CN110712022A - Clamping device - Google Patents
Clamping device Download PDFInfo
- Publication number
- CN110712022A CN110712022A CN201911032887.1A CN201911032887A CN110712022A CN 110712022 A CN110712022 A CN 110712022A CN 201911032887 A CN201911032887 A CN 201911032887A CN 110712022 A CN110712022 A CN 110712022A
- Authority
- CN
- China
- Prior art keywords
- clamping
- antenna unit
- clamping device
- bottom plate
- pushing
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aerials With Secondary Devices (AREA)
Abstract
The present invention provides a clamping device, comprising: the antenna unit component comprises a base plate, at least one clamping device and a pushing component, wherein the clamping device is used for clamping the antenna unit component, the pushing component is used for pushing the antenna unit component, one side of the base plate is provided with a connecting part used for connecting a robot arm, and the clamping device and the pushing component are arranged on the other side of the base plate. The invention has the beneficial effects that: through the design of the clamping device with the clamping equipment and the pushing and pressing component, the antenna unit assembly is automatically installed, the production efficiency is improved, and the labor intensity of workers is reduced.
Description
Technical Field
The invention relates to the technical field of antenna unit assembly installation, in particular to a clamping device.
Background
Currently, the assembly of the antenna unit assembly on the array surface is mainly manual insertion. During installation, the horn cavity of the antenna unit assembly needs to be held by hand, and 8 connectors on the back of the horn cavity are aligned and inserted into corresponding connectors on the array surface. Due to the existence of self assembly errors, 8 pairs of connectors have certain resistance to butt joint, so the end face of the opening part of the antenna unit assembly needs to be pressed by hands, and each connector can be fully inserted as much as possible. Hundreds of antenna unit assemblies are often required to be assembled on a single array surface, and after the antenna unit assemblies are installed, the antenna unit assemblies are required to be neat and consistent and cannot be extruded up, down, left and right.
The installation mode in the prior art is manual installation, and the manual labor intensity is higher.
Disclosure of Invention
The invention provides a clamping device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a clamping device, comprising: a base plate, at least one clamping device for clamping the antenna unit assembly and a pushing member for pushing the antenna unit assembly,
one side of the bottom plate is provided with a connecting part for connecting a robot arm, and the clamping device and the pushing and pressing component are arranged on the other side of the bottom plate.
The invention has the beneficial effects that: through the design of the clamping device with the clamping equipment and the pushing and pressing component, the antenna unit assembly is automatically installed, the production efficiency is improved, and the labor intensity of workers is reduced.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the clamping device comprises: the air cylinder is arranged in the middle of the bottom plate, an air source port is formed in the side wall of the air cylinder and communicated with a compressed air source through a pipeline, a sliding rail is arranged on one side of the air cylinder, and the sliding table is arranged in the sliding rail in a sliding mode.
The beneficial effect of adopting the further scheme is that: the cylinder and the pair of sliding tables are arranged, so that the clamping device can automatically clamp and install the antenna unit assembly, the automation of the clamping device is improved, the installation efficiency is improved, and the labor intensity of workers is reduced.
Further, still include: a first holding member and a second holding member for holding an antenna unit, the first holding member and the second holding member having different widths,
the first clamping part and the second clamping part are respectively and correspondingly arranged on the pair of sliding tables.
The beneficial effect of adopting the further scheme is that: the first clamping part and the second clamping part are arranged and used for moving along with the sliding table, clamping and installation of the antenna unit assembly are achieved, automation of the clamping device is improved, installation efficiency is improved, and labor intensity of workers is reduced.
Further, still include: the first rubber pad is arranged on the opposite surfaces of the first clamping component and the second clamping component respectively.
The beneficial effect of adopting the further scheme is that: the arrangement of first rubber pad prevents that the finger from causing the damage to the antenna unit subassembly, realizes the protection to loudspeaker cavity in the antenna unit subassembly.
Further, the urging member includes: the stop block is arranged on the bottom plate, a central hole is formed in the stop block, a through hole is formed in the bottom plate, the through hole and the central hole are coaxially arranged, the sliding rod is slidably inserted into the central hole and the through hole, a check ring used for preventing the stop block from sliding out is arranged at one end of the sliding rod, and the check ring is located on one side of the bottom plate; one side of the push plate is connected with the other end of the blocking rod, the spring sleeve is arranged on the side wall of the sliding rod, and the spring is located between the push plate and the blocking block.
