CN204818680U - Select hole location manipulator - Google Patents
Select hole location manipulator Download PDFInfo
- Publication number
- CN204818680U CN204818680U CN201520583220.1U CN201520583220U CN204818680U CN 204818680 U CN204818680 U CN 204818680U CN 201520583220 U CN201520583220 U CN 201520583220U CN 204818680 U CN204818680 U CN 204818680U
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- China
- Prior art keywords
- cam
- hole
- glue
- select
- swing arm
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- Expired - Fee Related
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Abstract
The utility model provides a select hole location manipulator, covers loading attachment including gluing, glues caping headstock, rotational positioning device, second vertical axis and cam drive part, and the cam drive part includes: coaxial hole cam that selects, glue and cover cam and swing arm cam, kink and fuselage pin joint, the upper end is connected through first connecting rod and the selection piece of leading on the rotational positioning device, lower beam portion and the L shape push rod that selects hole cam sliding fit, kink and fuselage pin joint, the upper end is connected with the T type piece on the rotational positioning device through the second connecting rod, the first cam surface sliding fit's of lower beam portion and swing arm cam the 2nd L shape push rod, pole body and the gluey cam sliding fit that covers, one end and the fuselage pin joint other end pass through the third push rod that third connecting rod and second vertical axis lower extreme are connected, the second cam surface sliding fit of pole body and swing arm cam, one end is passed through the fourth connecting rod and is glued the fourth push rod that caping headstock lower extreme is connected with the fuselage pin joint other end. It is completely by cam drive, compact structure, maintain convenient, the interference killing feature is strong.
Description
Technical field
The utility model relates to and selects hole positioning mechanical arm, and especially a kind of cam-actuated pure mechanical mechanism selects hole positioning mechanical arm, belongs to industrial automation.
Background technology
At present, the group both at home and abroad having realized automation by assembly element is found machine and is improve production efficiency, typical representative is exactly that the assembling process of aluminium electrolutic capacitor is integrated into an equipment by a production line, when organizing vertical machine work, a lot of element is had to be circular diplopore element, this class component general needs to select hole to locate, Typical Representative is exactly the glue cap member in aluminium electrolutic capacitor, but, to the general more complicated of mechanism that this class component selects hole to locate, thus also limit the operating efficiency of the vertical machine of group, have impact on the efficiency of industrial production automation further.
Utility model content
The purpose of this utility model is to provide one and selects hole positioning mechanical arm, and this selects hole positioning mechanical arm to adopt pure frame for movement to realize, and has compact conformation, the feature that easy to maintenance, efficiency is high.
Concrete technical scheme of the present utility model is:
One selects hole positioning mechanical arm, and it comprises:
Glue covers materials device, has: be fixed on the supporting spring that the first vertical pivot lower end discharges for control Jiao Gai, for pushing the pressing of Jiao Gai downwards, fork, is arranged at fork and the first transmission component between the first vertical pivot and pressing;
Glue caping headstock, is arranged at the below that glue covers materials device, and its projection at horizontal plane and described pressing separated by a distance in the projection of horizontal plane;
Rotary positioning apparatus, have: be arranged at glue caping headstock and glue and cover and select hole arm between materials device, be arranged at the hole selection needle seat selected on the arm of hole, needle stand driving wheel and glue caping pin, vertically be fixed on the swing arm hollow shaft selecting arm one end, hole, be fixed on T-shaped piece of swing arm hollow shaft lower end, nested with swing arm hollow shaft selects hole hollow shaft, and is fixed on and selects the centre wheel of hollow shaft upper end, hole and leading of lower end to select block, and centre wheel is connected by the second transmission component with needle stand driving wheel;
Second vertical pivot, be arranged at and select in the hollow shaft of hole, upper end is connected with described fork; And
Actuated by cams part, comprising:
Select hole cam, glue lid cam and swing arm cam, they are fixed on a camshaft;
One L shape push rod, kink and fuselage pin joint, upper end by first connecting rod with lead select block to be connected, lower beam portion coordinated with selecting hole cam slide by roller;
2nd L shape push rod, kink is connected with described T-shaped piece by second connecting rod with fuselage pin joint, upper end, lower beam portion is slidably matched by the first cam surface of roller and swing arm cam;
3rd push rod, shaft is coordinated with glue lid cam slide by roller, one end is connected with the second vertical pivot lower end by third connecting rod with the fuselage pin joint other end; And
4th push rod, shaft is slidably matched with the second cam surface of swing arm cam by roller, one end is connected with glue caping headstock lower end by double leval jib with the fuselage pin joint other end.
