CN114102079A - Compact processing assembly quality - Google Patents
Compact processing assembly quality Download PDFInfo
- Publication number
- CN114102079A CN114102079A CN202111322028.3A CN202111322028A CN114102079A CN 114102079 A CN114102079 A CN 114102079A CN 202111322028 A CN202111322028 A CN 202111322028A CN 114102079 A CN114102079 A CN 114102079A
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- Prior art keywords
- sliding
- sliding barrel
- cylinder
- branch
- front cover
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- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention relates to a compact machining and assembling device which comprises a cylinder shell, a plurality of driving output branches, a middle sliding cylinder, a cross shaft steering piece, a moving platform and an end actuator. According to the invention, the middle sliding barrel is arranged, so that the middle sliding barrel can bear torque generated in the processing and assembling process, the moving precision of the end effector is favorably improved, meanwhile, the middle sliding barrel is pushed outwards through the gas spring and applies pretightening force to the tail end of the device, the processing precision or the assembling accuracy of the end effector is effectively improved, and in addition, pipelines and wires required by the operation of the end effector can be accommodated in the drag chain and the middle sliding barrel, so that the structure of the device is more compact.
Description
Technical Field
The invention belongs to the technical field of machining and assembling, and particularly relates to a compact machining and assembling device.
Background
With the development of production and manufacturing intelligence, intelligent manufacturing technology is becoming one of the indexes for evaluating the national industrial manufacturing level. The demand of the manufacturing field of large-scale equipment such as automobiles, aviation and the like on the precision of automatic processing and assembly is more and more urgent, for example, the drilling and hammer riveting of large-scale parts of airplanes, and the grinding and deburring of parts such as automobile hubs and engine cylinder bodies. The traditional series mechanical arm has the defects of large accumulated error and insufficient joint rigidity, and in order to ensure the motion precision of an end effector, the body volume of the mechanical arm needs to be increased, so that the occupied space is large, and therefore, the compact machining and assembling device is provided, has high terminal rigidity and large bearing capacity, is suitable for machining and assembling in the fields of large-scale equipment such as aerospace, automobiles and precision machinery, and has certain practical value and research significance.
Disclosure of Invention
In order to solve the problems of insufficient rigidity and large occupied space of a traditional mechanical arm, the invention provides the compact machining and assembling device, the middle sliding cylinder can bear torque generated in the machining and assembling process through the sliding fit of the guide groove on the outer side wall of the middle sliding cylinder and the guide block on the inner side wall of the shell, the moving precision of the end effector is favorably improved, meanwhile, the middle sliding cylinder is pushed outwards through the air spring, the pretightening force is applied to the steering structure, the rigidity of the tail end of the device is effectively improved, and the machining precision or the assembling accuracy of the end effector is improved.
The invention adopts the technical scheme that the compact processing and assembling device comprises a cylinder shell, a plurality of driving output branches, a middle sliding cylinder, a cross-axle steering part, a motion platform and an end actuator, wherein the middle sliding cylinder is arranged at the first end of the cylinder shell in a sliding manner, the middle sliding cylinder comprises a sliding cylinder front cover, a conical copper sleeve, a sliding cylinder body, a sliding cylinder pull rod, a branch pipeline, a sliding cylinder copper ring, a sliding cylinder rear cover, a drag chain and a gas spring, the sliding cylinder front cover and the sliding cylinder rear cover are respectively arranged at two ends of the sliding cylinder body, the sliding cylinder pull rods are uniformly distributed in the sliding cylinder body, the sliding cylinder front cover and the sliding cylinder rear cover are fixedly connected with the sliding cylinder body through the sliding cylinder pull rod, two ends of the branch pipeline are respectively uniformly distributed and supported in the sliding cylinder body through a front cover through hole of the sliding cylinder front cover and a rear cover through hole of the sliding cylinder rear cover, the tapered copper sleeve is arranged on the through hole