The beneficial effect of adopting the further scheme is that: the blocking block, the sliding rod, the spring and the push plate are combined into the pushing part, and the palm of a human hand simulator is used for pressing the mouth of the horn cavity, so that the antenna unit assembly is installed.
Further, still include: the second rubber pad is arranged on the other surface of the push plate, and the push plate is provided with an opening avoiding the clamping equipment;
after the push plate is stressed, the spring is driven to displace, and the clamping equipment is exposed out of the opening or is arranged in the opening.
The beneficial effect of adopting the further scheme is that: the setting of second rubber pad realizes the buffer protection to the antenna unit subassembly, prevents that the antenna unit subassembly from receiving pressure and damaging.
Further, the bottom plate, the clamping device and the pushing component are made of aluminum alloy.
The beneficial effect of adopting the further scheme is that: the bottom plate, the clamping device and the pushing and pressing part are made of aluminum alloy, so that the weight of the clamping device is reduced, the load of the robot is reduced, and the flexibility of the robot is improved.
Further, the number of the clamping devices is multiple, and the clamping devices are arranged side by side along the horizontal direction of the bottom plate.
Further, the number of the clamping devices is multiple, and the clamping devices are arranged side by side along the vertical direction of the bottom plate.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of an antenna unit assembly.
Fig. 2 is a schematic view of an installation structure of the antenna unit assembly and the array plane.
Fig. 3 is a schematic diagram of an assembly scenario of a clamping device according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a clamping device according to an embodiment of the present invention.
Fig. 5 is a second schematic structural diagram of a clamping device according to an embodiment of the present invention.
Fig. 6 is a third schematic structural diagram of a clamping device according to an embodiment of the present invention.
Fig. 7 is a fourth schematic structural view of the clamping device according to the embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a base plate according to an embodiment of the present invention.
Fig. 9 is a second schematic structural diagram of a base plate according to an embodiment of the present invention.
Fig. 10 is a schematic structural diagram of a cylinder according to an embodiment of the present invention.
Fig. 11 is a second schematic structural diagram of a cylinder according to an embodiment of the present invention.
Fig. 12 is a third schematic structural diagram of a cylinder according to an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a first clamping member according to an embodiment of the present invention.
Fig. 14 is a second schematic structural view of the first clamping member according to the embodiment of the present invention.
Fig. 15 is a third schematic structural view of the first clamping member according to the embodiment of the present invention.
Fig. 16 is a schematic structural diagram of a second clamping member according to an embodiment of the present invention.
Fig. 17 is a second schematic structural view of the second clamping member according to the embodiment of the present invention.
Fig. 18 is a third schematic structural view of the second clamping member according to the embodiment of the present invention.
Fig. 19 is a schematic structural diagram of a barrier according to an embodiment of the present invention.
Fig. 20 is a second schematic structural view of a barrier according to an embodiment of the present invention.
Fig. 21 is a third schematic structural view of a blocking block according to an embodiment of the present invention.
Fig. 22 is a schematic structural diagram of a sliding rod according to an embodiment of the present invention.
Fig. 23 is a second schematic structural view of a sliding rod according to an embodiment of the present invention.
Fig. 24 is a schematic structural diagram of a push plate according to an embodiment of the present invention.
Fig. 25 is a second schematic structural diagram of a push plate according to an embodiment of the present invention.