Preferably, described first transmission component comprises:
Be fixed on the cross bar of the first vertical pivot upper end;
Be supported on by the vertical supporting rod that can move up and down and drive briquetting above described cross bar;
Be arranged on the bridge block between described vertical supporting rod and described fork; And
Be arranged at the cross bar back-moving spring between cross bar and fuselage.
Preferably, described glue covers materials device and has two supporting springs and two pressings, and two supporting spring correspondences are supported by two the first vertical pivots; Accordingly, the cross bar of described first transmission component has two, and two cross bar correspondences are fixed on two the first vertical pivot upper ends and make the angle between two cross bars be less than 180 degree; The briquetting of opening of described first transmission component has one, the end face driving briquetting is del, open the top that briquetting is supported on two cross bar angles, two supporting springs can be driven around the first vertical pivot synchronous axial system at respective place by two cross bars when driving briquetting and moving down.
Preferably, described second transmission component comprises belt and tension pulley.
Preferably, described swing arm cam is an interior external cam.
Preferably, first to fourth connecting rod and connected parts adopt metric system rod end bearing to be connected.
During described cam axle, drive glue lid cam, select hole cam and swing arm cam to rotate, the first vertical axis around its place of the rotating drive supporting spring of glue lid cam also drives pressing to move up and down; The rotating drive hole selection needle seat of hole cam is selected to rotate; The rotation of swing arm cam drives on the one hand selects hole arm to swing between glue caping headstock and pressing, drives glue caping headstock to move up when selecting hole arm to arrive above it on the other hand to promote described glue caping pin to move up.
The beneficial effects of the utility model are: whole manipulator is by cam-actuated pure mechanical mechanism, have compact conformation, easy to maintenance, antijamming capability is strong, feature that efficiency is high.
Accompanying drawing explanation
Fig. 1-Fig. 3 is the tomograph that the utility model selects hole positioning mechanical arm exemplary embodiments;
Fig. 4 is the structure chart that its glue covers materials device;
Fig. 5-Fig. 6 is the structure chart of its rotary positioning apparatus;
Fig. 7-Fig. 8 is the structure chart that its link joint feature divides;
Fig. 9-Figure 10 is the structure chart of its actuated by cams part;
Figure 11 is that the utility model selects hole positioning mechanical arm three-dimensional structure sketch.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.These more detailed descriptions are intended to help and understand the utility model, and should not be used to limit the utility model.
As shown in figs. 1-11, this selects hole positioning mechanical arm to comprise: glue covers materials device 1, rotary positioning apparatus 2, and link joint feature divides 3, actuated by cams part 4, glue caping headstock 306, second vertical pivot 201.
With reference to Fig. 4, glue covers materials device 1 to be had: be fixed on the supporting spring 116 that the first vertical pivot 108 lower end discharges for control Jiao Gai, for pushing the pressing 115 of Jiao Gai downwards, fork 101, be arranged at fork 101 and the first transmission component between the first vertical pivot 108 and pressing 115.First transmission component is used for by the Movement transmit of fork 101 to the first vertical pivot 108 and pressing 115, thus reaches and control supporting spring 116 and to rotate around the first vertical pivot 108 and pressing 115 moves up and down.First transmission component comprises: the cross bar 105 being fixed on the first vertical pivot 108 upper end; Be supported on by the vertical supporting rod 106 that can move up and down and drive briquetting 107 above described cross bar 105; Be arranged on the bridge block 113 between vertical supporting rod 106 and fork 101; And the cross bar back-moving spring 110 be arranged between cross bar 105 and fuselage.More specifically, in an exemplary embodiment, revolute pair is formed by fulcrum between fork 101 and locating piece 102; Locating piece 102 and mainboard 103 are connected; Mainboard 103 and a block 104 and support square 114 and be connected; Support square 114 to be connected with fuselage; The other end of fork 101 and bridge fast 113 are connected; Bridge fast 113 and vertical supporting rod 106 are connected; Vertical supporting rod 106 with drive briquetting 107 and be connected; Prop up block 104 and the first hollow pipe 109 and the second hollow pipe 112 to be connected; First vertical pivot 108 is installed in first hollow pipe 109, forms revolute pair; First vertical pivot 108 is connected with cross bar 105; Be connected by cross bar back-moving spring 110 between cross bar 105 with a block 104; First vertical pivot 108 is connected with supporting spring 116; Second hollow pipe 112 upper end and speciality screw 111 are connected, and lower end is provided with pressing 115.Vertical supporting rod 106 is arranged within the copper sheathing of mainboard 103; Be connected by stage clip between speciality screw 111 with pressing 115.