of the front cover and corresponds to the branch pipeline, the copper ring of the sliding cylinder is arranged on the outer wall of the cylinder body of the sliding cylinder and is close to the rear cover of the sliding cylinder, the first end of the drag chain is fixedly connected with the rear cover of the sliding cylinder, the second end of the drag chain penetrates through the rear cover of the sliding cylinder and is fixedly connected with the rear mounting plate of the cylinder shell, the first end of the air spring is fixedly connected with the front cover of the sliding cylinder, the second end of the air spring penetrates through the rear cover of the sliding cylinder and is fixedly connected with the rear mounting plate, guide grooves are symmetrically arranged on the outer wall of the sliding cylinder body, and the guide blocks on the inner wall of the cylinder shell are slidably arranged in the guide grooves; the driving output branches are uniformly distributed in the cylinder shell and correspond to the branch pipelines respectively, each driving output branch comprises a steering connecting piece, a branch sliding pipe, a nylon sleeve, a lead screw, a screw nut, a lead screw fixing seat and a servo motor, the steering connecting piece is arranged at the first end of the branch sliding pipe, the first end of the lead screw is supported in the nylon sleeve through a bearing, the nylon sleeve is arranged in the branch sliding pipe in a sliding manner, the second end of the lead screw penetrates through the lead screw fixing seat and is connected with the output shaft of the servo motor through a coupler, the servo motor is fixedly arranged on the rear end mounting plate, a linear encoder is arranged on the lead screw fixing seat, a screw nut seat is arranged on one side of the screw nut and is connected with the lead screw in a transmission manner, and the screw nut seat is fixedly connected with the second end of the branch sliding pipe, a nut seat copper sleeve is arranged on the outer side of the nut and is slidably arranged in the branch pipeline; the cross shaft steering piece is arranged on the steering connecting piece through a second connecting rod and connected with the moving platform through a moving platform mounting seat, and the end effector is arranged in the middle of the moving platform.
Further, the barrel shell includes front end copper sheathing, barrel and rear end mounting panel, the front end copper sheathing is located the first end of barrel, just the symmetry is equipped with the guide block on the inner wall of the first end of barrel, the rear end mounting panel is located the second end of barrel.
Furthermore, the cross axle steering part comprises a motion platform installation seat, a first connecting rod, a middle cross axle, a connecting shaft and a second connecting rod, wherein the motion platform installation seat is connected with the first connecting rod in a rotating mode through the connecting shaft, the first connecting rod is connected with the middle cross axle in a rotating mode through the connecting shaft, and the middle cross axle is connected with the second connecting rod in a rotating mode through the connecting shaft.
Preferably, a needle bearing and a thrust ball bearing are arranged at the first end of the connecting shaft, and the second end of the connecting shaft is pressed and fixed by a shaft end cover.
Further, when the driving output branches extend out along the direction far away from the servo motor, the gas spring can push the middle sliding barrel to move along the same direction of the barrel shell, and when the driving output branches retract along the direction close to the servo motor, the steering connecting piece can drag the middle sliding barrel to move along the same direction of the barrel shell.
Preferably, the equipartition is equipped with on the slide cylinder protecgulum with the corresponding protecgulum through-hole of lateral conduit, the toper face is personally submitted to the inboard of protecgulum through-hole, just the toper face is personally submitted in the outside of the first end of toper copper sheathing, toper copper sheathing is located in the protecgulum through-hole, just the toper face in the toper copper sheathing outside with the inboard toper face of protecgulum through-hole is laminated mutually.
Preferably, both ends of the branch pipeline are provided with L-shaped positioning grooves, and both ends of the branch pipeline are respectively supported in the front cover through hole and the rear cover through hole.
Preferably, the inner diameter of the front end copper sleeve is equal to the outer diameter of the sliding cylinder body, and the outer diameter of the sliding cylinder copper ring is equal to the inner diameter of the cylinder body.
Preferably, the guide block can also adopt a slide block and a guide roller, and the guide groove can also adopt a guide rail.
