CN202668550U - Mechanical hand device for motor stator assembly - Google Patents

Mechanical hand device for motor stator assembly Download PDF

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Publication number
CN202668550U
CN202668550U CN2012202755197U CN201220275519U CN202668550U CN 202668550 U CN202668550 U CN 202668550U CN 2012202755197 U CN2012202755197 U CN 2012202755197U CN 201220275519 U CN201220275519 U CN 201220275519U CN 202668550 U CN202668550 U CN 202668550U
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CN
China
Prior art keywords
arm
plate
cylinder
contiguous block
anchor clamps
Prior art date
Application number
CN2012202755197U
Other languages
Chinese (zh)
Inventor
王三祥
王治中
Original Assignee
盐城市昱博自动化设备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 盐城市昱博自动化设备有限公司 filed Critical 盐城市昱博自动化设备有限公司
Priority to CN2012202755197U priority Critical patent/CN202668550U/en
Application granted granted Critical
Publication of CN202668550U publication Critical patent/CN202668550U/en

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Abstract

The utility model discloses a mechanical hand device for motor stator assembly and belongs to a mechanical hand. A bottom plate is fixed to the ground through an expansion bolt; a stand column is arranged in the middle of the bottom plate; a main rotation seat is arranged at the top end of the stand column and connected with a big side plate through a main rotation shaft; a telescopic air cylinder is arranged at the lower end on the left side of the big side plate; a small side plate is arranged on the big side plate; one end of a primary swing arm and one end of a secondary swing arm are respectively connected with the big side plate; the other end of the primary swing arm and the other end of the secondary swing arm are respectively connected with a connecting plate; a horizontal arm rotation seat is connected with a rotary arm through a rotary arm main shaft and connected with the rotary arm main shaft; the rotary arm is connected with a pendulous arm rotation seat; the pendulous arm rotation seat is connected with a secondary rotary shaft; the secondary rotary shaft is connected with a pendulous arm; a rotary air cylinder is arranged at the tail end of the pendulous arm; and a main shaft of the rotary air cylinder is connected with a clamping air cylinder of a clamp. The mechanical hand device enables an operator to finish operations of carrying, turning, assembling and the like of a stator in such a way that the gravity of the stator is almost imperceptible, and is simple to operate, labor-saving in running, efficient and safe.