In an exemplary embodiment, glue covers materials device 1 and has two supporting springs 116 and two pressings, 115, two supporting spring 116 correspondences are supported by two the first vertical pivots 108; Accordingly, the cross bar 105 of the first transmission component has two, and two cross bar 105 correspondences are fixed on two the first vertical pivot 108 upper ends and make the angle between two cross bars 105 be less than 180 degree; The briquetting 107 of opening of the first transmission component has one, the end face driving briquetting 107 is del, open the top that briquetting 107 is supported on two cross bar 105 angles, two supporting springs 116 can be driven around first vertical pivot 108 synchronous axial system at respective place by two cross bars 105 when driving briquetting 107 and moving down.
Glue caping headstock 306 is arranged at the below that glue covers materials device 1, and its projection at horizontal plane and described pressing 115 separated by a distance in the projection of horizontal plane.Glue caping headstock 306 also has two, covers two pressing 115 one_to_one corresponding in materials device 1 with glue.
With reference to Fig. 5, Fig. 6 and Figure 11, rotary positioning apparatus 2 has: be arranged at glue caping headstock 306 and glue and cover and select hole arm 207 between materials device 1, be arranged at the hole selection needle seat 210 selected on hole arm 207, needle stand driving wheel 211 and glue caping pin 214, vertically be fixed on the swing arm hollow shaft 205 selecting hole arm 207 one end, be fixed on T-shaped piece 203 of swing arm hollow shaft 205 lower end, nested with swing arm hollow shaft 205 selects hole hollow shaft 208, and be fixed on and select the centre wheel 209 of hole hollow shaft 208 upper end and leading of lower end to select block 202, centre wheel 209 is connected by the second transmission component with needle stand driving wheel 211.Wherein, the second transmission component comprises belt 212 and tension pulley 215.
Select the hole selection needle seat 210 on hole arm 207, needle stand driving wheel 211 and glue caping pin 214 also respectively to have two, cover two pressing 115 one_to_one corresponding in materials device 1 with two glue caping headstocks 306 and glue.
More specifically, in an exemplary embodiment, fixing axle bed 206 is arranged on fuselage, fixes and is connected by bearing between axle bed 206 with swing arm hollow shaft 205, forms revolute pair; Swing arm hollow shaft 205 and half circular shaft 204 and select hole arm 207 to be connected by screw; Half circular shaft 204 is connected by screw with T-shaped piece 203; Swing arm hollow shaft 205 is connected by bearing with selecting between hole hollow shaft 208, forms revolute pair; Select between hole arm 207 with the hollow shaft that needle stand driving wheel 211 is connected and be connected by bearing, form revolute pair; Be connected by belt 212 between centre wheel 209 with needle stand driving wheel 211, belt 212 is by tension pulley 215 tensioning; Needle stand driving wheel 211 and hole selection needle seat 210 are connected; The hollow shaft inside that glue caping pin 214 is connected from needle stand driving wheel 211 is passed.
Second vertical pivot 201 is arranged at and selects in hole hollow shaft 208, and upper end and described fork 101 are connected to drive fork 101 to swing rotationally.
With reference to Fig. 7-11, actuated by cams part 4 comprises: select hole cam 404, glue lid cam 403, swing arm cam the 405, one L shape push rod the 302, two L shape push rod the 304, three push rod the 410, four push rod 409.Hole cam 404, glue lid cam 403 and swing arm cam 405 is selected to be fixed on a camshaft 402.The kink of the one L shape push rod 302 and fuselage pin joint, upper end selects block 202 to be connected by first connecting rod 303 with leading, lower beam portion by roller with select hole cam 404 to be slidably matched.The kink of the 2nd L shape push rod 304 and fuselage pin joint, upper end is connected with described T-shaped piece 203 by second connecting rod 305, and lower beam portion is slidably matched by the first cam surface of roller and swing arm cam 405.The shaft of the 3rd push rod 410 is slidably matched by roller and glue lid cam 403, one end and fuselage pin joint, and the other end is connected with the second vertical pivot 201 lower end by third connecting rod 309.The shaft of the 4th push rod 409 is slidably matched by the second cam surface of roller and swing arm cam 405, one end and fuselage pin joint, and the other end is connected with glue caping headstock 306 lower end by double leval jib 307.Swing arm cam 405 is wherein an interior external cam.