Preferably, the drag chain and the intermediate slide cylinder are provided with pipes and wires for the end effector.
The invention has the characteristics and beneficial effects that:
1. according to the compact machining and assembling device provided by the invention, the guide groove on the outer side wall of the middle sliding cylinder is in sliding fit with the guide block on the inner side wall of the shell, so that the middle sliding cylinder can bear torque generated in the machining and assembling process, and the moving precision of the end effector is improved.
2. According to the compact machining and assembling device, the middle sliding barrel is pushed out through the gas spring, pre-tightening force can be applied to the tail joint of the device, the rigidity of the tail end of the device can be effectively improved, and therefore machining precision or assembling accuracy of the end effector is improved.
3. According to the compact machining and assembling device, the cross shaft steering piece is axially positioned through the thrust ball bearing, so that the lateral bearing capacity of the cross shaft steering piece can be improved, the abrasion between relative moving parts is reduced, and the movement precision and the rigidity of the tail end of the device are improved.
4. According to the compact machining and assembling device, the pipeline and the wire rod required by the operation of the end effector can be contained in the drag chain and the middle sliding cylinder, so that the device is more compact in structure, and the overall protection performance of the device is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of the cartridge housing of the present invention;
FIG. 4 is a schematic view of the mating installation of the intermediate slide cartridge and cartridge housing of the present invention;
FIG. 5 is a left side view of the mating installation of the intermediate slide cartridge and cartridge housing of the present invention;
FIG. 6 is an exploded view of the intermediate spool portion components of the present invention;
FIG. 7 is a schematic diagram of the structure of the drive output branch of the present invention;
FIG. 8 is a schematic view of the cross-member steering member of the present invention;
FIG. 9 is a schematic diagram of the piping and wiring of the end effector of the present invention.
The main reference numbers:
a cylinder housing 1; a front end copper sleeve 101; a barrel 102; a guide block 103; a rear mounting plate 104; driving output branch 2; a steering link 2001; a branch runner 2002; a nylon sleeve 2003; a bearing 2004; a lead screw 2005; a nut seat 2006; a nut 2007; a nut seat copper sleeve 2008; a lead screw fixing seat 2009; a linear encoder 2010; a coupling 2011; a servo motor 2012; a middle slide drum 3; a slide cylinder front cover 301; front cover through holes 3011; a tapered copper sleeve 302; a slide can body 303; a guide groove 3031; a slide barrel pull rod 304; a branch pipe 305; a sliding barrel copper ring 306; a slide cylinder rear cover 307; rear cover through holes 3071; a tow chain 308; a gas spring 309; a cross-axle steering member 4; a motion platform mount 401; a first link 402; a middle cross 403; needle bearings 404; a thrust ball bearing 405; a connecting shaft 406; a shaft end cap 407; a second link 408; a motion platform 5; an end effector 6; pipes and wires 7.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a compact machining and assembling device which comprises a cylinder shell 1, a plurality of driving output branches 2, an intermediate sliding cylinder 3, a cross shaft steering member 4, a moving platform 5 and an end effector 6, as shown in figures 1 and 2.
As shown in fig. 3, the cylinder housing 1 includes a front copper sleeve 101, a cylinder 102 and a rear mounting plate 104, the front copper sleeve 101 is disposed at a first end of the cylinder 102, guide blocks 103 are symmetrically disposed on an inner wall of the first end of the cylinder 102, and the rear mounting plate 104 is disposed at a second end of the cylinder 102.