Description

The robot device that is used for the motor stator assembling
Technical field
The utility model relates to a kind of manipulator, and a kind of robot device for motor stator assembling particularly is applicable to the motor assembling industry of elevator.
Background technology
Since the reform and opening-up, the national economy rapid growth, " scientific and technical innovation, autonomous innovation " become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Elevator is as the vehicles of vertical direction, become important Architectural Equipment in skyscraper and public place and indispensable.Along with the development of computer technology and Power Electronic Technique, modem elevator has become typical electromechanical integrated product.Elevator has very high safety requirements, and it dispatches from the factory with the form of parts, and general assembly is carried out at building-site, finishes installation by being connected between the assembling between the component of machine and mechanical device and the civil engineering structure, finally forms lift product.When motor stator moves or installs, generally need manually stator to be lifted, with steel wire penetrating stator bottom surface, adopt again the lifting of loading machine or crane, but the easy like this lifting imbalance that causes, and because stator quality is large, be not easy control during manually-operated, careless slightly meeting causes stator to bump, and produces damage.Also there are many potential safety hazards in manually-operated, brings inconvenience to installation, especially for large-size machine, manually can't operate.The technical staff of R﹠D institution and enterprise is constantly exploring, is studying, wish to develop a kind of robot device of easy to operate, superior performance, be used for the assembling of motor stator, to guarantee the safety of operator, enhance productivity, although make some progress, in practice, still exist the technical barrier that not yet overcomes.
Summary of the invention
The purpose of this utility model is to overcome above deficiency, a kind of robot device for the motor stator assembling is provided, adopt the equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, make operating personnel in the situation that fundamental sensation less than object gravity, easily finish the operations such as carrying, upset, assembling of stator, simple to operate, laborsaving, the highly effective and safe of running.
The technical scheme that its technical problem that solves the utility model adopts is: contain base plate, column, telescopic cylinder, main rotating seat, main rotating shaft, little side plate, large side plate, swing principal arm, swing auxiliary, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handle, anchor clamps, base plate fixes on the ground by expansion bolt, the base plate middle part is provided with column, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in the large side plate, pneumatic control valve is connected with telescopic cylinder, lower end, large side plate left side is provided with telescopic cylinder, guide rod is connected with the guide pin bushing of little side plate lower end, large side plate is provided with little side plate, large side plate left side is provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with little side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, the swing auxiliary is positioned at swing principal arm downside and parallels with the swing principal arm, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, the transverse arm rotating seat is connected with the turning arm main shaft, rotatable 360 °, turning arm is connected with the plumbing arm rotating seat, rotatable 360 ° of plumbing arm rotating seat, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handle, handle inboard, lower end is provided with computer controling box, lower plumbing arm end is provided with rotary cylinder, the main shaft of rotary cylinder is connected with the clamping cylinder of anchor clamps, accompanies workpiece in the anchor clamps.
Described anchor clamps contain leather packing I, chuck I, anchor clamps contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I, air cylinder fixed plate, clamping cylinder II, cylinder contiguous block II, clamp arm II, anchor clamps contiguous block II, chuck II, leather packing II, it is terminal that anchor clamps are positioned at lower plumbing arm, can carry out 180 ° of upsets, clamping cylinder I is connected with lower plumbing arm by air cylinder fixed plate with clamping cylinder II, clamping cylinder I and clamping cylinder II are positioned at lower plumbing arm both sides, be symmetrically set, clamping cylinder I is connected with clamp arm I by cylinder contiguous block I, clamp arm I is connected with anchor clamps contiguous block I, anchor clamps contiguous block I end is provided with chuck I, and chuck I is provided with leather packing I; The opposite side of lower plumbing arm is provided with clamping cylinder II, and clamping cylinder II is connected with clamp arm II by cylinder contiguous block II, and clamp arm II is connected with anchor clamps contiguous block II, and anchor clamps contiguous block II end is provided with chuck II, and chuck II is provided with leather packing II; Leather packing I, chuck I, anchor clamps contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I are symmetrically set with leather packing II, chuck II, anchor clamps contiguous block II, clamp arm II, cylinder contiguous block II, clamping cylinder II respectively.
The know-why that its technical problem that solves the utility model adopts is: this manipulator adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end anchor clamps and the telescopic cylinder, can automatically identify has no-load on the mechanical arm, and automatically adjust air pressure in the telescopic cylinder through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that in addition maloperation from falling the interlock protection functions such as thing and o-volt protection.Handle is provided with the personal computer control box, and computer controling box control rotary cylinder is realized the upset of anchor clamps in 180 ° of scopes, and realizes the anchor clamps folding by control clamping cylinder I, clamping cylinder II, is used for holding workpiece.This manipulator makes operator in the situation that fundamental sensation, is easily finished the operations such as the carrying, upset, assembling of stator less than object gravity, simple to operate, laborsaving, the highly effective and safe of running.