The reference numbers illustrate: 1-a bottom plate; 2-an antenna element assembly; 3-a clamping device; 4-a pushing component; 5-air cylinder; 6-a sliding table; 7-gas source port; 8-a slide rail; 9-a first clamping member; 10-a second clamping member; 11-a first rubber mat; 12-a barrier; 13-a slide bar; 14-a spring; 15-push plate; 16-connectors on the array surface; 17-antenna element assembly back connector.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 25, fig. 1 is a schematic structural diagram of an antenna unit assembly. Fig. 2 is a schematic view of an installation structure of the antenna unit assembly and the array plane. Fig. 3 is a schematic diagram of an assembly scenario of a clamping device according to an embodiment of the present invention. Fig. 4 is a schematic structural diagram of a clamping device according to an embodiment of the present invention. Fig. 5 is a second schematic structural diagram of a clamping device according to an embodiment of the present invention. Fig. 6 is a third schematic structural diagram of a clamping device according to an embodiment of the present invention. Fig. 7 is a fourth schematic structural view of the clamping device according to the embodiment of the present invention. Fig. 8 is a schematic structural diagram of a base plate according to an embodiment of the present invention. Fig. 9 is a second schematic structural diagram of a base plate according to an embodiment of the present invention. Fig. 10 is a schematic structural diagram of a cylinder according to an embodiment of the present invention. Fig. 11 is a second schematic structural diagram of a cylinder according to an embodiment of the present invention. Fig. 12 is a third schematic structural diagram of a cylinder according to an embodiment of the present invention. Fig. 13 is a schematic structural diagram of a first clamping member according to an embodiment of the present invention. Fig. 14 is a second schematic structural view of the first clamping member according to the embodiment of the present invention. Fig. 15 is a third schematic structural view of the first clamping member according to the embodiment of the present invention. Fig. 16 is a schematic structural diagram of a second clamping member according to an embodiment of the present invention. Fig. 17 is a second schematic structural view of the second clamping member according to the embodiment of the present invention. Fig. 18 is a third schematic structural view of the second clamping member according to the embodiment of the present invention. Fig. 19 is a schematic structural diagram of a barrier according to an embodiment of the present invention. Fig. 20 is a second schematic structural view of a barrier according to an embodiment of the present invention. Fig. 21 is a third schematic structural view of a blocking block according to an embodiment of the present invention. Fig. 22 is a schematic structural diagram of a sliding rod according to an embodiment of the present invention. Fig. 23 is a second schematic structural view of a sliding rod according to an embodiment of the present invention. Fig. 24 is a schematic structural diagram of a push plate according to an embodiment of the present invention. Fig. 25 is a second schematic structural diagram of a push plate according to an embodiment of the present invention.
An embodiment of the present invention provides a clamping device, which includes: the antenna unit assembly comprises a base plate 1, at least one clamping device 3 used for clamping the antenna unit assembly 2 and a pushing component 4 used for pushing the antenna unit assembly 2, wherein one side of the base plate 1 is provided with a connecting part used for connecting a robot arm, and the clamping device 3 and the pushing component 4 are arranged on the other side of the base plate 1.
Through the design of the clamping device with the clamping equipment and the pushing and pressing component, the antenna unit assembly is automatically installed, the production efficiency is improved, and the labor intensity of workers is reduced.
The invention relates to the technical field of machinery, in particular to a flexible clamping device used when an antenna unit assembly is automatically assembled on a radar array surface.
In the phased array radar array surface assembling process, a large number of antenna unit assemblies are often required to be assembled. The front part of the antenna unit assemblies is of a horn-shaped structure as shown in fig. 1. During assembly, the horn cavity of the antenna unit assembly needs to be manually held, and then the connector 17 at the back of the antenna unit assembly is butted with the connector 16 on the array surface, as shown in fig. 2, the requirement on the installation accuracy is high, and good repeatability and consistency are needed.
Currently, the method for assembling the antenna unit assembly on the array surface is to insert the antenna unit assembly manually and then press the mouth of the antenna unit assembly until the connectors are fully butted. A large amount of repetitive actions are required in the whole operation process, time and labor are wasted, force control and consistency of manual operation are different, and unpredictable influence on antenna performance can be caused.
In order to solve the problems in the operation process and improve the assembly efficiency and consistency, the invention provides the flexible clamping device for the automatic assembly of the antenna unit assembly, which is used for the automatic assembly of the antenna unit assembly by an industrial robot.
The invention provides a flexible clamping device for automatically assembling antenna unit components, which mainly comprises a bottom plate, a sliding table finger cylinder (namely 2 cylinders), first clamping parts (2 cylinders), second clamping parts (2 cylinders), blocking blocks (4 cylinders), sliding rods (4 springs), push plates, rubber pads (10 cylinders) and the like. The main components of the device are made of aluminum alloy, so that the device is light in weight and reduces the load of the robot.
The base plate is mounted at the end of an industrial robot arm and is used for providing basic support for the device. The bottom plate is made of a 10mm thick aluminum plate, and a plurality of through holes and threaded holes are machined in the bottom plate and used for installing and fixing the sliding table finger cylinder and the blocking block and installing the bottom plate at the tail end of the robot arm.
The structure and principle of the robot are the prior art.
