CN202895569U - Flexible self-adaptive terminal actuator for robot - Google Patents
Flexible self-adaptive terminal actuator for robot Download PDFInfo
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- CN202895569U CN202895569U CN201220454159.7U CN201220454159U CN202895569U CN 202895569 U CN202895569 U CN 202895569U CN 201220454159 U CN201220454159 U CN 201220454159U CN 202895569 U CN202895569 U CN 202895569U
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- 238000001746 injection moulding Methods 0.000 claims abstract description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims description 22
- 229910003460 diamond Inorganic materials 0.000 claims description 8
- 239000010432 diamond Substances 0.000 claims description 8
- 230000008676 import Effects 0.000 claims description 4
- 238000002347 injection Methods 0.000 abstract description 12
- 239000007924 injection Substances 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000009776 industrial production Methods 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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Abstract
The utility model relates to a flexible self-adaptive terminal actuator for a robot, and belongs to the technical field of an executive device of the robot. The flexible self-adaptive terminal actuator comprises a fixed flange, a moveable flange, a supporting pillar, a bearing, a spindle and the like, wherein the spindle is fixed with a middle plate; a linear guide rail II is arranged under the middle plate; a slide block II is arranged on a Y platform; a linear guide rail I is arranged under the Y platform; a slide block I is arranged on an X platform; a supporting base is arranged on a main plate; the supporting base is hinged with a knuckle bearing; a screw rod is arranged on the knuckle bearing; the screw rod is connected with the X platform; and a cylinder positioning pin, a rhombus positioning pin, a preset copper ring and a pre-injection needle are arranged under the main plate. The self-adaptive terminal actuator obtained according to the technology provided by the utility model has an automatic adjusting function; a debugging process of coordinate and axis gesture of the robot is simplified; the debugging time is reduced; the precision of a preset part in an injection mould is ensured; the yield of the products is increased; when the mould is repaired and is mounted on an injection molding machine again, the precision of the space coordinates of the robot need not be adjusted again; the production efficiency is greatly increased; and the flexible self-adaptive terminal actuator is suitable for industrial production application.
Description
Technical field
The utility model belongs to robot actuating unit technical field, is specifically related to a kind of robot that is applicable to and accurately places the robot flexibility adaptive terminal actuator that part enters various occasions in the injection mold.
Background technology
Robot application part before injection moulding presets the occasion into injection machine mould at present, what have directly guarantees that by the robot precision part before the injection moulding presets the precision in the injection machine mould, what have presets accuracy error in order to remedy the part that robot repetitive positioning accuracy error causes, the end effector of installing at the robot arm front end is equipped with guide positioning pin, and fairlead is housed in the mould, enter with guide positioning pin and to revise robot repetitive positioning accuracy error in the fairlead, but the end effector detent mechanism that the robot arm front end is installed all is rigid structure basically.
Present following problems of technology ubiquity: it is large 1) accurately to seek robot space orientation coordinate difficulty; 2) accurately adjust robot front end alignment pin axis attitude difficult; 3) after mould rolled off the production line and repairs, when again going up injection machine, robot need to readjust the above-mentioned elements of a fix and axis attitude; 4) the robot alignment pin can't be adjusted to theoretical correct coordinates and theoretical correct axis attitude at all, so the robot rigidity is destroyed by large extra additional external force easily, the robot positioning accuracy is held time not grow and is also destroyed, and the robot positioning accuracy sharply reduces; 5) the preset piece position deviation causes the injecting products fraction defective higher; 6) injection mold because preset piece position deviation and matched moulds to damage risk high, increase the mould maintenance cost; 7) the accurate space coordinates time of debugging machine people is long, efficient is low, affects output etc.
The utility model content
For the above-mentioned problems in the prior art, the purpose of this utility model is to provide a kind of robot that is applicable to accurately to place the robot flexibility adaptive terminal actuator that part enters various occasions in the injection mold.