More particularly, Cam bearing pedestal 401 is arranged on fuselage, is connected between Cam bearing pedestal 401 with camshaft 402 by rolling bearing, forms revolute pair; The outer surface of glue lid cam 403 is connected with the roller on the 3rd push rod 410; The outer surface of hole cam 404 is selected to be connected with the roller on a L shape push rod 302; The outer surface (the second cam surface) of swing arm cam 405 is connected with the roller on the 4th push rod 409, and its Internal periphery face (the first cam surface) is connected with the roller on the 2nd L shape push rod 304.3rd push rod 410 is connected by metric system rod end bearing with between third connecting rod 309; One L shape push rod 302 is connected by metric system rod end bearing with between first connecting rod 303; Be connected by metric system rod end bearing between 4th push rod 409 with two double leval jib 307; 2nd L shape push rod 304 is connected by metric system rod end bearing with between second connecting rod 305; Be connected by metric system rod end bearing between third connecting rod 309 and the second vertical pivot 201 in rotary positioning apparatus 2; First connecting rod 303 and leading in rotary positioning apparatus 2 are selected between block 202 and are connected by metric system rod end bearing; Be connected by metric system rod end bearing between double leval jib 307 with glue caping headstock 306; Be connected by metric system rod end bearing between second connecting rod 305 and T-shaped piece 203 in rotary positioning apparatus 2.One L shape push rod the 302, the 2nd L shape push rod the 304, the 4th push rod 409 and the 3rd push rod 410 are connected by handspike bearing 411 with between fuselage, form revolute pair.
Further, between the 3rd push rod 410 and fuselage, be also provided with the first extension spring 408, for being compressed by the outer surface of the roller on the 3rd push rod 410 and glue lid cam 403.Between a L shape push rod 302 and fuselage, be also provided with the second extension spring 301, for by the roller on a L shape push rod 302 with select the outer surface of hole cam 404 to compress.The 3rd extension spring 407 is also provided with, for being compressed by the outer surface of the roller on the 4th push rod 409 and swing arm cam 405 between the 4th push rod 409 and fuselage.More particularly, the second extension spring 301 is connected with the first fixed block 308 be connected on fuselage; 3rd extension spring 407 and the first extension spring 408 are connected with the second fixed block 406 be connected on fuselage.
With reference to Figure 11, when camshaft 402 rotates, drive glue lid cam 403, select hole cam 404 and swing arm cam 405 to rotate.Glue lid cam 403 finally drives first vertical pivot 108 of supporting spring 116 around its place to rotate realization and opens and closedown, and drive pressing 115 to move up and down, supporting spring 116 open and close serve access with release Jiao Gai effect, and moving down of pressing 115 gives glue lid certain pressure, on the syringe needle that glue lid is forced on hole selection needle seat 210, serve the effect that auxiliary Jiao Gai selects hole.Hole cam 404 is selected finally to drive the syringe needle on hole selection needle seat 210 to rotate, thus the Jiao Gai on drive syringe needle and then rotates together, fix 180 degree due to the positive reverse rotation of hole selection needle seat 210 meeting and get back to initial position, thus ensure that the Jiao Gai on syringe needle arrives assigned address, complete and select hole positioning function.Cam ring (Internal periphery face) in swing arm cam 405 finally drives and selects hole arm 207 to swing back and forth between glue caping headstock 306 and pressing 115, when elected hole arm 207 is in two diverse locations of swing, complete selecting hole positioning function and ejecting glue lid function by having moved up of glue caping pin 214 of Jiao Gai by the syringe needle on hole selection needle seat 210 respectively; Namely what the external cam (outer surface) in swing arm cam 405 finally drove is moving up and down of glue caping pin 214, and namely swing arm cam 405 drives glue caping headstock 306 to move up when selecting hole arm 207 to arrive above it to promote glue caping pin 214 and moves up.