Further, the gripping device 3 comprises: cylinder 5 and a pair of slip table 6, cylinder 5 sets up the middle part of bottom plate 1, be provided with air supply port 7 on the lateral wall of cylinder 5, air supply port 7 passes through the pipeline intercommunication with compressed air source, the one side of cylinder 5 is provided with slide rail 8, and is a pair of slip table 6 slidable ground sets up in the slide rail 8.
The cylinder and the pair of sliding tables are arranged, so that the clamping device can automatically clamp and install the antenna unit assembly, the automation of the clamping device is improved, the installation efficiency is improved, and the labor intensity of workers is reduced.
One surface of the cylinder 5 can be horizontally provided with a slide rail 8, or one surface of the cylinder can be vertically provided with a slide rail. The present invention preferably places the slide rails horizontally.
Specifically, a sliding table finger cylinder (i.e., a cylinder) is installed in the middle of the bottom plate and used for installing fingers (i.e., the first clamping part 9 and the second clamping part 10) and providing clamping force for the fingers. Each sliding table finger cylinder is provided with 2 air source ports which need to be connected with a compressed air hose. There are 2 slip tables on every slip table finger cylinder, when compressed air entered from the port of difference, can make 2 slip tables remove to the centre simultaneously or remove to both sides simultaneously.
Further, still include: a first holding member 9 and a second holding member 10 for holding the antenna unit, the first holding member 9 and the second holding member 10 having different widths,
the first clamping member 9 and the second clamping member 10 are respectively provided on a pair of the slide tables 6 correspondingly.
The first clamping part and the second clamping part are arranged and used for moving along with the sliding table, clamping and installation of the antenna unit assembly are achieved, automation of the clamping device is improved, installation efficiency is improved, and labor intensity of workers is reduced.
Wherein the width of the first clamping component is larger than that of the second clamping component, the first clamping component can be a rod-shaped structure, the second clamping component can be a V-shaped structure,
specifically, first clamping part and second clamping part are installed respectively on 2 slip tables, can realize the centre gripping of antenna unit subassembly and loosen under the effect of slip table finger cylinder. Since a single antenna unit assembly is assembled by 8 horn cavities, and 4 left and 4 right antenna units are arranged alternately, the second clamping part is designed to be 2 small fingers, and the inner side surfaces of the 3 horn cavities can be clamped by using a pair of wide second clamping parts.
Further, still include: first rubber pads 11, the first rubber pads 11 being provided on the opposing surfaces of the first clamping member 9 and the second clamping member 10, respectively.
The arrangement of first rubber pad prevents that the finger from causing the damage to the antenna unit subassembly, realizes the protection to loudspeaker cavity in the antenna unit subassembly.
A rubber pad (namely, a first rubber pad) is arranged on the surface of the wide second clamping component, which is in contact with the horn cavity, so that the horn cavity is protected.
Further, the pushing member 4 includes: the anti-slipping device comprises a blocking block 12, a sliding rod 13, a spring 14 and a push plate 15, wherein the blocking block 12 is arranged on a base plate 1, a central hole is formed in the blocking block 12, a through hole is formed in the base plate 1, the through hole and the central hole are coaxially arranged, the sliding rod 13 is slidably inserted into the central hole and the through hole, a check ring for preventing the blocking block from slipping out is arranged at one end of the sliding rod 13, and the check ring is located on one side of the base plate 1; one side of the push plate 15 is connected with the other end of the blocking rod 13, the spring 14 is sleeved on the side wall of the sliding rod 13, and the spring 14 is located between the push plate 15 and the blocking block 12.
The other end of the blocking rod 13 is riveted with the push plate through a rivet, one end of the sliding rod 13 is provided with a check ring for preventing the blocking block from sliding out, and the check ring can also be a cap body or a cover body integrally arranged with the sliding rod. The function of the stop block is to stop the spring displacement.
The blocking block, the sliding rod, the spring and the push plate are combined into the pushing part, and the palm of a human hand simulator is used for pressing the mouth of the horn cavity, so that the antenna unit assembly is installed.