Described robot flexibility adaptive terminal actuator, comprise the flange of deciding that is connected with the robot arm front end flange, it is characterized in that the described moving flange of deciding to arrange under the flange, decide to arrange under the flange quadruplet pillar I, on the moving flange quadruplet pillar II is set, pillar I and pillar II are arranged alternately, adjacent pillar I is connected by extension spring with the pillar II, describedly decide to be provided with in the flange bearing I and bearing II, between bearing I and the bearing II mandrel is set, mandrel and middle plate are fixed, the line slideway II is set under the middle plate, the slide block II that forms moving sets with the line slideway II is set on the Y platform, Y platform below arranges the line slideway I, the slide block I that forms moving sets with the line slideway I is set on the X platform, fill four supporting bases on the mainboard, supporting base is articulated and connected by bearing pin and oscillating bearing, screw rod is set on the oscillating bearing, described screw rod is connected with the X platform, described mainboard below arranges cylindrical positioning pins, diamond positioning pin, preset copper ring and pre-injection moulding pin, described cylindrical positioning pins, diamond positioning pin imports in the corresponding locating hole of mould, is used for positioning action.
Described robot flexibility adaptive terminal actuator is characterized in that described X platform both sides dresses bearing I, and bearing I built-in spring I, described spring I have pre compressed magnitude to apply symmetry to the bearing I to put middle power.
Described robot flexibility adaptive terminal actuator is characterized in that described Y platform both sides are equipped with the bearing II, and the spring III is housed in the bearing II, and the precommpression of described spring III applies symmetry to the bearing II and puts middle power.
Described robot flexibility adaptive terminal actuator is characterized in that described screw tip is piercing in the X platform, and is fixed by double nut, and described screw rod middle part is the spring II, and the spheric washer group is housed on the spring II, and the spheric washer group is positioned at the below of X platform.
Described robot flexibility adaptive terminal actuator, when it is characterized in that there are the X-direction error in actuator parts and mould, both sides spring I one side between Y platform and the bearing I is further compressed, the opposite side pre compressed magnitude reduces, the X platform moves along X-direction with respect to the Y platform, automatically revises X-direction deviation between actuator parts and mould.
Described robot flexibility adaptive terminal actuator, when it is characterized in that there are the Y-direction error in actuator parts and mould, both sides spring III one side between middle plate and the bearing II is further compressed, the opposite side pre compressed magnitude reduces, the Y platform moves along Y-direction with respect to moving flange, automatically revises Y-direction deviation between actuator parts and mould.
Described robot flexibility adaptive terminal actuator, when it is characterized in that actuator parts and mould exist X-axis or Y-axis angular error, the X platform promotes four groups of spheric washer groups also and then promotes four spring II, article four, the advanced decrement of spring II is different, the X platform with respect to mainboard around X-axis, the Y-axis composite rotation, automatically revise X-axis between actuator parts and mould, the Y-axis angular deviation, namely be divided into parallel with X-axis respectively two groups when four spring II, one group of advanced decrement is large, it is few that another organizes advanced decrement, the X platform rotates around X-axis with respect to mainboard, automatically revises X-axis angular deviation between actuator parts and mould; When four spring II are divided into parallel with Y-axis respectively two groups, when one group of advanced decrement is large, it is few that another organizes advanced decrement, and the X platform rotates around Y-axis with respect to mainboard, automatically revises Y-axis angular deviation between actuator parts and mould.
Described robot flexibility adaptive terminal actuator, when it is characterized in that there are the Z axis angular error in actuator parts and mould, decide two groups of totally four extension springs between flange and the moving flange, one group further stretches, another group prestretched amount reduces, moving flange rotates around Z axis with respect to deciding flange, automatically revises Z axis angular deviation between actuator parts and mould.
Described robot flexibility adaptive terminal actuator is characterized in that robot flexibility adaptive terminal actuator and manipulation robot near the mould locating hole, is respectively ± 3mm at X-direction, Y-direction coordinate allowable error.
Described robot flexibility adaptive terminal actuator is characterized in that robot flexibility adaptive terminal actuator and manipulation robot near the mould locating hole, ± 5 ° respectively of X-axis, Y-axis, Z axis angular errors.
By adopting above-mentioned technology, compared with prior art, the beneficial effects of the utility model are as follows:
1) the utility model is by arranging X-axis, Y-axis and Z axis error guiding mechanism, reach with the lower precision replacement high precision machines people of robot and finish the work that preset piece enters injection mold, greatly reduce the robot input cost, simplify robot coordinate and axis attitude debug process, abandon the adjustment accuracy requirement to robot fully, the decrease debug time;
2) actuator of the present utility model is when finding axial location deviation or angular deviation, by regulating, automatically revise deviation, guarantee that preset piece puts into the injection mold precision, greatly reducing preset piece, to enter the product injection moulding that a low precision causes bad, improves product percent of pass; And when after mould is repaired, again going up injection machine, need not readjust robot space coordinates precision, greatly enhance productivity;
3) the utility model obtains a kind of robot flexibility adaptive terminal actuator by adopting above-mentioned technology, and to the extra additional force of robot, protection robot rigidity and accuracy lasting are not damaged for a long time when eliminating actuator alignment pin importing mould locating hole; Greatly reduce because preset piece enters the mould matched moulds accidental damage probability that a low precision causes, reduce the unexpected maintenance cost of mould, minimizing is safeguarded because of mould and is caused the injection molding machine cost of idleness; The raising robot puts preset piece and enters mould speed, enhances productivity, and is suitable for suitability for industrialized production and uses.
