CN110497430A - A kind of Multi-station precision manipulator - Google Patents
A kind of Multi-station precision manipulator Download PDFInfo
- Publication number
- CN110497430A CN110497430A CN201910844219.2A CN201910844219A CN110497430A CN 110497430 A CN110497430 A CN 110497430A CN 201910844219 A CN201910844219 A CN 201910844219A CN 110497430 A CN110497430 A CN 110497430A
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- clamping
- sliding block
- manipulator
- longitudinal
- block
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- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Multi-station precision manipulators, including manipulator stationary platen, longitudinal movement arm and servo longitudinal motor, ball screw is installed on servo longitudinal motor, the end face of manipulator stationary platen is equipped with bearing block, one end of ball screw is installed on bearing block, first sliding block is fixedly connected with vertical plate, clamping servomotor motor is installed on vertical plate, gripper and feed screw nut, ball screw is combined in feed screw nut, driving gear is installed on the output shaft of clamping servomotor motor, driving gear drives left clamping to fan tooth by gripper engagement, left clamping fan tooth engagement connects right clamping and fans tooth, it is left, follower block is fixedly installed on right sliding block, follower block is equipped with the guide rod for installs fixture, spring is arranged on guide rod；Longitudinal movement arm is installed on the sliding block being slidably connected with second group of longitudinal rail, and cross slide way is equipped in longitudinal movement arm, and left slider, right sliding block are slidably mounted on cross slide way.
Description
Technical field
The present invention relates to manipulator technical field, specially a kind of Multi-station precision manipulator.
Background technique
As economic continuous development and scientific and technological are constantly progressive, emerge rapidly and provide for automated production manufacturing
One good development platform.In automated production manufacturing, in order to guarantee the high-precision, high quality, high efficiency of product
It is required that correspondingly, applied in automated production manufacturing various units or machine must be able to reach requirement.
Manipulator plays an important role in automatic processing machine tool, it is usually to drive mechanical arm by mechanical driving device
Movement come what is realized, multi-station manipulator clamp arm is usually mounted on multiple sliding blocks in the prior art, complicated integral structure and
It is not easy to control.
Summary of the invention
The purpose of the present invention is to provide a kind of Multi-station precision manipulators, and the movement by controlling left and right sliding block is realized
Adjustment for clamp working-station, convenient for control；The movement of longitudinal direction is completed by linear guide simultaneously, avoids machinery
Hand deforms since brachium is too long, keeps the stability of overall structure work, be particularly suitable for clamping long and narrow, station mostly with
And the workpiece that required precision is high；In addition, the adaptability for improving fixture by the way that spring is arranged on guide rod, when clamping smaller size
When workpiece, spring pop-up provides the clamping that enough chucking powers realize workpiece；It, can when clamping the workpiece or the excess of stroke of larger size
The clamping force kept constant prevents workpiece to be damaged, and solves the problems of the prior art.
To achieve the above object, the invention provides the following technical scheme:
A kind of Multi-station precision manipulator, including manipulator stationary platen, longitudinal movement arm and it is installed on manipulator fixed station
Servo longitudinal motor below plate is equipped with ball screw, the end of the manipulator stationary platen on the servo longitudinal motor
Face is equipped with bearing block, and one end of the ball screw is installed on the bearing block, the lower end surface of the manipulator stationary platen
Equipped with first group of longitudinal rail for installing the first sliding block, it is additionally provided on the manipulator stationary platen and is indulged with described first group
Second group of parallel longitudinal rail of direction guiding rail, first sliding block are fixedly connected with vertical plate, are equipped with clamping on the vertical plate and watch
Motor, gripper and feed screw nut are taken, the ball screw is combined in the feed screw nut, the clamping servomotor motor
Output shaft on driving gear is installed, the end face of the driving gear is equipped with for providing the swing arm knot of signal to sensor
Structure, the driving gear drive left clamping to fan tooth by gripper engagement, and the left clamping fan tooth engagement connects right clamping fan
Tooth, the left clamping fan tooth, the right clamping fan tooth upper end and are respectively equipped with the first allocating slot, the second allocating slot, first allocating slot, the
Two allocating slots are respectively used to clamping the first connecting shaft, the second connecting shaft, and first connecting shaft, the second connecting shaft are respectively arranged in a left side
On sliding block, right sliding block, follower block is fixedly installed on the left slider and the right sliding block, the follower block is equipped with for pacifying
The guide rod of clamps, spring is arranged on the guide rod, and the fixture lower end is equipped with the manipulator stationary plane for supporting workpiece
Plate；The longitudinal movement arm is installed on the sliding block being slidably connected with second group of longitudinal rail, installation in the longitudinal movement arm
There is cross slide way, the left slider, the right sliding block are slidably mounted on the cross slide way.