As shown in fig. 4, 5 and 6, the first end of the cylinder housing 1 is slidably provided with a middle sliding cylinder 3, and the middle sliding cylinder 3 includes a sliding cylinder front cover 301, a tapered copper sleeve 302, a sliding cylinder body 303, a sliding cylinder pull rod 304, a branch pipe 305, a sliding cylinder copper ring 306, a sliding cylinder rear cover 307, a drag chain 308 and a gas spring 309, the sliding cylinder front cover 301 and the sliding cylinder rear cover 307 are respectively provided at two ends of the sliding cylinder body 303, the sliding cylinder pull rods 304 are uniformly distributed in the sliding cylinder body 303, the sliding cylinder front cover 301 and the sliding cylinder rear cover 307 are fixedly connected with the sliding cylinder body 303 through the sliding cylinder pull rod 304, two ends of the branch pipe 305 are respectively uniformly supported in the sliding cylinder body 303 through holes 3011 of the sliding cylinder front cover 301 and 3071 of the sliding cylinder rear cover 307, the tapered copper sleeve 302 is provided on the front cover through hole 3011, the front cover through hole 3011 has a certain taper and the taper is the same as that of the tapered copper sleeve 302, and the tapered copper sleeve 305 corresponds to the branch pipe, the tapered copper bush has a notch, and the tapered copper bush 302 is compressed tightly with the tightening of the fixing bolt, so that the diameter of the through hole is reduced, and the purpose of adjusting the fit clearance between the through hole and the branch sliding pipe 2002 to compensate for abrasion is achieved.
The sliding cylinder copper ring 306 is arranged on the outer wall of the sliding cylinder body 303 and is close to the sliding cylinder rear cover 307, the first end of the drag chain 308 is fixedly connected with the sliding cylinder rear cover 307, the second end of the drag chain 308 penetrates through the sliding cylinder rear cover 307 and is fixedly connected with the rear end mounting plate 104 of the cylinder shell 1, the first end of the air spring 309 is fixedly connected with the sliding cylinder front cover 301, the second end of the air spring 309 penetrates through the sliding cylinder rear cover 307 and is fixedly connected with the rear end mounting plate 104, guide grooves 3031 are symmetrically arranged on the outer wall of the sliding cylinder body 303, and the guide blocks 103 on the inner wall of the cylinder shell 1 are slidably arranged in the guide grooves 3031.
As shown in fig. 5, the inside diameter of the front copper sleeve 101 is equal to the outside diameter of the sliding cylinder body 303, and the outside diameter of the sliding cylinder copper ring 306 is equal to the inside diameter of the cylinder body 102.
In a preferred embodiment, the guide block 104 may also be a slider and a guide roller, and the guide groove 3031 may also be a guide rail.
As shown in fig. 6, front cover through holes 3011 corresponding to the branch pipes 305 are uniformly distributed on the front cover 301 of the slide cylinder, the inner side of the front cover through hole 3011 is a tapered surface, the outer side of the first end of the tapered copper sleeve 302 is a tapered surface, the tapered copper sleeve 302 is arranged in the front cover through hole 3011, and the tapered surface on the outer side of the tapered copper sleeve 302 is attached to the tapered surface on the inner side of the front cover through hole 3011.
Preferably, both ends of the branch pipe 305 are provided with L-shaped positioning grooves, and both ends of the branch pipe 305 are supported in the front cover through hole 3011 and the rear cover through hole 3071, respectively.
As shown in fig. 7, a plurality of driving output branches 2 are uniformly distributed in a cylinder housing 1, and the plurality of driving output branches 2 respectively correspond to the branch conduits 305, each driving output branch 2 comprises a steering connector 2001, a branch sliding tube 2002, a nylon sleeve 2003, a screw rod 2005, a nut 2007, a screw rod fixing seat 2009 and a servo motor 2012, the steering connector 2001 is arranged at a first end of the branch sliding tube 2002, a first end of the screw rod 2005 is supported in the nylon sleeve 2003 through a bearing 2004, the nylon sleeve 2003 is slidably arranged in the branch sliding tube 2002, a second end of the screw rod 2005 passes through the screw rod fixing seat 2009 and is connected with an output shaft of the servo motor 2012 through a coupling 2011, the servo motor 2012 is fixedly arranged on a rear end mounting plate 104, a linear encoder 2010 is arranged on the screw rod fixing seat 2009, a nut seat 2006 is arranged at one side of the nut 2007, the nut 2007 is in transmission connection with the screw rod 2005, the nut 2006 is fixedly connected with a second end of the branch sliding tube 2002, a nut seat copper sleeve 2008 is arranged on the outer side of the nut 2007, and the nut seat copper sleeve 2008 is slidably arranged in the branch pipe 2002.
