CN110497430B - Multi-station precision manipulator - Google Patents
Multi-station precision manipulator Download PDFInfo
- Publication number
- CN110497430B CN110497430B CN201910844219.2A CN201910844219A CN110497430B CN 110497430 B CN110497430 B CN 110497430B CN 201910844219 A CN201910844219 A CN 201910844219A CN 110497430 B CN110497430 B CN 110497430B
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- CN
- China
- Prior art keywords
- sliding block
- clamping
- longitudinal
- servo motor
- manipulator
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- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction 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
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention discloses a multi-station precision manipulator which comprises a manipulator fixing platen, a longitudinal moving arm and a longitudinal servo motor, wherein a ball screw is arranged on the longitudinal servo motor, a bearing seat is arranged on the end face of the manipulator fixing platen, one end of the ball screw is arranged on the bearing seat, a first sliding block is fixedly connected with a vertical plate, a clamping servo motor, a clamping gear and a screw nut are arranged on the vertical plate, the ball screw is screwed in the screw nut, a driving gear is arranged on an output shaft of the clamping servo motor, the driving gear drives a left clamping sector tooth through the meshing of the clamping gear, the left clamping sector tooth is meshed with a right clamping sector tooth, a follow-up block is fixedly arranged on the left sliding block and the right sliding block, a guide rod for installing a clamp is arranged on the follow-up block, and a spring is sleeved on the guide rod; the longitudinal moving arm is arranged on a sliding block which is in sliding connection with the second group of longitudinal guide rails, a transverse guide rail is arranged in the longitudinal moving arm, and the left sliding block and the right sliding block are arranged on the transverse guide rail in a sliding manner.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multi-station precision manipulator.
Background
Along with the continuous development of economy and the continuous progress of technology, a good development platform is provided for the rapid rise of the automatic production and manufacturing industry. In the automated manufacturing industry, in order to ensure high precision, high quality, and high efficiency requirements of products, various devices, apparatuses, or machines applied in the automated manufacturing industry must meet the requirements accordingly.
The manipulator plays an important role in automatic processing machinery, and is generally realized by driving the manipulator to move by a mechanical transmission device, wherein a multi-station manipulator clamping arm in the prior art is usually arranged on a plurality of sliding blocks, and the whole structure is complex and inconvenient to control.
Disclosure of Invention
The invention aims to provide a multi-station precision manipulator which can adjust the working state of a clamp by controlling the movement of a left sliding block and a right sliding block, so that the control is convenient; meanwhile, the movement in the longitudinal direction is completed through the linear guide rail, so that the manipulator is prevented from deforming due to overlong arm length, the working stability of the whole structure is maintained, and the device is particularly suitable for clamping long and narrow workpieces with multiple stations and high precision requirements; in addition, the adaptability of the clamp is improved by arranging the spring on the guide rod, and when a workpiece with a smaller size is clamped, the spring ejects to provide enough clamping force to clamp the workpiece; when clamping a workpiece with a larger size or overtravel, constant clamping force can be maintained to prevent the workpiece from being damaged, and the problem in the prior art is solved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides a multistation precision mechanical arm, includes manipulator fixed platen, vertical movable arm and installs the vertical servo motor in manipulator fixed platen below, install ball screw on the vertical servo motor, the terminal surface of manipulator fixed platen is equipped with the bearing frame, ball screw's one end install in on the bearing frame, the lower terminal surface of manipulator fixed platen is equipped with the first group longitudinal rail that is used for installing first slider, still be equipped with on the manipulator fixed platen with the parallel second group longitudinal rail of first group longitudinal rail, first slider fixedly connected with riser, install clamp servo motor, clamp gear and screw nut on the riser, install the driving gear on clamp servo motor's the output shaft, the terminal surface of driving gear is equipped with the swing arm structure that is used for providing the signal for the sensor, the driving gear is through the meshing of clamp gear drive left side centre gripping tooth, left side centre gripping tooth meshing connection right side centre gripping sector tooth, left side centre gripping sector tooth, right side centre gripping tooth upper end respectively is equipped with first draw-in groove, second draw-in groove, be equipped with on the left side centre gripping tooth upper end is equipped with first draw-in groove, the second is equipped with on the slider is equipped with the second axial connection with on the slider, the first sliding block is equipped with a left side, be used for connecting with the slider, the fixed connection is equipped with the second axial connection with the slider, the sliding block is equipped with on the first sliding block is equipped with, the fixed connection with the side axial connection has, and a left side is equipped with the first sliding block is used for connecting with the sliding block, and is equipped with the fixed connection with the side and has the side groove; the longitudinal moving arm is arranged on a sliding block which is in sliding connection with the second group of longitudinal guide rails, a transverse guide rail is arranged in the longitudinal moving arm, and the left sliding block and the right sliding block are in sliding connection with the transverse guide rail.