Further, the follower block is fixedly installed on the left slider and the right sliding block respectively by screw.
The working principle of the invention and the course of work are as follows: servo longitudinal, which electrically activates, drives ball screw rotation, makes to be mounted on
For clamp system on longitudinal movement arm along second group of longitudinal rail movement, clamping servomotor motor driven driving gear engages clamping tooth
Wheel, driving left and right clamping to fan by gripper, tooth is opposite or opposite direction acts, and realizes left slider, right sliding block phase each other
Mutually close and separate, when being located remotely from each other, fixture unclamps, clamp when close to each other；Letter is provided using swing arm for sensor
Number, the working condition of fixture is identified and detected, when detecting that fixture is in clamped condition, servo longitudinal motor is driven
Rolling lead screw movement, and then realize that entire fixture is mobile, clamped workpiece is moved to default station, after completing corresponding process
Clamping servomotor motor reversal decontrols workpiece, and servo longitudinal motor reversal retracts original position.
A kind of Multi-station precision manipulator provided by the present invention, the movement by controlling left and right sliding block are realized for folder
Has the adjustment of working condition, convenient for control；The movement of longitudinal direction simultaneously is carried out by the ball wire bar pair that servo motor drives
Accurate control, and be oriented to by linear guide, it avoids manipulator and deforms since brachium is too long, keep overall structure
The stability and mobile accuracy of work are particularly suitable for clamping the workpiece that long and narrow, station is more and required precision is high；In addition, logical
It crosses and the adaptability that spring improves fixture is set on guide rod, when clamping the workpiece of smaller size, spring pop-up provides folder enough
The clamping of holding force realization workpiece；When clamping the workpiece or the excess of stroke of larger size, the clamping force that can be kept constant prevents workpiece
It is damaged；Signal is provided for sensor using swing arm, the working condition of fixture is identified and detected, high degree of automation,
Solve the problems of the prior art.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is C-C cross-sectional view in Fig. 1.
Fig. 3 is sectional perspective structural schematic diagram of the invention.
Fig. 4 is partial enlarged view at A in Fig. 3.
In figure: 10, manipulator stationary platen；20, longitudinal movement arm；30, servo longitudinal motor；40, ball screw；50,
First group of longitudinal rail；60, vertical plate；70, second group of longitudinal rail；80, fixture；90, workpiece；100, the fixed panel of manipulator；
11, bearing block；12, the first sliding block；21, cross slide way；41, feed screw nut；61, clamping servomotor motor；62, gripper；63,
Driving gear；64, tooth is fanned in left clamping；641, the first allocating slot；642, the first connecting shaft；65, tooth is fanned in right clamping；651, second group
Slot；652, the second connecting shaft；66, left slider；67, right sliding block；68, follower block；681, guide rod；682, spring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention proposes a kind of Multi-station precision manipulator, including manipulator stationary platen 10, longitudinal direction
Movement arm 20 and the servo longitudinal motor 30 for being installed on the lower section of manipulator stationary platen 10 are equipped on servo longitudinal motor 30
The end face of ball screw 40, manipulator stationary platen 10 is equipped with bearing block 11, and one end of ball screw 40 is installed on bearing block 11
On, the lower end surface of manipulator stationary platen 10 is equipped with first group of longitudinal rail 50 for installing the first sliding block 12, and manipulator is solid
Determine to be additionally provided with the second group longitudinal rail 70 parallel with first group of longitudinal rail 50 on platen 10, the first sliding block 12 is fixedly connected with
Vertical plate 60 is equipped with clamping servomotor motor 61, gripper 62 and feed screw nut 41 on vertical plate 60, and ball screw 40 is combined on
In feed screw nut 41, driving gear 63 is installed on the output shaft of clamping servomotor motor 61, the end face of driving gear 63, which is equipped with, to be used
In providing the swing arm structure 631 of signal to sensor 632, driving gear 63 drives left clamping to fan tooth by the engagement of gripper 62