As shown in fig. 1 to 8, the cross-axle steering member 4 is disposed on the steering connecting member 2001 through the second connecting rod 408, the cross-axle steering member 4 is connected with the moving platform 5 through the moving platform mounting base 401, and the end effector 6 is disposed in the middle of the moving platform 5.
As shown in fig. 8, the cross steering 4 includes a motion platform mount 401, a first link 402, an intermediate cross 403, a connecting shaft 406, and a second link 408, the motion platform mount 401 is rotatably connected to the first link 402 via the connecting shaft 406, the first link 402 is rotatably connected to the intermediate cross 403 via the connecting shaft 406, and the intermediate cross 403 is rotatably connected to the second link 408 via the connecting shaft 406. A first end of the connecting shaft 406 is provided with a needle bearing 404 and a thrust ball bearing 405, and a second end of the connecting shaft 406 is pressed and fixed with a shaft end cover 407.
Preferably, the needle roller bearing 404 and the thrust ball bearing 405 of the cross shaft steering member 4 are installed inside the first connecting rod 402 and the middle cross shaft 403, the arrangement order of the needle roller bearing 404 and the thrust ball bearing 405 can be exchanged, the needle roller bearing 404 and the thrust ball bearing 405 can be replaced by other bearings, and the end cover 407 can be replaced by a bolt.
As shown in fig. 9, when the driving output branches 2 are all extended in a direction away from the servo motor 2012, the gas spring 309 can push the middle spool 3 to move in the same direction along the spool housing 1, and when the driving output branches 2 are retracted in a direction close to the servo motor 2012, the steering link 2001 can drag the middle spool 3 to move in the same direction along the spool housing 1.
As shown in fig. 9, the tow chain 308 and the intermediate spool 3 are provided with a pipe and a wire 7 for the end effector 6. When the middle sliding barrel 3 extends outwards relative to the barrel shell 1, the drag chain 308 can drive the pipeline of the end effector 6 and the wire 7 to extend out from the opening of the sliding barrel rear cover 307, and when the middle sliding barrel 3 retracts inwards relative to the barrel shell 1, the drag chain 308 can retract and fold the pipeline of the end effector 6 and the wire 7 inside the middle sliding barrel 3.
Preferably, the cylinder shell 1 can be mounted on other motion mechanisms to form a multi-degree-of-freedom assembly device.
The method comprises the following specific operation steps:
as shown in fig. 1 to 9, the compact machining and assembling device of the present invention includes a cylinder housing 1, a plurality of driving output branches 2, a middle sliding cylinder 3, a cross-axle steering member 4, a moving platform 5 and an end effector 6, wherein the middle sliding cylinder 3 is slidably disposed at a first end of the cylinder housing 1, the plurality of driving output branches 2 are uniformly disposed in the cylinder housing 1, the cross-axle steering member 4 is disposed on a steering connection member 2001 through a second connection rod 408, the cross-axle steering member 4 is connected with the moving platform 5 through a moving platform mounting seat 401, and the end effector 6 is disposed at a middle of the moving platform 5.