Description of drawings
Fig. 1 is front view structural representation of the present utility model;
Fig. 2 is left view structural representation of the present utility model;
Fig. 3 is that the utility model is decided flange and moving flange extension spring junction radial section structural representation;
Fig. 4 is stereogram structural representation of the present utility model.
Among the figure: 1-decides flange, 2-pillar I, 2a-pillar II, 3-extension spring, 4-moves flange, 5-slide block I, 6-line slideway I, the 7-Y platform, 8-spring I, 9-bearing I, the 10-X platform, 11-double nut, 12-spheric washer group, the 13-screw rod, 14-spring II, 15-oscillating bearing, the 16-bearing pin, 17-supporting base, 18-mainboard, 19-presets copper ring, 20-diamond positioning pin, the pre-injection moulding pin of 21-, the 22-cylindrical positioning pins, 23-bearing II, 24-spring III, the 25-mandrel, 26-bearing I, 27-bearing II, plate among the 28-, 29-line slideway II, 30-slide block II.
The specific embodiment
The utility model will be further described below in conjunction with Figure of description:
Shown in Fig. 1-4, robot flexibility adaptive terminal actuator, comprise and decide flange 1, describedly decide fixedly quadruplet pillar I 2 of flange 1 time, fixing quadruplet pillar II 2a on the moving flange 4, be divided into two groups of prestretcheds difference hooks in quadruplet pillar 2 and pillar 2a hole by four extension springs 3, wherein two extension springs 3 are overlapped between the pillar 2a in deciding two on the cover pillar 2 of two under the flange 1 and the moving flange 4 with the up time pinhock, two extension springs 3 are overlapped between the pillar 2a in deciding two on the cover pillar 2 of two under the flange 1 and the moving flange 4 with the inverse time pinhock in addition, deciding flange 1 applies clockwise and counterclockwise equal prestretching torsional moment to moving flange 4, decide flange 1 interior bearing I 26 and the bearing II 27 of arranging, mandrel 25 is set between two bearings, mandrel 25 belows and middle plate 28 are fixing, 28 times dresses of middle plate line slideway II 29, dress slide block II 30 on the Y platform 7, line slideway II 29 forms moving sets with slide block II 30, bearing II 23 is equipped with in Y platform 7 both sides, spring III 24 is housed in the bearing II 23,24 precommpression of spring III apply symmetry to bearing II 23 and put middle power, Y platform 7 belows dress line slideway I 6, dress slide block I 5 on the X platform 10, line slideway I 6 forms sliding pair with slide block I 5, X platform 10 both sides dress bearing I 9, bearing I 9 built-in spring I 8,8 precommpression of spring I apply symmetry to bearing I 9 and put middle power, fill four supporting bases 17 on the mainboard 18, pass through bearing pin 16 articulation joint bearings 15 in the supporting base 17, loading screw 13 on the oscillating bearing 15, screw rod 13 middle parts are spring II 14, dress spheric washer group 12 on the spring II 14, spheric washer group 12 tops are X platforms 10, double nut 11 is also locked in screw rod 13 tops, between mainboard 17 and X platform 10, apply pre-pressing force, mainboard 18 belows dress cylindrical positioning pins 22 and diamond positioning pin 20, eight covers preset copper ring 19 and the pre-injection moulding pin 21 of quadruplet is held on mainboard 18 belows, cylindrical positioning pins 22, diamond positioning pin 20 imports the corresponding locating hole of mould, imports positioning action.