Further, the follow-up block is fixedly mounted on the left sliding block and the right sliding block respectively through screws.
The working principle and the working process of the invention are as follows: the longitudinal servo electric start drives the ball screw to rotate, so that a clamping mechanism arranged on the longitudinal moving arm moves along a second group of longitudinal guide rails, the clamping servo motor drives the driving gear to engage with the clamping gear, and the left clamping sector gear and the right clamping sector gear are driven to act in opposite directions or opposite directions through the clamping gear, so that the left sliding block and the right sliding block are mutually close to and far away from each other, when the left sliding block and the right sliding block are mutually far away from each other, the clamp is loosened, and when the left sliding block and the right sliding block are mutually close to each other, the clamp is clamped; the swing arm is utilized to provide signals for the sensor, the working state of the clamp is identified and detected, when the clamp is detected to be in a clamping state, the longitudinal servo motor drives the rolling screw rod to move, the whole clamp is further moved, the clamped workpiece is moved to a preset station, the clamp servo motor is reversely rotated to release the workpiece after the corresponding working procedure is completed, and the longitudinal servo motor is reversely rotated to return to the original position.
According to the multi-station precision manipulator provided by the invention, the adjustment of the working state of the clamp is realized by controlling the movement of the left sliding block and the right sliding block, so that the control is convenient; meanwhile, the movement in the longitudinal direction is precisely controlled through a ball screw pair driven by a servo motor and guided by a linear guide rail, so that the manipulator is prevented from deforming due to overlong arm length, the working stability and the moving precision of the whole structure are maintained, and the device is particularly suitable for clamping long and narrow workpieces with multiple stations and high precision requirements; in addition, the adaptability of the clamp is improved by arranging the spring on the guide rod, and when a workpiece with a smaller size is clamped, the spring ejects to provide enough clamping force to clamp the workpiece; when clamping a workpiece with a larger size or overtravel, constant clamping force can be maintained to prevent the workpiece from being damaged; the swing arm is utilized to provide signals for the sensor, the working state of the clamp is identified and detected, the automation degree is high, and the problems in the prior art are solved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a cross-sectional view of fig. 1C-C.
Fig. 3 is a schematic view of a partial perspective structure of the present invention.
Fig. 4 is a partial enlarged view of fig. 3 at a.
In the figure: 10. the mechanical arm fixes the bedplate; 20. a longitudinal movement arm; 30. a longitudinal servo motor; 40. a ball screw; 50. a first set of longitudinal rails; 60. a vertical plate; 70. a second set of longitudinal rails; 80. a clamp; 90. a workpiece; 100. the manipulator fixes the panel; 11. a bearing seat; 12. a first slider; 21. a transverse guide rail; 41. a screw nut; 61. clamping a servo motor; 62. clamping the gear; 63. a drive gear; 64. left clamping sector teeth; 641. a first poking groove; 642. a first connecting shaft; 65. right clamping sector teeth; 651. a second poking groove; 652. a second connecting shaft; 66. a left slider; 67. a right slider; 68. a follower block; 681. a guide rod; 682. and (3) a spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, the present invention provides a multi-station precision manipulator, which comprises a manipulator fixed platen 10, a longitudinal moving arm 20, and a longitudinal servo motor 30 installed below the manipulator fixed platen 10, wherein a ball screw 40 is installed on the longitudinal servo motor 30, a bearing seat 11 is provided on an end surface of the manipulator fixed platen 10, one end of the ball screw 40 is installed on the bearing seat 11, a first group of longitudinal guide rails 50 for installing a first slider 12 is provided on a lower end surface of the manipulator fixed platen 10, a second group of longitudinal guide rails 70 parallel to the first group of longitudinal guide rails 50 is also provided on the manipulator fixed platen 10, the first slider 12 is fixedly connected with a vertical plate 60, a clamping servo motor 61, a clamping gear 62 and a screw nut 41 are installed on the vertical plate 60, the ball screw 40 is screwed in the screw nut 41, a driving gear 63 is installed on an output shaft of the clamping servo motor 61, the end face of the driving gear 63 is provided with a swing arm structure 631 for providing signals for the sensor 632, the driving gear 63 drives the left clamping sector gear 64 in a meshed manner through the clamping gear 62, the left clamping sector gear 64 is connected with the right clamping sector gear 65 in a meshed manner, the upper ends of the left clamping sector gear 64 and the right clamping sector gear 65 