CN202825830U - Quadratic element manipulator automatic production equipment - Google Patents
Quadratic element manipulator automatic production equipment Download PDFInfo
- Publication number
- CN202825830U CN202825830U CN 201220464023 CN201220464023U CN202825830U CN 202825830 U CN202825830 U CN 202825830U CN 201220464023 CN201220464023 CN 201220464023 CN 201220464023 U CN201220464023 U CN 201220464023U CN 202825830 U CN202825830 U CN 202825830U
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- Prior art keywords
- finite element
- production equipment
- curved surface
- clamping
- quadratic finite
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Abstract
The utility model discloses quadratic element manipulator automatic production equipment which comprises a station clamping arm and quadratic element power heads, and the quadratic element power heads are arranged at the two ends of the station clamping arm. The quadratic element power heads comprise a machine base, manipulators, a horizontal link mechanism, a crank guide rail mechanism and a driving mechanism, wherein, the manipulators are arranged on the machine base, and the horizontal link mechanism pushes the manipulators respectively from two sides and enables the manipulators to grip and loosen synchronously. The crank guide rail mechanism comprises a rotating eccentric crank, a rotating wheel, a clamping curve guide mechanism and a side-step curve guide mechanism, the rotating wheel is arranged on the rotating eccentric crank, the clamping curve guide mechanism and the side-step curve guide mechanism are arranged on linear guide rails, the clamping curve guide mechanism and the side-step curve guide mechanism are arranged in a horizontal plane in a cross mode and are arranged in a staggered mode in the vertical direction, and the clamping curve guide mechanism and the side-step curve guide mechanism are respectively composed of linear segments and arc segments. The driving mechanism is used for driving the crank guide rail mechanism to work. The quadratic element manipulator automatic production equipment just needs two servo motors when at work, and is simple in structure, stable in operation, low in cost and reliable in control.
Description
Technical field
The utility model relates to a kind of automation processing production equipment, particularly a kind of Quadratic Finite Element manipulator automated production equipment that is applied to automatic production line.
Background technology
At present, the clamping that the Quadratic Finite Element manipulator kind of drive generally adopts on the market, translation are finished by two cover power drive respectively.The two groups of unit heads in front and back are coupled together by the clamp arm by the series connection multistation, form a Quadratic Finite Element Automatic Production System.In the applied environment of Quadratic Finite Element, generally omit a stage translation and drive servomotor, so a Quadratic Finite Element working group generally needs 3 cover SERVO CONTROL drive systems.So many servomotor+accurate retarding machine driving control system causes the traditional secondary meta structure loaded down with trivial details, and cost is high, and control system is complicated.
The utility model content
The technical problems to be solved in the utility model provides a kind of simple in structure, Quadratic Finite Element manipulator automated production equipment that cost is low.
For achieving the above object, the technical solution of the utility model is as follows:
Quadratic Finite Element manipulator automated production equipment, the Quadratic Finite Element unit head that comprises the station clamp arm and be placed in station clamp arm two ends; Described Quadratic Finite Element unit head comprises
One support
One is placed in the mechanical arm on the support;
One respectively from both sides promotion robot arm synchronous clamping and the waling stripe mechanism of unclamping;
One crank guide rail mechanism, comprise the rotating eccentricity crank, be placed in gyroscope wheel on the rotating eccentricity crank, be placed in the clamping curved surface guiding mechanism on the linear guides and be placed in traversing curved surface guiding mechanism on the linear guides, described clamping curved surface guiding mechanism and traversing curved surface guiding mechanism intersect arrangement, vertical direction dislocation in horizontal plane settles; Described clamping curved surface guiding mechanism and traversing curved surface guiding mechanism are comprised of straightway and arc section respectively;
One drives the driving mechanism of described crank guide rail mechanism work.
In embodiment of the utility model, described driving mechanism is a servomotor.
In embodiment of the utility model, described driving mechanism also comprises an accurate retarding machine.
In embodiment of the utility model, described driving mechanism is connected with the rotating eccentricity crank by synchronous belt pulley transmission is secondary.
In embodiment of the utility model, the shift motion of described mechanical arm is 0-400mm.
In embodiment of the utility model, the clamping stroke of described mechanical arm is 0-150mm.
In embodiment of the utility model, described support has the adjustment pin.
By technique scheme, the beneficial effects of the utility model are:
The utility model by the rotating eccentricity crank in each Quadratic Finite Element unit head, clamp that the mechanisms such as curved surface guiding mechanism, traversing curved surface guiding mechanism, waling stripe mechanism, linear slide rail will clamp, the motion of two directions of translation is finished by a driving servomotor, its system architecture simply, operate steadily, cost is low, control is reliable; Quadratic Finite Element manipulator automated production equipment only needs two servomotors, saves 1 servomotor than traditional secondary unit manipulator automated production equipment, and its economy is considerable.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model Quadratic Finite Element power head structure schematic diagram;
Fig. 3 is the utility model Quadratic Finite Element unit head top view;
Fig. 4 is the utility model Quadratic Finite Element unit head part-structure schematic diagram.
Numeral and the represented corresponding component title of letter among the figure:
10, work clamp arm 20, Quadratic Finite Element unit head 30, support 40, mechanical arm 50, waling stripe mechanism 60, crank guide rail mechanism 70, rotating eccentricity crank 80, gyroscope wheel 90, linear guides 100, clamping curved surface guiding mechanism 110, traversing curved surface guiding mechanism 120, servomotor 130, accurate retarding machine 140, synchronous belt pulley transmission pair 150, belt 160, adjustment pin
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the utility model.