As shown in Figure 3, decide flange 1, moving flange 4 is circular configuration, decide 1 time interval of flange quadruplet pillar I 2 is set, quadruplet pillar I 2 is arranged on the eight equal parts reference circle of deciding flange 1, and being positioned at two angles is the RADIAL two ends of 45 degree, on the moving flange 4 quadruplet pillar II 2a is set, quadruplet pillar II 2a is arranged on the eight equal parts reference circle of moving flange 4, and be positioned in addition two RADIAL two ends that angle is 45 degree, pillar I 2 is arranged alternately in twos with pillar II 2a, and namely eight cover pillars evenly are arranged on the circumference, and the angle of adjacent two pillars is 45 degree, adjacent pillar I 2 is connected by extension spring 3 respectively with pillar II 2a, have four extension springs 3, owing to be to interlock in twos, so an end of extension spring 3 is pillar I 2, the other end is pillar II 2a, so in 2, four extension springs 3 of pillar I, wherein two is counterclockwise relatively, two is to connect clockwise in addition, forms opposite direction, the pulling force of mutual balance.
As shown in Figure 1, the flange 1 of deciding of the utility model actuator parts is installed on robot arm front end flange place; The manipulation robot together with this actuator parts near the mould locating hole, the coordinate allowable error X-direction, Y-direction each ± the 3mm scope in, X-axis, Y-axis, Z axis each ± 5 ° of scopes in, specifically adjust as follows:
1) when there are the X-direction error in actuator parts and mould, both sides spring I 8 one sides between this actuator parts Y platform 7 and the bearing I 9 are further compressed, the opposite side pre compressed magnitude reduces, X platform 10 moves along X-direction with respect to Y platform 7, thereby automatically revises between actuator parts and mould the X-direction deviation as shown in Figure 1;
2) when there are the Y-direction error in actuator parts and mould, both sides spring III 24 1 sides in this actuator parts between plate 28 and the bearing II 23 are further compressed, the opposite side pre compressed magnitude reduces, Y platform 7 moves along Y-direction with respect to moving flange 4, thereby automatically revises between actuator parts and mould the Y-direction deviation as shown in Figure 2;
3) when there are the Z axis angular error in actuator parts and mould, this actuator parts are decided two groups of totally four extension springs 3 between flange 1 and the moving flange 4, one group further stretches, another group prestretched amount reduces, moving flange 4 rotates around Z axis with respect to deciding flange 1, thereby automatically revise Z axis angular deviation between actuator parts and mould, as shown in Figure 3;
4) when there are the X-axis angular error in actuator parts and mould, as shown in Figure 2, this actuator parts X platform 10 promotes four groups of spheric washer groups 12 also and then promotes two groups of altogether spring II 14, article four, spring II 14 is divided into parallel with X-axis respectively two groups, wherein one group of advanced decrement is large, it is few that another organizes advanced decrement, and X platform 10 rotates around X-axis with respect to mainboard 18, thereby automatically revises X-axis angular deviation between actuator parts and mould;
5) when there are the Y-axis angular error in actuator parts and mould, as shown in Figure 1, this actuator parts X platform 10 promotes four groups of spheric washer groups 12 also and then promotes two groups of totally four spring II 14, article four, spring II 14 is divided into parallel with Y-axis respectively two groups, wherein one group of advanced decrement is large, it is few that another organizes advanced decrement, and X platform 10 rotates around Y-axis with respect to mainboard 18, thereby automatically revises Y-axis angular deviation between actuator parts and mould;
6) when actuator parts cylindrical positioning pins 22 and diamond positioning pin 20 shaft shoulder faces and mould locating hole end contact, preset copper ring 19 and pre-injection moulding pin 21 etc. and accurately enter the position; Preset the preset pieces such as copper ring 19 and pre-injection moulding pin 21 enter the position finish after, robot withdraws from from mould together with this actuator parts, two groups of four spring I 8 return to initial its pre-compressed state separately, actuator components interior X platform 10 recovers the original center condition of X-direction ± 0mm with respect to Y platform 7, two groups of four spring III 24 return to initial its pre-compressed state separately, actuator components interior Y platform 7 recovers the original center condition of Y-direction ± 0mm with respect to moving flange 4, two groups of four extension springs 3 return to initial pretensioned state separately, moving flange 4 rotates the original ± 0 ° state that recovers with respect to deciding flange 1 around Z axis, four groups of spring II 14 return to initial its pre-compressed state separately, mainboard 18 with respect to X platform 10 around X-axis, Y-axis is rotated the original ± 0 ° state that recovers.