are respectively provided with a first poking groove 641 and a second poking groove 651, the first poking groove 641 and the second poking groove 651 are respectively used for clamping a first connecting shaft 642 and a second connecting shaft 652, the first connecting shaft 642 and the second connecting shaft 652 are respectively arranged on the left sliding block 66 and the right sliding block 67, the left sliding block 66 and the right sliding block 67 are fixedly provided with a follow-up block 68, the follow-up block 68 is provided with a guide rod 681 for installing a clamp 80, the guide rod 681 is sleeved with a spring 682, and the lower end of the clamp 80 is provided with a manipulator fixing panel 100 for supporting a workpiece 90; the longitudinal moving arm 20 is mounted on a slide block which is slidably connected with the second group of longitudinal guide rails 70, the transverse guide rail 21 is mounted in the longitudinal moving arm 20, and the left slide block 66 and the right slide block 67 are slidably mounted on the transverse guide rail 21.
Further, the follower blocks 68 are fixedly mounted on the left slider 66 and the right slider 67, respectively, by screws.
According to the multi-station precision manipulator provided by the invention, the adjustment of the working state of the clamp is realized by controlling the movement of the left sliding block and the right sliding block, so that the control is convenient; meanwhile, the movement in the longitudinal direction is precisely controlled through a ball screw pair driven by a servo motor and guided by a linear guide rail, so that the manipulator is prevented from deforming due to overlong arm length, the working stability and the moving precision of the whole structure are maintained, and the device is particularly suitable for clamping long and narrow workpieces with multiple stations and high precision requirements; in addition, the adaptability of the clamp is improved by arranging the spring on the guide rod, and when a workpiece with a smaller size is clamped, the spring ejects to provide enough clamping force to clamp the workpiece; when clamping a workpiece with a larger size or overtravel, constant clamping force can be maintained to prevent the workpiece from being damaged; the swing arm is utilized to provide signals for the sensor, the working state of the clamp is identified and detected, the automation degree is high, and the problems in the prior art are solved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The multi-station precision manipulator is characterized by comprising a manipulator fixing platen, a longitudinal moving arm and a longitudinal servo motor arranged below the manipulator fixing platen, wherein a ball screw is arranged on the longitudinal servo motor, a bearing seat is arranged on the end face of the manipulator fixing platen, one end of the ball screw is arranged on the bearing seat, a first group of longitudinal guide rails for installing a first sliding block is arranged on the lower end face of the manipulator fixing platen, a second group of longitudinal guide rails parallel to the first group of longitudinal guide rails are further arranged on the manipulator fixing platen, the first sliding block is fixedly connected with a vertical plate, a clamping servo motor, a clamping gear and a screw nut are arranged on the vertical plate, a driving gear is arranged on an output shaft of the clamping servo motor, the end face of the driving gear is provided with a swing arm structure for providing signals for a sensor, the driving gear is meshed with a left clamping sector tooth through the clamping gear, the left clamping sector tooth is meshed with a right sector tooth, the left clamping sector tooth is respectively provided with a first clamping groove, the right clamping sector tooth is respectively provided with a second clamping groove, a second clamping groove is respectively arranged on the left clamping sector tooth, a second clamping groove is respectively connected with a first sliding block, a second sliding block is connected with a second sliding block is arranged on the sliding block, a second sliding block is connected with a sliding block, and a driving block is connected with a driving gear, and a driving gear is driven by a driving gear; the longitudinal moving arm is arranged on a sliding block which is in sliding connection with the second group of longitudinal guide rails, a transverse guide rail is arranged in the longitudinal moving arm, and the left sliding block and the right sliding block are in sliding connection with the transverse guide rail.
2. The multi-station precision manipulator according to claim 1, wherein the follower blocks are fixedly mounted on the left slider and the right slider respectively by screws.
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 CN110497430A (en) | 2019-11-26 |
| CN110497430B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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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 |
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| Publication number | Publication date |
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| CN110497430A (en) | 2019-11-26 |
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