The utility model beneficial effect is: this manipulator is according to ergonomic designs, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency.Random mobile accurately location when guaranteeing the workpiece docking, when having avoided the workpiece assembling because the damage that collision has produced.Workpiece is in the zero-g suspended state, makes operating personnel in the situation that fundamental sensation, is easily finished the operations such as the carrying, upset, assembling of stator less than object gravity, simple to operate, laborsaving, the highly effective and safe of running.
Description of drawings
The below further describes the utility model in conjunction with the accompanying drawings and embodiments:
Fig. 1 is a kind of robot device structural representation for the motor stator assembling;
Fig. 2 is that a kind of robot device A for motor stator assembling is to view.
At Fig. 1, in 2: 1 base plate, 2 columns, 3 telescopic cylinders, 4 main rotating seats, 5 main rotating shafts, 6 little side plates, 7 large side plates, 8 swing principal arm, 9 swing auxiliary, 10 connecting plates, 11 transverse arm rotating seats, 12 turning arm main shafts, 13 turning arms, 14 plumbing arm rotating seats, 15 secondary rotating shafts, 16 times plumbing arms, 17 handles, 18 anchor clamps, 19 workpiece, 20 leather packing I, 21 chuck I, 22 anchor clamps contiguous block I, 23 clamp arm I, 24 cylinder contiguous block I, 25 clamping cylinder I, 26 air cylinder fixed plate, 27 clamping cylinder II, 28 cylinder contiguous block II, 29 clamp arm I I, 30 anchor clamps contiguous block II, 31 chuck II, 32 leather packing II.
The specific embodiment
At Fig. 1, in 2, base plate 1 fixes on the ground by expansion bolt, base plate 1 middle part is provided with column 2, column 2 tops are provided with main rotating seat 4, rotatable 360 °, main rotating seat 4 is connected with large side plate 7 by main rotating shaft 5, be provided with pneumatic control valve in the large side plate 7, pneumatic control valve is connected with telescopic cylinder 3, large lower end, side plate 7 left side is provided with telescopic cylinder 3, guide rod is connected with the guide pin bushing of little side plate 6 lower ends, large side plate 7 is provided with little side plate 6, large side plate 7 left sides are provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with little side plate 6, swinging principal arm 8 is connected with large side plate 7 respectively with swing auxiliary 9 one ends, the other end is connected with connecting plate 10 respectively, swing auxiliary 9 is positioned at swing principal arm 8 downsides and parallels with swing principal arm 8, transverse arm rotating seat 11 is connected with turning arm 13 by turning arm main shaft 12, transverse arm rotating seat 11 is connected with turning arm main shaft 12, rotatable 360 °, turning arm 13 is connected with plumbing arm rotating seat 14, plumbing arm rotating seat 14 rotatable 360 °, plumbing arm rotating seat 14 is connected with secondary rotating shaft 15, and secondary rotating shaft 15 is connected with lower plumbing arm 16, and lower plumbing arm 16 is provided with handle 17, the inboard, 17 lower end of shaking hands is provided with computer controling box, lower plumbing arm 16 ends are provided with rotary cylinder, the clamping cylinder I25 of the main shaft of rotary cylinder and anchor clamps 18, clamping cylinder II27 is connected, and accompanies workpiece in the anchor clamps 18.
Described anchor clamps contain leather packing I20, chuck I21, anchor clamps contiguous block I22, clamp arm I23, cylinder contiguous block I24, clamping cylinder I25, air cylinder fixed plate 26, clamping cylinder II27, cylinder contiguous block II28, clamp arm II29, anchor clamps contiguous block II30, chuck II31, leather packing II32, anchor clamps 18 are positioned at lower plumbing arm 16 ends, can carry out 180 ° of upsets, clamping cylinder I25 is connected with lower plumbing arm 16 by air cylinder fixed plate 26 with clamping cylinder II27, clamping cylinder I25 and clamping cylinder II27 are positioned at lower plumbing arm 16 both sides, be symmetrically set, clamping cylinder I25 is connected with clamp arm I23 by cylinder contiguous block I24, clamp arm I23 is connected with anchor clamps contiguous block I22, anchor clamps contiguous block I22 end is provided with chuck I21, and chuck I21 is provided with leather packing I20; The opposite side of lower plumbing arm 16 is provided with clamping cylinder II27, clamping cylinder II27 is connected with clamp arm II29 by cylinder contiguous block II28, clamp arm II29 is connected with anchor clamps contiguous block II28, and anchor clamps contiguous block II28 end is provided with chuck II31, and chuck II31 is provided with leather packing II32; Leather packing I20, chuck I21, anchor clamps contiguous block I22, clamp arm I23, cylinder contiguous block I24, clamping cylinder I25 are symmetrically set with leather packing II32, chuck II31, anchor clamps contiguous block II30, clamp arm II29, cylinder contiguous block II28, clamping cylinder II27 respectively.
This manipulator adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting arm end anchor clamps 18 and telescopic cylinder 3 interior gas pressures, can automatically identify has no-load on the mechanical arm, and the air pressure in the pneumatic logic control loop is adjusted telescopic cylinder 3 automatically, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that in addition maloperation from falling the interlock protection functions such as thing and o-volt protection.Handle 17 is provided with the personal computer control box, and computer controling box control rotary cylinder is realized the upset of anchor clamps 18 in 180 ° of scopes, and realizes anchor clamps 18 foldings by control clamping cylinder I25, clamping cylinder II27, is used for holding workpiece.This manipulator makes operator in the situation that fundamental sensation, is easily finished the operations such as the carrying, upset, assembling of stator less than object gravity, simple to operate, laborsaving, the highly effective and safe of running.