Specifically, the horn cavity of the antenna unit assembly is very thin, the thickness is only 0.5mm, and the horn cavity is very easy to deform, but when the antenna unit assembly is installed, 8 connectors are required to be butted with the array surface, the resistance is very large, so that the antenna unit assembly cannot be directly inserted by clamping the antenna unit assembly by the wide second clamping part, and otherwise, the horn cavity is very easy to deform. In order to solve the problem, the palm of a dummy man is used for pressing the mouth part of the horn cavity by using a spring and a push plate, so that the antenna unit assembly is installed. The specific structure implementation method comprises the following steps: the stop block is arranged on the bottom plate, the sliding rod penetrates through the center hole of the stop block and is in threaded connection with the push plate, and the spring is sleeved on the sliding rod and clamped between the push plate and the stop block; one end of the sliding rod is thick and can be clamped by the blocking block; the spring is used for providing sufficient pushing force for the push plate; the push plate can just cover the mouth parts of the 8 horn cavities.
Further, still include: the second rubber pad is arranged on the other surface of the push plate 15, and the push plate 15 is provided with an opening for avoiding the clamping device 3;
after the push plate 15 is stressed, the spring 14 is driven to displace, and the clamping device 3 is exposed out of the opening or is arranged in the opening.
The setting of second rubber pad realizes the buffer protection to the antenna unit subassembly, prevents that the antenna unit subassembly from receiving pressure and damaging.
The surface is equipped with the rubber pad (be the second rubber pad), realizes the buffer protection to the antenna unit subassembly.
Further, the bottom plate 1, the clamping device 3, and the pushing member 4 are made of aluminum alloy.
The bottom plate, the clamping device and the pushing and pressing part are made of aluminum alloy, so that the weight of the clamping device is reduced, the load of the robot is reduced, and the flexibility of the robot is improved.
Further, the thickness of the base plate 1 is 10 mm.
The weight of the soleplate is reduced under the condition of ensuring the load capacity of the soleplate.
The invention has the beneficial effects that: the clamping device provided by the embodiment of the invention can be installed at the tail end of an industrial robot arm to realize automatic assembly of the antenna unit assembly, so that an operator does not need to carry out manual assembly, the labor capacity is greatly reduced, and the assembly efficiency is improved.
The displacement of the tail end of the robot arm is accurately controlled through the force/position comprehensive judgment control method, the accurate control of the length of the spring and the thrust of the push plate can be realized, each antenna unit component can be fully inserted, and therefore the assembly consistency of the antenna unit components is remarkably improved.
Through the action of pressing that uses spring and push pedal simulation palm, can realize the flexible assembly to antenna unit subassembly, adapt to different assembly resistance, make the loudspeaker cavity avoid receiving great clamping-force when cartridge simultaneously, prevent to cause the deformation.
The rubber pad can protect the horn cavity of the antenna unit assembly from being damaged by the push plate and the pneumatic fingers, and meanwhile, the friction force is increased, so that the assembling process is more reliable.
The fingers are arranged on the sliding table finger cylinder and can be replaced, so that the assembly requirements of different antenna unit assemblies are met, and the flexibility of the device is improved.
The device provided by the embodiment of the invention is light in overall weight, small in occupied space, convenient to use, stable and reliable, and meets the requirement of using an industrial robot to carry out front surface assembly.
Further, the number of the clamping devices 3 is multiple, and the clamping devices 3 are arranged side by side along the horizontal direction of the bottom plate 1.
The gripping devices may be arranged in a single row as shown in fig. 6, or two gripping devices may be arranged side by side in the vertical direction as shown in fig. 7.
Further, the number of the clamping devices 3 is multiple, and the clamping devices are arranged side by side along the vertical direction of the bottom plate.
The opening direction of centre gripping equipment is selected according to actual need, and whether the slider slides from top to bottom or the horizontal slip is adjusted according to actual need promptly, can realize opening direction regulation with clamping device rotation 9 degrees, can directly set up the opening direction when production, can also set up centre gripping equipment for can be along bottom plate pivoted structure to set up locking part in rotating-structure, realize opening direction's regulation.
The number of the clamping devices is multiple or one, the clamping devices are vertically arranged or horizontally arranged to adapt to the structure of the antenna unit, and a user can select and design the number and arrangement mode of the clamping devices according to actual needs.
The following describes in detail a method for using the clamping device according to an embodiment of the present invention.