Referring to shown in Figure 1, the Quadratic Finite Element unit head 20 that the utility model Quadratic Finite Element manipulator automated production equipment comprises station clamp arm 10 and is placed in station clamp arm 10 two ends.
To shown in Figure 4, Quadratic Finite Element unit head 20 comprises support 30, is placed in the mechanical arm 40 on the support 30 referring to Fig. 2; Can be from both sides promotion robot arm 40 synchronous clampings and the waling stripe mechanism 50 of unclamping.
Crank guide rail mechanism 60 comprises rotating eccentricity crank 70, be placed in the gyroscope wheel 80 on the rotating eccentricity crank 70, be placed in the clamping curved surface guiding mechanism 100 on the linear guides 90 and be placed in traversing curved surface guiding mechanism 110 on the linear guides 90, clamp curved surface guiding mechanism 100 and traversing curved surface guiding mechanism 110 and in horizontal plane, intersect arrangement, the vertical direction dislocation is settled, and can guarantee that like this rotating eccentricity crank 70 enters clamping curved surface guiding mechanism 100 successively, traversing curved surface guiding mechanism 110 is also finished the whole actuation cycle of clamping → maintenance → traversing → keep → unclamp → traversing time initial point.
Clamp curved surface guiding mechanism 100 and traversing curved surface guiding mechanism 110 and formed by straightway and arc section respectively, mechanical arm 40 is moved along the synthetic rectangular path of rounding off intersection hyperbola.
Driving mechanism is comprised of servomotor 120 and accurate retarding machine 130, and servomotor 120 is connected with synchronous belt pulley transmission secondary 140 by belt 150, and synchronous belt pulley transmission pair 140 is connected with rotating eccentricity crank 70, and driven rotary eccentric mechanism 70 is worked.
For the ease of mobile and adjustment position, the utility model has at support 30 and adjusts pin 160.
The operation principle of Quadratic Finite Element unit head is as follows:
Opening power, servomotor 120 and accurate retarding machine 130 are started working, driving mechanism drives secondary 140 rotations of synchronous belt pulley transmission by belt 150, gyroscope wheel 80 on the secondary 140 driven rotary eccentric mechanisms 70 of synchronous belt pulley transmission enters and clamps curved surface guiding mechanism 100 initial 1/4 arc orbits, finishes the 150mm stroke of clamping under the guiding of linear slide rail 90.
Station clamp arm 10 can carry out interval and the quantitative adjustment of clamp arm according to technological requirements such as actual station, operations, to satisfy production requirement.
The utility model Quadratic Finite Element unit head is by single servo motor driven, realizes clamping, the transverse motion unification, it is simple in structure, easy to maintenance, accurate positioning, operate steadily, mechanism stable is reliable.
The handover prestissimo of the utility model mechanical arm is 1m/s, and the clamping prestissimo is 0.35m/s, and the handover range is 400mm, and the clamping range is 150mm.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in above-described embodiment and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (7)
1. Quadratic Finite Element manipulator automated production equipment, the Quadratic Finite Element unit head that comprises the station clamp arm and be placed in station clamp arm two ends; It is characterized in that described Quadratic Finite Element unit head comprises
One support
One is placed in the mechanical arm on the support;
One respectively from both sides promotion robot arm synchronous clamping and the waling stripe mechanism of unclamping;
One crank guide rail mechanism, comprise the rotating eccentricity crank, be placed in gyroscope wheel on the rotating eccentricity crank, be placed in the clamping curved surface guiding mechanism on the linear guides and be placed in traversing curved surface guiding mechanism on the linear guides, described clamping curved surface guiding mechanism and traversing curved surface guiding mechanism intersect arrangement, vertical direction dislocation in horizontal plane settles; Described clamping curved surface guiding mechanism and traversing curved surface guiding mechanism are comprised of straightway and arc section respectively;
One drives the driving mechanism of described crank guide rail mechanism work.
2. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that, described driving mechanism is a servomotor.
3. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that described driving mechanism also comprises an accurate retarding machine.
4. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that, described driving mechanism is connected with the rotating eccentricity crank by synchronous belt pulley transmission is secondary.
5. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that, the shift motion of described mechanical arm is 0-400mm.
6. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that, the clamping stroke of described mechanical arm is 0-150mm.
7. Quadratic Finite Element manipulator automated production equipment according to claim 1 is characterized in that described support has the adjustment pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220464023 CN202825830U (en) | 2012-09-12 | 2012-09-12 | Quadratic element manipulator automatic production equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220464023 CN202825830U (en) | 2012-09-12 | 2012-09-12 | Quadratic element manipulator automatic production equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202825830U true CN202825830U (en) | 2013-03-27 |
Family
ID=47937621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220464023 Expired - Fee Related CN202825830U (en) | 2012-09-12 | 2012-09-12 | Quadratic element manipulator automatic production equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202825830U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338135A (en) * | 2018-04-02 | 2019-10-18 | 青岛森科特智能仪器有限公司 | The avoidance traveling method of fish jar clean robot |
-
2012
- 2012-09-12 CN CN 201220464023 patent/CN202825830U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338135A (en) * | 2018-04-02 | 2019-10-18 | 青岛森科特智能仪器有限公司 | The avoidance traveling method of fish jar clean robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20200912 |