CN206356994U - A kind of automatic compensation manipulator applied to machining center - Google Patents
A kind of automatic compensation manipulator applied to machining center Download PDFInfo
- Publication number
- CN206356994U CN206356994U CN201621475701.1U CN201621475701U CN206356994U CN 206356994 U CN206356994 U CN 206356994U CN 201621475701 U CN201621475701 U CN 201621475701U CN 206356994 U CN206356994 U CN 206356994U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- blade
- automatic compensation
- fixed
- litter
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of automatic compensation manipulator applied to machining center, its structure includes processing object putting position, object to be processed, the stable transverse slat of manipulator, fixed vertical plate, manipulator sliding bar, automatic compensation manipulator, manipulator lifts fixed block, manipulator installing plate, device fixes crossbar, U-shaped fixed iron block, manipulator adjuster, slide plate, more than two lifting litter, litter installs case composition, described slide plate and U-shaped fixed iron block are flexibly connected, the utility model realizes moving horizontally for manipulator by manipulator installing plate and slide plate, the movement of the vertical direction of automatic compensation manipulator is controlled with lifting litter, automatic compensation manipulator is provided with rotating cylinder and blade flex pipe, to carry out the switching and rising of blade, realize the conversion in thin tail sheep, with the requirement to processing item sizes precision, without also needing to remove more allowing blade replacement as other manipulators.
Description
Technical field
The utility model is a kind of automatic compensation manipulator applied to machining center, belongs to manipulator field.
Background technology
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the maximum area of arm for having the mankind
Flexibility ratio and resistance to dynamics are not that.
Prior art discloses a kind of automatic compensation applied to machining center of Application No. 201520188864.0
System, including machining center, six joint Manipulators and the matching used controller of six joint Manipulators, computer and laser are dry
Interferometer, the laser interferometer includes laser, interference mirror and speculum, and the laser is fixed on the end of six joint Manipulators
End hand is grabbed, and the interference mirror is arranged on the main shaft of the machine body of machining center, and the speculum is arranged on machine body
Workbench on, the interference mirror be located at lasers and mirrors between, the end of six joint Manipulator is additionally provided with light source
And camera, the self compensating system can compensate easily and efficiently to workpiece positioning precision and each axle positioning precision, still
The manipulator of the utility model can not compensate the scale error produced due to processing automatically, and due to processing item sizes essence
It is not of uniform size that accuracy is required, it is impossible to which automatically switch blade, causes the efficiency of robot work low.
Utility model content
In view of the deficienciess of the prior art, the utility model purpose is to provide a kind of automatic benefit applied to machining center
Manipulator is repaid, the scale error produced due to processing can not be compensated automatically to solve manipulator, and due to processing article chi
It is not of uniform size that very little precision is required, it is impossible to which automatically switch blade, causes the problem of efficiency of robot work is low.
To achieve these goals, the utility model is to realize by the following technical solutions：One kind is applied to processing
The automatic compensation manipulator at center, its structure includes processing object putting position, object to be processed, manipulator and stablizes transverse slat, consolidates
Determine riser, manipulator sliding bar, compensation manipulator, manipulator lifting fixed block, manipulator installing plate, device are fixed in length and breadth automatically
Bar, U-shaped fixed iron block, manipulator adjuster, slide plate, more than two lifting litter, litter install case composition, described slide plate
It is flexibly connected with U-shaped fixed iron block, described manipulator installing plate is fixedly connected with slide plate, described manipulator lifting fixed block
Be fixedly connected with manipulator installing plate, described lifting litter and litter are installed case and be flexibly connected, described litter install case and
Manipulator adjuster is connected, and described manipulator adjuster and automatic compensation manipulator are flexibly connected, described automatic compensation
Manipulator places neck, rotating cylinder fixed screw, rotating cylinder, setting-up piece, blade by four blades and picks and places folder, mounting head, cushion pad
Plate, blade flex pipe, blade place round platform composition, and described blade is placed neck and is fixedly connected with blade placement round platform, described
Blade pick and place folder and blade is placed neck and is connected, described rotating cylinder is connected with blade placement round platform with rotating cylinder fixed screw
Connect, described rotating cylinder is fixed on buffer plate with setting-up piece, described rotating cylinder is connected with mounting head, described cushion pad
Plate and blade flex pipe are flexibly connected, and described blade flex pipe is placed round platform with blade and is flexibly connected, and described blade is picked and placeed
Folder is placed round platform with blade and is connected.
Further, described processing object putting position and object to be processed are flexibly connected.
Further, described fixed vertical plate is fixed crossbar with device and is fixedly connected.
Further, the stable transverse slat of described manipulator is connected with fixed vertical plate.
Further, described manipulator sliding bar and device are fixed crossbar and connected with U-shaped fixed iron block.