The utility model obtains robot flexibility adaptive terminal actuator by adopting above-mentioned technology, with two groups four spring I 8 modified chis to error; Revise the Y-direction error with two groups of four spring III 24, revise the Z axis angular error by two groups of four extension springs 3; With four spring II, 14 modified chi axles, the Y-axis angular error, reach and accurately to adjust the robot axis attitude and can enter position mould, and eliminate in the error correction process of locus harmful effect to robot rigidity and positioning accuracy fully with the flexibility of above-mentioned spring, and actuator parts self adaptation imported accurate locus, after mould is repaired, when again going up injection machine, robot also need not be any again adjustment, preset piece enters the position accurately, enter an efficient height, reduce the injecting products fraction defective that the preset piece position deviation causes, also greatly reduce the risk that causes the mould matched moulds to damage because of the preset piece position deviation, reduce the unexpected maintenance cost of mould.
Claims (4)
1. robot flexibility adaptive terminal actuator, comprise be connected with the robot arm front end flange decide flange (1), it is characterized in that the described moving flange (4) of deciding to arrange under the flange (1), decide to arrange under the flange (1) quadruplet pillar I (2), on the moving flange (4) quadruplet pillar II (2a) is set, pillar I (2) is arranged alternately with pillar II (2a), adjacent pillar I (2) is connected by extension spring (3) with pillar II (2a), describedly decide to be provided with in the flange (1) bearing I (26) and bearing II (27), between bearing I (26) and the bearing II (27) mandrel (25) is set, mandrel (25) is fixing with middle plate (28), line slideway II (29) is set under the middle plate (28), the upper slide block II (30) that forms moving sets with line slideway II (29) that arranges of Y platform (7), Y platform (7) below arranges line slideway I (6), the upper slide block I (5) that forms moving sets with line slideway I (6) that arranges of X platform (10), fill four supporting bases (17) on the mainboard (18), supporting base (17) is articulated and connected by bearing pin (16) and oscillating bearing (15), (15) arrange screw rod (13) on the oscillating bearing, described screw rod (13) is connected with X platform (10), described mainboard (18) below arranges cylindrical positioning pins (22), diamond positioning pin (20), preset copper ring (19) and pre-injection moulding pin (21), described cylindrical positioning pins (22), diamond positioning pin (20) imports in the corresponding locating hole of mould.
2. robot flexibility adaptive terminal actuator according to claim 1, it is characterized in that described X platform (10) both sides dress bearing I (9), bearing I (9) built-in spring I (8), described spring I (8) have pre compressed magnitude to apply symmetry to bearing I (9) to put middle power.
3. robot flexibility adaptive terminal actuator according to claim 1, it is characterized in that described Y platform (7) both sides are equipped with bearing II (23), spring III (24) is housed in the bearing II (23), and described spring III (24) precommpression applies symmetry to bearing II (23) and puts middle power.
4. robot flexibility adaptive terminal actuator according to claim 1, it is characterized in that described screw rod (13) top is piercing in X platform (10), and fixing by double nut (11), described screw rod (13) middle part is spring II (14), spheric washer group (12) is housed on the spring II (14), and spheric washer group (12) is positioned at the below of X platform (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220454159.7U CN202895569U (en) | 2012-09-07 | 2012-09-07 | Flexible self-adaptive terminal actuator for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220454159.7U CN202895569U (en) | 2012-09-07 | 2012-09-07 | Flexible self-adaptive terminal actuator for robot |
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| Publication Number | Publication Date |
|---|---|
| CN202895569U true CN202895569U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220454159.7U Expired - Lifetime CN202895569U (en) | 2012-09-07 | 2012-09-07 | Flexible self-adaptive terminal actuator for robot |
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| Country | Link |
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| CN (1) | CN202895569U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794866A (en) * | 2012-09-07 | 2012-11-28 | 怡得乐电子(杭州)有限公司 | Flexible self-adaptive terminal actuator for robot |
-
2012
- 2012-09-07 CN CN201220454159.7U patent/CN202895569U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794866A (en) * | 2012-09-07 | 2012-11-28 | 怡得乐电子(杭州)有限公司 | Flexible self-adaptive terminal actuator for robot |
| CN102794866B (en) * | 2012-09-07 | 2014-08-13 | 怡得乐电子(杭州)有限公司 | Flexible self-adaptive terminal actuator for robot |
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| GR01 | Patent grant | ||
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Granted publication date: 20130424 |
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| CX01 | Expiry of patent term |