When in use, the device is firstly arranged at the tail end of the arm of the industrial robot. And then, taking the material, namely pushing the push plate to the opening part of the antenna unit assembly when the material is taken, so that the push plate is compressed for a proper distance, and then clamping the antenna unit assembly by fingers under the action of aerodynamic force. The robot clamps the antenna unit assembly to reach the front of the array surface and align and approach to the target assembly position, at the moment, fingers are loosened, the antenna unit assembly moves forward under the pushing of the push plate, and the preliminary butt joint of the antenna unit assembly and the array surface connector is realized. And finally, the tail end of the robot arm pushes forwards in the direction of the array surface, the spring is continuously compressed, and the pushing force is continuously increased, so that the connector of the antenna unit assembly and the connector on the array surface are gradually and fully butted and inserted, and the whole inserting process is finished.
Because the resistance of each antenna unit component during assembly is different, in order to realize accurate insertion, a force/position comprehensive judgment control method is adopted to accurately control the robot and the clamping mechanism. After the antenna unit assembly is aligned with the target assembly position, the assembly scene at this time is simplified as shown in fig. 3. In the figure, the front surface is taken as an XY plane, and the normal direction of the front surface is taken as a Z axis, so that the robot end and the antenna unit assembly move along a-Z direction during assembly.
Assuming that the initial length of the spring is L0 when the clamping mechanism is unloaded, the antenna unit assembly is gripped and then compressed to the current length L1. In the state of fig. 3, the distance between the connector end faces is B, the clamping jaws are released, the spring releases partial pushing force, the length is lengthened to L2, the antenna unit assembly moves along the-Z direction, and the connectors are partially butted and stopped under the action of resistance. To fully insert the connector, the robot tip is pushed forward in the-Z direction, the spring is compressed and the pushing force is increased, causing the connector to be pushed gradually to the bottom. In the above process, assuming that the robot end moves along-Z by a distance R, the spring length is compressed to L3, and the amount of advance a of the antenna unit assembly from the state of fig. 3 to the final state is as shown in equation (1).
A＝R-(L1-L3) ..
Wherein the spring length L is measured by means of a displacement sensor attached to the clamping mechanism.
At this time, the spring urging force is as shown in equation (2):
F＝k·(L0-L3) ..
Wherein k is the spring elastic coefficient.
Therefore, the condition for determining the insertion in position based on the two elements of the insertion displacement and the thrust is as shown in equation (3):
where Q is the connector length on the wavefront, as shown in FIG. 2; b is a known quantity and can be obtained by the distance between the tail end of the robot and the front surface; f0 is measured by pulling a pressure sensor when a person presses the antenna unit assembly port face.
Because the value that thrust F set up is great, can satisfy the thrust demand of most antenna unit subassemblies, consequently can reach the displacement condition earlier under the normal condition, then the robot continues to push forward and makes the increase of spring thrust, until reaching the thrust condition. The two conditions are sequentially met to realize accurate judgment of in-place insertion, and the sequence cannot be reversed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A clamping device, comprising: a base plate, at least one clamping device for clamping the antenna unit assembly and a pushing member for pushing the antenna unit assembly,
one side of the bottom plate is provided with a connecting part for connecting a robot arm, and the clamping device and the pushing and pressing component are arranged on the other side of the bottom plate.
2. A clamping arrangement according to claim 1, wherein the clamping device comprises: a cylinder and a pair of sliding tables,
the cylinder sets up the middle part of bottom plate, be provided with the air supply port on the lateral wall of cylinder, the air supply port passes through the pipeline intercommunication with compressed air source, the one side of cylinder is provided with the slide rail, and a pair of slip table slidable ground sets up in the slide rail.
3. A clamping arrangement according to claim 2, further comprising: a first holding member and a second holding member for holding an antenna unit, the first holding member and the second holding member having different widths,
the first clamping part and the second clamping part are respectively and correspondingly arranged on the pair of sliding tables.
4. A clamping arrangement according to claim 3, further comprising: the first rubber pad is arranged on the opposite surfaces of the first clamping component and the second clamping component respectively.
5. A gripping apparatus according to claim 1, wherein the urging member comprises: the stop block is arranged on the bottom plate, a central hole is formed in the stop block, a through hole is formed in the bottom plate, the through hole and the central hole are coaxially arranged, the sliding rod is slidably inserted into the central hole and the through hole, a check ring used for preventing the stop block from sliding out is arranged at one end of the sliding rod, and the check ring is located on one side of the bottom plate;
one side of the push plate is connected with the other end of the blocking rod, the spring sleeve is arranged on the side wall of the sliding rod, and the spring is located between the push plate and the blocking block.