Claims (2)

1. the robot device that is used for the motor stator assembling, contain base plate, column, telescopic cylinder, main rotating seat, main rotating shaft, little side plate, large side plate, swing principal arm, swing auxiliary, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handle, anchor clamps, it is characterized in that: base plate fixes on the ground by expansion bolt, the base plate middle part is provided with column, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in the large side plate, pneumatic control valve is connected with telescopic cylinder, lower end, large side plate left side is provided with telescopic cylinder, guide rod is connected with the guide pin bushing of little side plate lower end, large side plate is provided with little side plate, large side plate left side is provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with little side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, the swing auxiliary is positioned at swing principal arm downside and parallels with the swing principal arm, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, the transverse arm rotating seat is connected with the turning arm main shaft, rotatable 360 °, turning arm is connected with the plumbing arm rotating seat, rotatable 360 ° of plumbing arm rotating seat, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handle, handle inboard, lower end is provided with computer controling box, lower plumbing arm end is provided with rotary cylinder, the main shaft of rotary cylinder is connected with the clamping cylinder of anchor clamps, accompanies workpiece in the anchor clamps.
2. the robot device for motor stator assembling according to claim 1, it is characterized in that: described anchor clamps contain leather packing I, chuck I, anchor clamps contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I, air cylinder fixed plate, clamping cylinder II, cylinder contiguous block II, clamp arm II, anchor clamps contiguous block II, chuck II, leather packing II, it is terminal that anchor clamps are positioned at lower plumbing arm, can carry out 180 ° of upsets, clamping cylinder I is connected with lower plumbing arm by air cylinder fixed plate with clamping cylinder II, clamping cylinder I and clamping cylinder II are positioned at lower plumbing arm both sides, be symmetrically set, clamping cylinder I is connected with clamp arm I by cylinder contiguous block I, clamp arm I is connected with anchor clamps contiguous block I, anchor clamps contiguous block I end is provided with chuck I, and chuck I is provided with leather packing I; The opposite side of lower plumbing arm is provided with clamping cylinder II, and clamping cylinder II is connected with clamp arm II by cylinder contiguous block II, and clamp arm II is connected with anchor clamps contiguous block II, and anchor clamps contiguous block II end is provided with chuck II, and chuck II is provided with leather packing II; Leather packing I, chuck I, anchor clamps contiguous block I, clamp arm I, cylinder contiguous block I, clamping cylinder I are symmetrically set with leather packing II, chuck II, anchor clamps contiguous block II, clamp arm II, cylinder contiguous block II, clamping cylinder II respectively.
CN2012202755197U 2012-06-04 2012-06-04 Mechanical hand device for motor stator assembly CN202668550U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012202755197U CN202668550U (en) 2012-06-04 2012-06-04 Mechanical hand device for motor stator assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012202755197U CN202668550U (en) 2012-06-04 2012-06-04 Mechanical hand device for motor stator assembly

Publications (1)

Publication Number Publication Date
CN202668550U true CN202668550U (en) 2013-01-16

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Application Number Title Priority Date Filing Date
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103331749A (en) * 2013-06-27 2013-10-02 江苏有能电气成套有限公司 Handling manipulator
CN104209954A (en) * 2014-09-18 2014-12-17 东莞市照亮焊接设备科技有限公司 Manipulator for dip coating and sand burning of golf club head and use method of manipulator
CN104803297A (en) * 2014-01-23 2015-07-29 北大方正集团有限公司 Tower crane apparatus and large beam ion injection equipment
CN104891183A (en) * 2015-07-03 2015-09-09 合肥卡诺汽车空调有限公司 Mechanical transporting arm for air conditioner
CN106078798A (en) * 2016-06-28 2016-11-09 相城区黄桥荣翔金属制品厂 A kind of circular motion machinery hands
CN108544527A (en) * 2018-03-18 2018-09-18 连云港格航工业设计有限公司 A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103331749A (en) * 2013-06-27 2013-10-02 江苏有能电气成套有限公司 Handling manipulator
CN104803297A (en) * 2014-01-23 2015-07-29 北大方正集团有限公司 Tower crane apparatus and large beam ion injection equipment
CN104209954A (en) * 2014-09-18 2014-12-17 东莞市照亮焊接设备科技有限公司 Manipulator for dip coating and sand burning of golf club head and use method of manipulator
CN104891183A (en) * 2015-07-03 2015-09-09 合肥卡诺汽车空调有限公司 Mechanical transporting arm for air conditioner
CN106078798A (en) * 2016-06-28 2016-11-09 相城区黄桥荣翔金属制品厂 A kind of circular motion machinery hands
CN108544527A (en) * 2018-03-18 2018-09-18 连云港格航工业设计有限公司 A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron

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GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130116

Termination date: 20150604