Claims (7)
1. select hole positioning mechanical arm, it is characterized in that, comprising:
Glue covers materials device (1), have: be fixed on the supporting spring (116) that the first vertical pivot (108) lower end discharges for control Jiao Gai, for pushing the pressing (115) of Jiao Gai downwards, fork (101), is arranged at fork and the first transmission component between the first vertical pivot and pressing;
Glue caping headstock (306), is arranged at the below that glue covers materials device, and its projection at horizontal plane and described pressing (115) separated by a distance in the projection of horizontal plane;
Rotary positioning apparatus (2), have: be arranged at glue caping headstock (306) and glue and cover and select hole arm (207) between materials device (1), be arranged at the hole selection needle seat (210) selected on the arm of hole, needle stand driving wheel (211) and glue caping pin (214), vertically be fixed on the swing arm hollow shaft (205) selecting hole arm (207) one end, be fixed on T-shaped piece (203) of swing arm hollow shaft (205) lower end, nested with swing arm hollow shaft (205) selects hole hollow shaft (208), and be fixed on and select the centre wheel (209) of hole hollow shaft (208) upper end and leading of lower end to select block (202), centre wheel (209) is connected by the second transmission component with needle stand driving wheel (211),
Second vertical pivot (201), be arranged at and select in hole hollow shaft (208), upper end is connected with described fork (101); And
Actuated by cams part (4), comprising:
Select hole cam (404), glue lid cam (403) and swing arm cam (405), they are fixed on a camshaft (402);
One L shape push rod (302), kink and fuselage pin joint, upper end select that block (202) is connected, lower beam portion is by roller and select hole cam (404) to be slidably matched by first connecting rod (303) with leading;
2nd L shape push rod (304), kink is connected with described T-shaped piece (203) by second connecting rod (305) with fuselage pin joint, upper end, lower beam portion is slidably matched by the first cam surface of roller and swing arm cam (405);
3rd push rod (410), shaft is slidably matched with glue lid cam (403) by roller, one end is connected with the second vertical pivot (201) lower end by third connecting rod (309) with the fuselage pin joint other end; And
4th push rod (409), shaft is slidably matched with the second cam surface of swing arm cam (405) by roller, one end is connected with glue caping headstock (306) lower end by double leval jib (307) with the fuselage pin joint other end.
2. according to claim 1ly select hole positioning mechanical arm, it is characterized in that: described first transmission component comprises:
Be fixed on the cross bar (105) of the first vertical pivot (108) upper end;
By the vertical supporting rod (106) that can move up and down be supported on described cross bar (105) top drive briquetting (107);
Be arranged on the bridge block (113) between described vertical supporting rod (106) and described fork (101); And
Be arranged at the cross bar back-moving spring (110) between cross bar and fuselage.
3. according to claim 2ly select hole positioning mechanical arm, it is characterized in that:
Described glue covers materials device (1) and has two supporting springs and two pressings, and two supporting spring correspondences are supported by two the first vertical pivots;
Accordingly, the cross bar (105) of described first transmission component has two, and two cross bar correspondences are fixed on two the first vertical pivot upper ends and make the angle between two cross bars be less than 180 degree; The briquetting (107) of opening of described first transmission component has one, the end face driving briquetting is del, open the top that briquetting is supported on two cross bar angles, two supporting springs can be driven around the first vertical pivot synchronous axial system at respective place by two cross bars when driving briquetting and moving down.
4. according to claim 1ly select hole positioning mechanical arm, it is characterized in that: described second transmission component comprises belt (212) and tension pulley (215).
5. according to claim 1ly select hole positioning mechanical arm, it is characterized in that: described swing arm cam (405) is an interior external cam.
6. according to claim 1ly select hole positioning mechanical arm, it is characterized in that: first to fourth connecting rod and connected parts adopt metric system rod end bearing to be connected.
7. according to claim 1ly select hole positioning mechanical arm, it is characterized in that: when camshaft (402) rotates, drive glue lid cam (403), select hole cam (404) and swing arm cam (405) to rotate, first vertical pivot (108) of rotating drive supporting spring (116) around its place of glue lid cam (403) rotates and drives pressing (115) to move up and down; The rotating drive hole selection needle seat (210) of hole cam (404) is selected to rotate; The rotation of swing arm cam (405) drives on the one hand selects hole arm (207) to swing between glue caping headstock (306) and pressing (115), and driving glue caping headstock (306) the described glue caping pin (214) of promotion that moves up when selecting hole arm (207) to arrive above it moves up on the other hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583220.1U CN204818680U (en) | 2015-08-05 | 2015-08-05 | Select hole location manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520583220.1U CN204818680U (en) | 2015-08-05 | 2015-08-05 | Select hole location manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204818680U true CN204818680U (en) | 2015-12-02 |
Family
ID=54676321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520583220.1U Expired - Fee Related CN204818680U (en) | 2015-08-05 | 2015-08-05 | Select hole location manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204818680U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033632A (en) * | 2015-08-05 | 2015-11-11 | 清华大学深圳研究生院 | Hole selecting and positioning manipulator |
-
2015
- 2015-08-05 CN CN201520583220.1U patent/CN204818680U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033632A (en) * | 2015-08-05 | 2015-11-11 | 清华大学深圳研究生院 | Hole selecting and positioning manipulator |
| CN105033632B (en) * | 2015-08-05 | 2017-03-29 | 清华大学深圳研究生院 | Select hole positioning mechanical arm |
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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: 20151202 Termination date: 20190805 |