When machining is carried out, firstly, the servo motors 2012 of the plurality of driving output branches 2 are started, the servo motors 2012 drive the screw rod 2005 to rotate through the coupler 2011, the screw rod 2005 rotates to drive the screw nut 2007 to move along the axial direction of the screw rod 2005 so as to drive the branch sliding cylinders 2002 to synchronously move along the axial direction of the screw rod 2005, the movement control of the plurality of driving output branches 2 is mutually independent, and the pose change of the tail end platform 5 is realized by changing the positions of the cross shaft steering pieces 4 corresponding to the driving output branches. Meanwhile, when the driving output branches 2 extend out in the direction away from the servo motor 2012, the gas spring 309 pushes the middle sliding barrel 3 to move in the same direction along the barrel body axis direction along the barrel shell 1, the middle sliding barrel 3 abuts against the end of the branch with the minimum displacement, the drag chain 308 drives the pipeline and the wire 7 of the end effector 6 to extend out from the opening of the sliding barrel rear cover 307, when the driving output branch 2 with the minimum displacement retracts in the direction close to the servo motor 2012, the steering structure connecting piece 2001 corresponding to the driving output branch 2 can realize that the middle sliding barrel 3 is dragged to move in the same direction along the barrel body axis direction along the barrel shell 1, the middle sliding barrel 3 is retracted and installed inside the shell 1, and the drag chain 308 is retracted and folded to retract the pipeline and the wire 7 of the end effector 6 inside the middle sliding barrel 3.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. A compact processing and assembling device is characterized by comprising a cylinder shell, a plurality of driving output branches, a middle sliding cylinder, a cross shaft steering component, a motion platform and an end effector,
the first end of the shell of the barrel body is provided with the middle sliding barrel in a sliding manner, the middle sliding barrel comprises a sliding barrel front cover, a conical copper sleeve, a sliding barrel body, a sliding barrel pull rod, a branch pipeline, a sliding barrel copper ring, a sliding barrel rear cover, a drag chain and a gas spring, the sliding barrel front cover and the sliding barrel rear cover are respectively arranged at two ends of the sliding barrel body, the sliding barrel pull rod is uniformly distributed in the sliding barrel body, the sliding barrel front cover and the sliding barrel rear cover are fixedly connected with the sliding barrel body through the sliding barrel pull rod, two ends of the branch pipeline are respectively and uniformly supported in the sliding barrel body through a front cover through hole of the sliding barrel front cover and a rear cover through hole of the sliding barrel rear cover, the conical copper sleeve is arranged on the front cover through hole, the conical copper sleeve corresponds to the branch pipeline, the sliding barrel copper ring is arranged on the outer wall of the sliding barrel body and is close to the sliding barrel rear cover, the first end of the drag chain is fixedly connected with the rear cover of the sliding cylinder, the second end of the drag chain penetrates through the rear cover of the sliding cylinder and is fixedly connected with the rear end mounting plate of the shell of the cylinder body, the first end of the gas spring is fixedly connected with the front cover of the sliding cylinder, the second end of the gas spring penetrates through the rear cover of the sliding cylinder and is fixedly connected with the rear end mounting plate, guide grooves are symmetrically formed in the outer wall of the cylinder body of the sliding cylinder, and guide blocks on the inner wall of the shell of the cylinder body are slidably arranged in the guide grooves;
the driving output branches are uniformly distributed in the cylinder shell and correspond to the branch pipelines respectively, each driving output branch comprises a steering connecting piece, a branch sliding pipe, a nylon sleeve, a lead screw, a screw nut, a lead screw fixing seat and a servo motor, the steering connecting piece is arranged at the first end of the branch sliding pipe, the first end of the lead screw is supported in the nylon sleeve through a bearing, the nylon sleeve is arranged in the branch sliding pipe in a sliding manner, the second end of the lead screw penetrates through the lead screw fixing seat and is connected with the output shaft of the servo motor through a coupler, the servo motor is fixedly arranged on the rear end mounting plate, a linear encoder is arranged on the lead screw fixing seat, a screw nut seat is arranged on one side of the screw nut and is connected with the lead screw in a transmission manner, and the screw nut seat is fixedly connected with the second end of the branch sliding pipe, a nut seat copper sleeve is arranged on the outer side of the nut and is slidably arranged in the branch pipeline;
the cross shaft steering piece is arranged on the steering connecting piece through a second connecting rod and connected with the moving platform through a moving platform mounting seat, and the end effector is arranged in the middle of the moving platform.