The beneficial effects of the utility model:Moving horizontally for manipulator is realized by manipulator installing plate and slide plate, is used
The movement for the vertical direction for lifting litter to control automatic compensation manipulator, automatic compensation manipulator is provided with rotating cylinder and blade flex
Pipe, to carry out the switching and rising of blade, realizes the conversion in thin tail sheep, and to processing the requirement of item sizes precision, no
Also need to remove more allowing blade replacement with as other manipulators.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Levy, objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural representation of automatic compensation manipulator applied to machining center of the utility model；
Fig. 2 is the structure that a kind of automatic compensation manipulator applied to machining center of the utility model compensates manipulator automatically
Schematic diagram；
In figure：The stable transverse slat -3 of processing object putting position -1, object to be processed -2, manipulator, fixed vertical plate -4, machinery
Rubber sleeve lever -5, automatically compensation manipulator -6, manipulator lifting fixed block -7, manipulator installing plate -8, device fix crossbar -
9th, U-shaped fixed iron block -10, manipulator adjuster -11, slide plate -12, lifting litter -13, litter are installed case -14, four blades and put
Put neck -601, rotating cylinder fixed screw -602, rotating cylinder -603, setting-up piece -604, blade pick and place folder -605, mounting head -606,
Buffer plate -607, blade flex pipe -608, blade place round platform -609.
Embodiment
To be easy to understand technological means, creation characteristic, reached purpose and effect of the utility model realization, below
With reference to embodiment, the utility model is expanded on further.
Fig. 1, Fig. 2 are referred to, the utility model provides a kind of automatic compensation manipulator applied to machining center：Its structure
Including processing object putting position 1, object to be processed 2, the stable transverse slat 3 of manipulator, fixed vertical plate 4, manipulator sliding bar 5, from
Dynamic compensation manipulator 6, manipulator lifting fixed block 7, manipulator installing plate 8, device fix crossbar 9, U-shaped fixed iron block 10,
Manipulator adjuster 11, slide plate 12, more than two lifting litter 13, litter are installed case 14 and constituted, described slide plate 12 and U-shaped
Fixed iron block 10 is flexibly connected, and described manipulator installing plate 8 is fixedly connected with slide plate 12, described manipulator lifting fixed block
7 are fixedly connected with manipulator installing plate 8, and described lifting litter 13 and litter are installed case 14 and be flexibly connected, described litter peace
Vanning 14 is connected with manipulator adjuster 11, and described manipulator adjuster 11 and automatic compensation manipulator 6 are flexibly connected, institute
The automatic compensation manipulator 6 stated by four blades place necks 601, rotating cylinder fixed screw 602, rotating cylinder 603, setting-up piece 604,
Blade picks and places folder 605, mounting head 606, buffer plate 607, blade flex pipe 608, blade placement round platform 609 and constituted, described
Blade is placed neck 601 and is fixedly connected with blade placement round platform 609, and described blade picks and places folder 605 and blade places neck 601
It is connected, described rotating cylinder 603 is placed round platform 609 with blade and is connected with rotating cylinder fixed screw 602, and described rotating cylinder 603 is used
Setting-up piece 604 is fixed on buffer plate 607, and described rotating cylinder 603 is connected with mounting head 606, described buffer plate
607 and blade flex pipe 608 be flexibly connected, described blade flex pipe 608 is placed round platform 609 with blade and is flexibly connected, described
Blade pick and place folder 605 with blade placement round platform 609 be connected, described processing object putting position 1 and object to be processed 2 is lived
Dynamic to connect, described fixed vertical plate 4 is fixed crossbar 9 with device and is fixedly connected, and the stable transverse slat 3 of described manipulator is erected with fixed
Plate 4 is connected, and described manipulator sliding bar 5 and device are fixed crossbar 9 and connected with U-shaped fixed iron block 10.
Carrying out in use, moving horizontally for manipulator is realized by manipulator installing plate 8 and slide plate 12, with lifting cunning
Pole 13 controls the movement of the vertical direction of automatic compensation manipulator 6, and automatic compensation manipulator 6 stretches provided with rotating cylinder 603 and blade
The draw 608, to carry out the switching and rising of blade, realizes the conversion in thin tail sheep, without also needing to take as other manipulators
Under more allowing blade replacement.