64, the left clamping fan engagement of tooth 64 connects right clamping and fans tooth 65, and left clamping fan tooth 64, right clamping fan 65 upper end of tooth are respectively equipped with first
Allocating slot 641, the second allocating slot 651, the first allocating slot 641, the second allocating slot 651 are respectively used to clamping the first connecting shaft 642, second connection
Axis 652, the first connecting shaft 642, the second connecting shaft 652 are respectively arranged in left slider 66, on right sliding block 67, left slider 66 and right cunning
Follower block 68 is fixedly installed on block 67, follower block 68 is equipped with the guide rod 681 for installs fixture 80, is arranged on guide rod 681
There is spring 682,80 lower end of fixture is equipped with the fixed panel 100 of the manipulator for supporting workpiece 90；Longitudinal movement arm 20 is installed on
On the sliding block being slidably connected with second group of longitudinal rail 70, cross slide way 21, left slider 66, the right side are installed in longitudinal movement arm 20
Sliding block 67 is slidably mounted on cross slide way 21.
Further, follower block 68 is fixedly installed on left slider 66 and right sliding block 67 respectively by screw.
A kind of Multi-station precision manipulator provided by the present invention, the movement by controlling left and right sliding block are realized for folder
Has the adjustment of working condition, convenient for control；The movement of longitudinal direction simultaneously is carried out by the ball wire bar pair that servo motor drives
Accurate control, and be oriented to by linear guide, it avoids manipulator and deforms since brachium is too long, keep overall structure
The stability and mobile accuracy of work are particularly suitable for clamping the workpiece that long and narrow, station is more and required precision is high；In addition, logical
It crosses and the adaptability that spring improves fixture is set on guide rod, when clamping the workpiece of smaller size, spring pop-up provides folder enough
The clamping of holding force realization workpiece；When clamping the workpiece or the excess of stroke of larger size, the clamping force that can be kept constant prevents workpiece
It is damaged；Signal is provided for sensor using swing arm, the working condition of fixture is identified and detected, high degree of automation,
Solve the problems of the prior art.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (2)
1. a kind of Multi-station precision manipulator, which is characterized in that including manipulator stationary platen, longitudinal movement arm and be installed on
Servo longitudinal motor below manipulator stationary platen is equipped with ball screw, the manipulator on the servo longitudinal motor
The end face of stationary platen is equipped with bearing block, and one end of the ball screw is installed on the bearing block, and the manipulator is fixed
The lower end surface of platen is equipped with for install first group of longitudinal rail of the first sliding block, be additionally provided on the manipulator stationary platen and
Second group of parallel longitudinal rail of first group of longitudinal rail, first sliding block are fixedly connected with vertical plate, on the vertical plate
Clamping servomotor motor, gripper and feed screw nut are installed, the ball screw is combined in the feed screw nut, described
Driving gear is installed, the end face of the driving gear is equipped with for providing letter to sensor on the output shaft of clamping servomotor motor
Number swing arm structure, the driving gear passes through gripper engagement and left clamping driven to fan tooth, and tooth engagement company is fanned in the left clamping
Right clamping fan tooth is connect, the left clamping fan tooth, the right clamping fan tooth upper end are respectively equipped with the first allocating slot, the second allocating slot, described
First allocating slot, the second allocating slot are respectively used to clamping the first connecting shaft, the second connecting shaft, first connecting shaft, the second connecting shaft
It is respectively arranged in left slider, on right sliding block, is fixedly installed with follower block, the follower block on the left slider and the right sliding block
It is equipped with the guide rod for installs fixture, spring is arranged on the guide rod, the fixture lower end is equipped with for supporting workpiece
Manipulator fixes panel；The longitudinal movement arm is installed on the sliding block being slidably connected with second group of longitudinal rail, the longitudinal direction
Cross slide way is installed, the left slider, the right sliding block are slidably mounted on the cross slide way in movement arm.