2. The compact tooling assembly apparatus of claim 1 wherein the cartridge housing includes a front copper sleeve disposed at the first end of the cartridge and having symmetrically disposed guide blocks on an inner wall thereof, a cartridge and a rear mounting plate disposed at the second end of the cartridge.
3. The compact tooling assembly apparatus of claim 1, wherein the cross-pin steering member includes a motion platform mount, a first link, an intermediate cross-pin, a connecting shaft, and a second link, the motion platform mount being rotatably coupled to the first link via the connecting shaft, and the first link being rotatably coupled to the intermediate cross-pin via the connecting shaft, the intermediate cross-pin being rotatably coupled to the second link via the connecting shaft.
4. The compact tooling assembly apparatus of claim 3 wherein a first end of the connecting shaft is provided with a needle bearing and a thrust ball bearing and a second end of the connecting shaft is held in compression by a shaft end cap.
5. The compact tooling assembly apparatus of claim 1 wherein said gas spring is capable of urging said intermediate ram in a co-directional motion along said cartridge housing when said drive output branches are both extended in a direction away from said servo motor, said steering linkage capable of drawing said intermediate ram in a co-directional motion along said cartridge housing when said drive output branches are retracted in a direction closer to said servo motor.
6. The compact processing and assembling device of claim 1, wherein front cover through holes corresponding to the branch pipes are uniformly distributed on the front cover of the slide cylinder, the inner side of each front cover through hole is a conical surface, the outer side of the first end of each conical copper sleeve is a conical surface, each conical copper sleeve is arranged in each front cover through hole, and the conical surface on the outer side of each conical copper sleeve is attached to the conical surface on the inner side of each front cover through hole.
7. The compact tooling assembly apparatus of claim 1 wherein the branch conduit is provided with an L-shaped locating slot at each end and the branch conduit is supported at each end in the front cover through hole and the rear cover through hole.
8. The compact tooling assembly apparatus of claim 1 wherein the inside diameter of the front copper sleeve is equal to the outside diameter of the ram body and the outside diameter of the ram copper ring is equal to the inside diameter of the cylinder.
9. The compact tooling assembly apparatus of claim 1 wherein the guide blocks may also be slide blocks and guide rollers and the guide channels may also be guide rails.
10. The compact tooling apparatus of claim 1 wherein conduits and wires for the end effector are provided in the tow chain and the intermediate slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111322028.3A CN114102079B (en) | 2021-11-09 | 2021-11-09 | Compact processing assembly quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111322028.3A CN114102079B (en) | 2021-11-09 | 2021-11-09 | Compact processing assembly quality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114102079A true CN114102079A (en) | 2022-03-01 |
| CN114102079B CN114102079B (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111322028.3A Active CN114102079B (en) | 2021-11-09 | 2021-11-09 | Compact processing assembly quality |
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| CN (1) | CN114102079B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160039098A1 (en) * | 2014-08-11 | 2016-02-11 | Swivel-Link, LLC | Swivel link for mounting end of arm tooling |
| CN109986542A (en) * | 2019-05-09 | 2019-07-09 | 中国科学院宁波材料技术与工程研究所 | A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive |
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
-
2021
- 2021-11-09 CN CN202111322028.3A patent/CN114102079B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160039098A1 (en) * | 2014-08-11 | 2016-02-11 | Swivel-Link, LLC | Swivel link for mounting end of arm tooling |
| CN109986542A (en) * | 2019-05-09 | 2019-07-09 | 中国科学院宁波材料技术与工程研究所 | A kind of hard and soft mixed type power control end effector of pneumoelectric combination drive |
| CN110450136A (en) * | 2019-07-31 | 2019-11-15 | 燕山大学 | Driven in parallel four-freedom hybrid formula mechanical wrist wobble heads |
| CN110480600A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | Band with moving constraint two turn of one shifting series parallel type driven in parallel oscillating head mechanism |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
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| Publication number | Publication date |
|---|---|
| CN114102079B (en) | 2022-08-30 |
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