General principle of the present utility model and principal character and advantage of the present utility model has been shown and described above, for
For those skilled in the art, it is clear that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present utility model is by institute
Attached claim rather than described above are limited, it is intended that will fall in the implication and scope of the equivalency of claim
All changes are included in the utility model.Any reference in claim should not be considered as to the right involved by limitation
It is required that.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (5)
1. a kind of automatic compensation manipulator applied to machining center, it is characterised in that：Its structure puts position including processing object
Put (1), object to be processed (2), the stable transverse slat (3) of manipulator, fixed vertical plate (4), manipulator sliding bar (5), compensate machine automatically
Tool hand (6), manipulator lifting fixed block (7), manipulator installing plate (8), device fix crossbar (9), U-shaped fixed iron block
(10), manipulator adjuster (11), slide plate (12), more than two lifting litter (13), litter install case (14) composition, described
Slide plate (12) and U-shaped fixed iron block (10) be flexibly connected, described manipulator installing plate (8) is fixedly connected with slide plate (12),
Described manipulator lifting fixed block (7) is fixedly connected with manipulator installing plate (8), described lifting litter (13) and litter peace
Vanning (14) is flexibly connected, and described litter is installed case (14) and is connected with manipulator adjuster (11), described mechanical hand adjustment
Save device (11) and automatic compensation manipulator (6) is flexibly connected, described automatic compensation manipulator (6) places neck by four blades
(601), rotating cylinder fixed screw (602), rotating cylinder (603), setting-up piece (604), blade pick and place folder (605), mounting head (606),
Buffer plate (607), blade flex pipe (608), blade place round platform (609) composition, described blade place neck (601) and
Blade is placed round platform (609) and is fixedly connected, and described blade picks and places folder (605) and is connected with blade placement neck (601), described
Rotating cylinder (603) and blade place round platform (609) and be connected with rotating cylinder fixed screw (602), described rotating cylinder (603) fixation
Pad (604) is fixed on buffer plate (607), and described rotating cylinder (603) is connected with mounting head (606), described buffering
Backing plate (607) and blade flex pipe (608) are flexibly connected, and described blade flex pipe (608) is placed round platform (609) with blade and lived
Dynamic connection, described blade picks and places folder (605) and is connected with blade placement round platform (609).
2. a kind of automatic compensation manipulator applied to machining center according to claim 1, it is characterised in that：Described
Processing object putting position (1) and object to be processed (2) are flexibly connected.
3. a kind of automatic compensation manipulator applied to machining center according to claim 1, it is characterised in that：Described
Fixed vertical plate (4) is fixed crossbar (9) with device and is fixedly connected.
4. a kind of automatic compensation manipulator applied to machining center according to claim 1, it is characterised in that：Described
The stable transverse slat (3) of manipulator is connected with fixed vertical plate (4).
5. a kind of automatic compensation manipulator applied to machining center according to claim 1, it is characterised in that：Described
Manipulator sliding bar (5) and device are fixed crossbar (9) and connected with U-shaped fixed iron block (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475701.1U CN206356994U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic compensation manipulator applied to machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475701.1U CN206356994U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic compensation manipulator applied to machining center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206356994U true CN206356994U (en) | 2017-07-28 |
Family
ID=59378471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621475701.1U Active CN206356994U (en) | 2016-12-30 | 2016-12-30 | A kind of automatic compensation manipulator applied to machining center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206356994U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471303A (en) * | 2017-08-01 | 2017-12-15 | 刘慎柱 | A kind of printing Scissoring device |
| CN110000754A (en) * | 2019-03-22 | 2019-07-12 | 广东科技学院 | A kind of manipulator controller |
-
2016
- 2016-12-30 CN CN201621475701.1U patent/CN206356994U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471303A (en) * | 2017-08-01 | 2017-12-15 | 刘慎柱 | A kind of printing Scissoring device |
| CN110000754A (en) * | 2019-03-22 | 2019-07-12 | 广东科技学院 | A kind of manipulator controller |
| CN110000754B (en) * | 2019-03-22 | 2021-11-23 | 广东科技学院 | Manipulator control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204711671U (en) | Automatic loading and unloading device | |
| CN104259619B (en) | A kind of portable cutter tool hand | |
| CN206356994U (en) | A kind of automatic compensation manipulator applied to machining center | |
| MX2012010435A (en) | Positioning device, working system, and hot working apparatus. | |
| JPH08150526A (en) | Machine tool | |
| US20190270195A1 (en) | A robotic system for carrying out an operation | |
| US9302394B2 (en) | Positioning device | |
| ATE135614T1 (en) | HANDLING DEVICE INTENDED TO INTERACT WITH AN INDUSTRIAL ROBOT | |
| WO2019176611A1 (en) | Production line system and base unit | |
| JP2018130771A (en) | Transportation tool | |
| US20190024842A1 (en) | System for generating the movement of a support plate in six degrees of freedom | |
| CN104626131A (en) | Novel four-shaft truss mechanical arm | |
| KR20190026765A (en) | Workpiece reversing device | |
| CN103433921A (en) | Three-degree-of-freedom translation force feedback hand controller | |
| JP5370120B2 (en) | Work transfer device | |
| CN102476322A (en) | Novel machine tool cutter compensation system and method | |
| CN104889779A (en) | Flexible servo-actuated clamp used for milling of thin-walled workpiece | |
| KR101385374B1 (en) | A jig for processing artificial tooth | |
| CN107813333B (en) | Food grabbing mechanism for high-speed parallel robot | |
| DE59103353D1 (en) | Handling device for transporting and positioning workpieces. | |
| CN108515455A (en) | Wind power blade tip lightening automates clamping device | |
| CN204076248U (en) | Transfer manipulator | |
| KR20160099362A (en) | Multi-Functional Fixed Robot with Horizontal Maintenance Unit | |
| RU2718025C1 (en) | Manipulation industrial robot | |
| TW559578B (en) | Parallel positioning mechanism, especially for machining and/or manipulation and/or measuring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |