guide rail 231, is equipped with above the Z axis guide rail 231 matched with Z axis guide rail 231
Z axis motor 233 is vertically arranged with crawl bar 31 below the Z axis sliding block 232, is provided with handgrip 32 below the crawl bar 31.
Z axis motor 233 drive Z axis sliding block 232 slided up and down in Z axis guide rail 231, and then by Z axis sliding block 232 drive with
The crawl bar 31 that Z axis sliding block 232 is connected is slided up and down along Z axis, and the mobile drive by grabbing bar 31 is located under crawl bar 31
The handgrip 32 of side is slided up and down along Z axis, is realized manipulator and is moved along Z-direction.
Preferable scheme is that the hard disk driving frame fixture 324 is set as inverted L shape comprising upper layer fixture 3241 is under
Layer fixture 3242, is provided with fixture partition 3243, lower layer's fixture among the upper layer fixture 3241 and lower layer's fixture 3242
3242 bottom ends are triangle, and the 3242 bottom other end of lower layer's fixture is semicircle.
Hard disk driving frame fixture 324 is arranged to the shape of hard disk driving frame 42,42 metal branch of hard disk driving frame will be clamped
Frame one end is put into triangle, clamping 42 coil position of hard disk driving frame is put into semicircle, by hard disk driving frame fixture 324
Be designed to this shape, ensure that hard disk driving frame 42 is not easy to loosen during clamping, facilitate to hard disk driving frame 42 into
Row ordered collection；By the way that hard disk driving frame fixture 324 is arranged to bilayer, collection efficiency is greatly improved.
Preferable scheme is that being provided with the second X-axis guide rail 215 below first X-axis guide rail 212, second X-axis is led
The second X-axis slide block 216 is arranged with outside rail 215.
Second X-axis slide block 216 is slided in the second X-axis guide rail 215, passes through the second X-axis guide rail 215 and the second X-axis slide block
216 couples of X play guiding role to driving assembly 21.
Preferable scheme is that being provided with workbench 4 below the hard disk driving frame fixture 324, set above the workbench 4
It sets there are six station 41, is provided with hard disk driving frame 42 to be collected on the station 41；The 4 top left and right sides of workbench
It is provided with the placement platform 5 for placing hard disk driving frame, the placement platform 5 is fixed on cabinet 1 or so by platform connecting column 51
Two sides are provided with rack 52 on each placement platform 5, and the rack 52 on each placement platform 5 is arranged altogether
There are 6 groups, the rack 52 includes that a thick collection column 521 being arranged side by side and one carefully collect column 522.
The hard disk driving frame 42 being located on station 41 is collected on rack 52 by manipulator, by hard disk driving frame 42
Intermediate circular hole, which covers, carefully to be collected on column 522, and the clamp hand on hard disk driving frame 42 is covered and is slightly being collected on column 521, ensure that hard disk
Bogie 42 is stably fixed at rack 52.
The working principle of the invention is that first the hard disk driving frame processed is placed on the station of workbench, by X to
Driving assembly realizes that manipulator is moved along X-axis, realizes that manipulator is moved along Y-axis, passes through Z by Y-direction driving assembly
It realizes that manipulator is moved along Z axis, by grabbing device realization manipulator progress spinning movement to driving assembly, will clamp hard
42 metallic support one end of dish driving frame is put into the triangle of lower layer's fixture, and clamping hard disk driving frame coil position is put into lower layer
In the semicircle of fixture, it ensure that hard disk driving frame is not easy to loosen during clamping, facilitating has hard disk driving frame
Sequence is collected；By the way that hard disk driving frame fixture is arranged to bilayer, collection efficiency is greatly improved.
The above are preferred embodiments of the present invention, is not intended to limit the present invention in any form, all foundations
Technical spirit of the invention any simple modification, equivalent change and modification made to the above embodiment, belong to inventive technique
In the range of scheme.
Claims (10)
1. a kind of manipulator, which is characterized in that it includes cabinet, driving assembly and grabbing device, is provided with above the cabinet
Driving assembly, the driving component include X to driving assembly, Y-direction driving assembly and Z-direction driving assembly, and the cabinet top is left
Right two sides are provided with Y-direction driving assembly, and be provided with can be along the X that Y-axis is slided to driving group for sliding above the Y-direction driving assembly
Part, the X is slided on driving assembly is provided with Z-direction driving assembly, and sliding is provided with crawl dress on the Z-direction driving assembly
It sets, the grabbing device includes the handgrip for grabbing bar and being connected with crawl bar, the crawl bar upper end and Z-direction driving assembly phase
Connection, the handgrip includes adapter, rotating electric machine, clamp connecting plate and hard disk driving frame fixture, is connected by the adapter
Crawl bar and rotating electric machine are connect, clamp connecting plate is provided with below the rotating electric machine, is provided with below the clamp connecting plate
Hard disk driving frame fixture.
2. a kind of manipulator according to claim 1, which is characterized in that be provided with partition among the cabinet, it is described every
Plate divides the chassis into ante-chamber and back cavity, and the manipulator is arranged in ante-chamber, and the back cavity is provided with numerical control processing apparatus, described
Several slots are provided among partition.
3. a kind of manipulator according to claim 1, which is characterized in that the Y-direction driving assembly includes being symmetricly set on
Y-axis guide rail at left and right sides of enclosure top, sliding is provided with Y-axis sliding block in two Y-axis guide rail, on the right side of the Y-axis guide rail its
Middle one end is equipped with and the matched y-axis motor of Y-axis guide rail.
4. a kind of manipulator according to claim 1, which is characterized in that the X includes that setting is sliding in Y-axis to driving assembly
X-axis connecting plate above block, the X-axis connecting plate top are provided with the first X-axis guide rail, slide and set in first X-axis guide rail
It is equipped with the first X-axis slide block, wherein one end is equipped with and the matched X-axis motor of the first X-axis guide rail first X-axis guide rail.
5. a kind of manipulator according to claim 1, which is characterized in that the Z-direction driving assembly includes being arranged in the first X
Z axis guide rail on axis sliding block, sliding is provided with Z axis sliding block in the Z axis guide rail, is equipped with above the Z axis guide rail and Z axis guide rail
Matched Z axis motor, the Z axis sliding block lower section are vertically arranged with crawl bar, are provided with handgrip below the crawl bar.
6. a kind of manipulator according to claim 1, which is characterized in that the hard disk driving frame fixture is set as inverted L shape,
It includes upper layer fixture and lower layer's fixture, and fixture partition, lower layer's folder are provided among the upper layer fixture and lower layer's fixture
Tool bottom clamping hard disk driving frame metallic support position is set as triangle, and lower layer's clamp base clamps hard drive stringing
Circle position is set as semicircle.
7. a kind of manipulator according to claim 1, which is characterized in that be provided with the 2nd X below first X-axis guide rail
Axis rail, second X-axis guide rail are arranged with the second X-axis slide block outside.
8. a kind of manipulator according to claim 1, which is characterized in that be provided with work below the hard disk driving frame fixture
Make platform, setting is provided with hard disk driving frame to be collected on the station there are six station above the workbench.
9. a kind of manipulator according to claim 8, which is characterized in that the left and right sides, which is provided with, above the workbench puts
The placement platform of hard disk driving frame is set, the placement platform is fixed at left and right sides of cabinet by platform connecting column, the placement
Rack is provided on platform.
10. a kind of manipulator according to claim 8, which is characterized in that the rack on each placement platform is total
6 groups are provided with, the rack includes a thick collection column and one thin collection column arranged side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811591664.4A CN109590995A (en) | 2018-12-25 | 2018-12-25 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811591664.4A CN109590995A (en) | 2018-12-25 | 2018-12-25 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109590995A true CN109590995A (en) | 2019-04-09 |
Family
ID=65964534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811591664.4A Pending CN109590995A (en) | 2018-12-25 | 2018-12-25 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590995A (en) |
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|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN201281589Y (en) * | 2008-09-04 | 2009-07-29 | 福群电子(深圳)有限公司 | Deflection angle measuring set |
| CN202151862U (en) * | 2011-07-04 | 2012-02-29 | 东莞市骏泰精密机械有限公司 | Carrying manipulator with baking fixture |
| CN104647369A (en) * | 2015-01-05 | 2015-05-27 | 嘉兴科瑞迪医疗器械有限公司 | Fully-automatic five-axis manipulator |
| CN204433454U (en) * | 2014-12-24 | 2015-07-01 | 霍山县祥宏齿轮配件加工厂（普通合伙） | A kind of gear rack |
| CN104802159A (en) * | 2015-04-23 | 2015-07-29 | 天长市天力液压机械有限责任公司 | Special manipulator for textile rubber rolls |
| CN205734054U (en) * | 2016-07-12 | 2016-11-30 | 浙江日发航空数字装备有限责任公司 | Flexible Manufacture cutter carrying storage device |
| CN106475841A (en) * | 2016-12-07 | 2017-03-08 | 佛山市圣特斯数控设备有限公司 | A kind of self-feeding for possessing upender and reclaimer device |
| CN106826259A (en) * | 2015-09-22 | 2017-06-13 | 德克尔马霍普夫龙滕有限公司 | Lathe, particularly many main shaft milling machines |
| CN207824508U (en) * | 2017-12-13 | 2018-09-07 | 余姚市嘉力机械设备制造有限公司 | It is provided with the lathe of built-in mechanical |
| CN207841016U (en) * | 2017-12-26 | 2018-09-11 | 深圳市勤精达自动化科技有限公司 | A kind of hard disk driving frame polishing machine |
| CN109015723A (en) * | 2018-10-22 | 2018-12-18 | 江苏昱博自动化设备有限公司 | A kind of multi-purpose machinery hand fixture |
| CN209699099U (en) * | 2018-12-25 | 2019-11-29 | 雷果科技无锡有限公司 | A kind of manipulator |
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2018
- 2018-12-25 CN CN201811591664.4A patent/CN109590995A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN201281589Y (en) * | 2008-09-04 | 2009-07-29 | 福群电子(深圳)有限公司 | Deflection angle measuring set |
| CN202151862U (en) * | 2011-07-04 | 2012-02-29 | 东莞市骏泰精密机械有限公司 | Carrying manipulator with baking fixture |
| CN204433454U (en) * | 2014-12-24 | 2015-07-01 | 霍山县祥宏齿轮配件加工厂（普通合伙） | A kind of gear rack |
| CN104647369A (en) * | 2015-01-05 | 2015-05-27 | 嘉兴科瑞迪医疗器械有限公司 | Fully-automatic five-axis manipulator |
| CN104802159A (en) * | 2015-04-23 | 2015-07-29 | 天长市天力液压机械有限责任公司 | Special manipulator for textile rubber rolls |
| CN106826259A (en) * | 2015-09-22 | 2017-06-13 | 德克尔马霍普夫龙滕有限公司 | Lathe, particularly many main shaft milling machines |
| CN205734054U (en) * | 2016-07-12 | 2016-11-30 | 浙江日发航空数字装备有限责任公司 | Flexible Manufacture cutter carrying storage device |
| CN106475841A (en) * | 2016-12-07 | 2017-03-08 | 佛山市圣特斯数控设备有限公司 | A kind of self-feeding for possessing upender and reclaimer device |
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| CN207841016U (en) * | 2017-12-26 | 2018-09-11 | 深圳市勤精达自动化科技有限公司 | A kind of hard disk driving frame polishing machine |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190409 |