2. a kind of Multi-station precision manipulator as described in claim 1, which is characterized in that the follower block is distinguished by screw
It is fixedly installed on the left slider and the right sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910844219.2A CN110497430B (en) | 2019-09-07 | 2019-09-07 | Multi-station precision manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910844219.2A CN110497430B (en) | 2019-09-07 | 2019-09-07 | Multi-station precision manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110497430A true CN110497430A (en) | 2019-11-26 |
| CN110497430B CN110497430B (en) | 2024-03-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910844219.2A Active CN110497430B (en) | 2019-09-07 | 2019-09-07 | Multi-station precision manipulator |
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| Country | Link |
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| CN (1) | CN110497430B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111906045A (en) * | 2020-08-10 | 2020-11-10 | 瑞轩自动化科技(扬州)有限公司 | Automatic alarm type strength detection system of precision workpiece assembly line |
| CN111922756A (en) * | 2020-08-13 | 2020-11-13 | 江西工控智能科技有限公司 | Automatic clamping anchor clamps of aluminium alloy processing usefulness |
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| CN103128590A (en) * | 2013-03-12 | 2013-06-05 | 宁夏巨能机器人系统有限公司 | Drawer bin purely mechanical type capturing location device |
| CN103128358A (en) * | 2013-02-01 | 2013-06-05 | 黄建滨 | Section bar cutting machine capable of cutting tailing |
| DE202015103174U1 (en) * | 2015-06-17 | 2015-06-29 | Wen-Hsiang Chou | Improved positioning of the screw rod of clamp holders |
| CN205438607U (en) * | 2016-03-31 | 2016-08-10 | 广西师范大学 | Manipulator clamping device |
| CN107471132A (en) * | 2017-09-04 | 2017-12-15 | 宝鸡市泰得工贸有限公司 | The clamp fixture clamped for machining long workpieces |
| CN109158815A (en) * | 2018-10-18 | 2019-01-08 | 徐媛滨 | A kind of square pipe welded gear clamper |
| CN209050634U (en) * | 2018-10-09 | 2019-07-02 | 江苏亿斯赛尔自动化科技有限公司 | A kind of driving clamping device |
| CN210500311U (en) * | 2019-09-07 | 2020-05-12 | 温州市皓丰机械有限公司 | Multi-station precision manipulator |
-
2019
- 2019-09-07 CN CN201910844219.2A patent/CN110497430B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128358A (en) * | 2013-02-01 | 2013-06-05 | 黄建滨 | Section bar cutting machine capable of cutting tailing |
| CN103128590A (en) * | 2013-03-12 | 2013-06-05 | 宁夏巨能机器人系统有限公司 | Drawer bin purely mechanical type capturing location device |
| DE202015103174U1 (en) * | 2015-06-17 | 2015-06-29 | Wen-Hsiang Chou | Improved positioning of the screw rod of clamp holders |
| CN205438607U (en) * | 2016-03-31 | 2016-08-10 | 广西师范大学 | Manipulator clamping device |
| CN107471132A (en) * | 2017-09-04 | 2017-12-15 | 宝鸡市泰得工贸有限公司 | The clamp fixture clamped for machining long workpieces |
| CN209050634U (en) * | 2018-10-09 | 2019-07-02 | 江苏亿斯赛尔自动化科技有限公司 | A kind of driving clamping device |
| CN109158815A (en) * | 2018-10-18 | 2019-01-08 | 徐媛滨 | A kind of square pipe welded gear clamper |
| CN210500311U (en) * | 2019-09-07 | 2020-05-12 | 温州市皓丰机械有限公司 | Multi-station precision manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111906045A (en) * | 2020-08-10 | 2020-11-10 | 瑞轩自动化科技(扬州)有限公司 | Automatic alarm type strength detection system of precision workpiece assembly line |
| CN111906045B (en) * | 2020-08-10 | 2022-02-15 | 瑞轩自动化科技(扬州)有限公司 | Automatic alarm type strength detection system of precision workpiece assembly line |
| CN111922756A (en) * | 2020-08-13 | 2020-11-13 | 江西工控智能科技有限公司 | Automatic clamping anchor clamps of aluminium alloy processing usefulness |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110497430B (en) | 2024-03-15 |
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