6. A clamping arrangement according to claim 5, further comprising: the second rubber pad is arranged on the other surface of the push plate, and the push plate is provided with an opening avoiding the clamping equipment;
after the push plate is stressed, the spring is driven to displace, and the clamping equipment is exposed out of the opening or is arranged in the opening.
7. A holding arrangement as claimed in claim 1, wherein the base plate, the holding means and the bias member are formed from an aluminium alloy.
8. A holding apparatus as claimed in claim 1, wherein said holding means is provided in plurality, and a plurality of said holding means are arranged side by side in a horizontal direction of said base plate.
9. A clamping arrangement according to claim 1, wherein the number of clamping devices is plural, and a plurality of clamping devices are arranged side by side in the vertical direction of the base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911032887.1A CN110712022B (en) | 2019-10-28 | 2019-10-28 | Clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911032887.1A CN110712022B (en) | 2019-10-28 | 2019-10-28 | Clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110712022A true CN110712022A (en) | 2020-01-21 |
| CN110712022B CN110712022B (en) | 2021-03-30 |
Family
ID=69214436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911032887.1A Active CN110712022B (en) | 2019-10-28 | 2019-10-28 | Clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110712022B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009031254A1 (en) * | 2009-07-01 | 2011-01-05 | Antennentechnik Bad Blankenburg Ag | Arrangement for fastening a vehicle antenna |
| CN204366803U (en) * | 2014-12-01 | 2015-06-03 | 天津凯耀科技发展有限公司 | Plate type heat exchanger assembly tooling |
| CN107813459A (en) * | 2017-12-07 | 2018-03-20 | 福建省石狮市通达电器有限公司 | A kind of manipulator jig suitable for nanometer injection |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN110328528A (en) * | 2019-08-08 | 2019-10-15 | 北京无线电测量研究所 | It antenna element assembly mounting device and its adopts dress and surveys integral control system and method |
-
2019
- 2019-10-28 CN CN201911032887.1A patent/CN110712022B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009031254A1 (en) * | 2009-07-01 | 2011-01-05 | Antennentechnik Bad Blankenburg Ag | Arrangement for fastening a vehicle antenna |
| CN204366803U (en) * | 2014-12-01 | 2015-06-03 | 天津凯耀科技发展有限公司 | Plate type heat exchanger assembly tooling |
| CN107813459A (en) * | 2017-12-07 | 2018-03-20 | 福建省石狮市通达电器有限公司 | A kind of manipulator jig suitable for nanometer injection |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN110328528A (en) * | 2019-08-08 | 2019-10-15 | 北京无线电测量研究所 | It antenna element assembly mounting device and its adopts dress and surveys integral control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110712022B (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104227729B (en) | Clamping device | |
| CN107614143B (en) | Product turnover mechanism | |
| CN105591147A (en) | Square battery elastic positioning compaction clamp | |
| CN110712022B (en) | Clamping device | |
| KR101962188B1 (en) | Cam type fixing clamp | |
| US6393694B2 (en) | Gripping device | |
| CN205600353U (en) | Rotating fixture | |
| CN110600786A (en) | Stacking assembly of battery module | |
| CN111016194A (en) | Multi-dimensional product assembling jig | |
| CN110815274A (en) | Flexible material suction and building device | |
| CN113075854B (en) | Double-station production equipment for camera module | |
| CN114193127B (en) | Press mounting device and method for press mounting jump joint and jump joint soldering lug | |
| CN203579075U (en) | Fixture | |
| CN213532634U (en) | Automatic dress machinery hand | |
| CN207077050U (en) | A kind of mechanical clamping device for gear-hobbing machine automatic loading/unloading | |
| TWI524077B (en) | IC processor | |
| CN210430394U (en) | DC socket processing equipment with detection mechanism | |
| CN209903213U (en) | Clamping manipulator for wafer inserting machine | |
| US10195726B2 (en) | De-mating apparatus | |
| CN214280368U (en) | Relay protection equipment test power strip fixing device | |
| CN219213186U (en) | Intelligent platform clamping jaw mechanism | |
| CN211785055U (en) | Automatic cyclic detection equipment for connector carrier | |
| CN218018284U (en) | Double-station press-fitting device | |
| CN211687287U (en) | Mechanical arm production transfer device | |
| CN211414974U (en) | Inserting sheet assembling platform of electroencephalogram sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |