CN206780399U - A kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality - Google Patents
A kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality Download PDFInfo
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- CN206780399U CN206780399U CN201720254947.4U CN201720254947U CN206780399U CN 206780399 U CN206780399 U CN 206780399U CN 201720254947 U CN201720254947 U CN 201720254947U CN 206780399 U CN206780399 U CN 206780399U
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Abstract
It the utility model is related to a kind of for encoder main shaft and the automatic loading and unloading robot of grating axiality adjustment, including motion, hand executing agency；Motion includes X-axis straight line slide unit, Y-axis straight line slide unit and Z axis straight line slide unit, and the X-axis straight line slide unit, Y-axis straight line slide unit and Z axis straight line slide unit are respectively arranged with X-axis servomotor, Y-axis servomotor, Z axis servomotor；Hand executing agency includes rotary swinging air cylinder, parallel air gripper, jaw fixed plate and finger clamping jaw.The utility model adjusts applied to encoder grating axiality, using three degrees of freedom right angle coordinate formula structure, rotated using rotary swinging air cylinder and drive two parallel air grippers, realize handling encoder automation, accurate positioning, easy to operate, quickness and high efficiency, the labor intensity of worker is reduced, improves the efficiency of encoder production.
Description
Technical field
The utility model belongs to mechanical field, and in particular to a kind of manipulator, for encoder main shaft and grating axiality
To the automatic loading and unloading of encoder during adjustment.
Background technology
, it is necessary to the encoder adjusted to not entering line raster axiality during encoder main shaft and the adjustment of grating axiality
Loaded and unloaded, it is therefore an objective to make encoder rapid and be accurately in rigging position, be unlikely to cause assembling to miss when grating assembles
Difference, so as to ensure assembly precision.At present during the encoder main shaft of enterprise adjusts with grating axiality, mainly pass through worker
Manual is positioned over encoder in encoder fixture, and completing an encoder grating axiality adjustment needs or so half a minute
Time, after an encoder has been adjusted, the encoder adjusted is removed, it is necessary to will not carry out the volume of axiality adjustment immediately
Code device is positioned in encoder fixture；But on the U-shaped encoder production line of enterprise, there was only a work on a production line
People, worker not only need to complete the task of handling encoder, also have other work to do, certainly will so cause the work of worker strong
Degree is big；And the time of each encoder grating axiality adjustment is not duplicate, worker is while other work are done
Need to pay close attention to grating axiality constantly and regulate whether to complete, to load and unload next encoder not being adjusted in time, cause
Work man-hour energy is not concentrated, and causes low production efficiency.
The content of the invention
It is used for encoder main shaft and the automatic loading and unloading robot of grating axiality adjustment it is an object of the invention to provide a kind of,
Realize the automation of encoder handling.
To achieve the above object, the technical solution adopted by the present invention is：One kind is used for encoder main shaft and grating axiality
The automatic loading and unloading robot of adjustment, including motion, hand executing agency；It is straight that motion includes X-axis straight line slide unit 1, Y-axis
Line slide unit 4 and Z axis straight line slide unit 11, the X-axis straight line slide unit 1, Y-axis straight line slide unit 4 and Z axis straight line slide unit 11 are respectively arranged with
X-axis servomotor 13, Y-axis servomotor 12, Z axis servomotor 10；Hand executing agency includes rotary swinging air cylinder 5, parallel
Jaw 6, jaw fixed plate 7 and finger clamping jaw 8, it is characterised in that：Support frame 3 is fixed on the X-axis straight line slide unit 1
On X-axis sliding seat 2, the Z axis straight line slide unit 11 is fixed on support frame as described above 3, and the installation of straight line slide unit connecting plate 15 is solid
It is scheduled on Z axis sliding seat 16, the Y-axis straight line slide unit 4 is arranged on the straight line slide unit connecting plate 15, and rotary swinging air cylinder is solid
Fixed board 14 is fixed on Y-axis sliding seat 9, and the rotary swinging air cylinder 5 is fixed on the rotary swinging air cylinder and fixed
On plate 14, the jaw fixed plate 7 is arranged on the rotary swinging air cylinder 5, and described two parallel air grippers 6 are arranged on the gas
In pawl fixed plate 7, four finger clamping jaws 8 are arranged on described two parallel air grippers 6.
Further, the X-axis straight line slide unit 1, Y-axis straight line slide unit 4 and Z axis straight line slide unit 11 are ball wire rod-type straight line
Slide unit, the X-axis servomotor 13, Y-axis servomotor 12 and Z axis servomotor 10 are straight by flexible clutch and the X-axis
Line slide unit 1, Y-axis straight line slide unit 4 connect with the leading screw of Z axis straight line slide unit 11, drive the X-axis sliding seat 2, the and of Y-axis sliding seat 9
Z axis sliding seat 16 realizes straight reciprocating motion.
Further, the X-axis servomotor 13, Y-axis servomotor 12 and Z axis servomotor 10 are by programmable controller
Control.
Further, the rotation of rotary swinging air cylinder 5 drives described two parallel air grippers 6 to realize 180 ° of rotations, described
Rotary swinging air cylinder 5 and two parallel air grippers 6 provide compressed air-driven by air compressor.
The beneficial effects of the utility model are：The utility model using repetitive positioning accuracy it is high straight line slide unit composition X,
Y and Z three-dimensional direction movings, it is simple in construction, accurate positioning, easy to operate, save work and take, the work for alleviating worker is strong
Degree；A used rotary swinging air cylinder drives two parallel air gripper structure types and according to the design of encoder main shaft shape
Jaw finger, improves production efficiency.
Brief description of the drawings
Fig. 1 is back angle structural representation of the present utility model.
Fig. 2 is preceding viewing angle constructions schematic diagram of the present utility model.
Fig. 3 is the enlarged diagram at A in the utility model Fig. 1.
Fig. 4 is front view of the present utility model.
Fig. 5 is top view of the present utility model.
Fig. 6 is right view of the present utility model.
In figure：1st, X-axis straight line slide unit, 2, X-axis sliding seat, 3, support frame, 4, Y-axis straight line slide unit, 5, rotary swinging air cylinder,
6th, parallel air gripper, 7, jaw fixed plate, 8, finger clamping jaw, 9, Y-axis sliding seat, 10, Z axis servomotor, 11, Z axis straight line slide unit,
12nd, Y-axis servomotor, 13, X-axis servomotor, 14, rotary swinging air cylinder fixed plate, 15, straight line slide unit connecting plate, 16, Z axis
Sliding seat.
Embodiment
The utility model provides a kind of technical scheme：A kind of automatic dress adjusted for encoder main shaft with grating axiality
Unload manipulator, including motion, hand executing agency；Motion includes X-axis straight line slide unit 1, Y-axis straight line slide unit 4 and Z axis
Straight line slide unit 11, X-axis straight line slide unit 1, Y-axis straight line slide unit 4 and Z axis straight line slide unit 11 are respectively arranged with X-axis servomotor 13, Y
Axle servomotor 12, Z axis servomotor 10；Hand executing agency includes rotary swinging air cylinder 5, parallel air gripper 6, jaw fixed plate
7 and finger clamping jaw 8, support frame 3 be fixed on the X-axis sliding seat 2 on X-axis straight line slide unit 1, Z axis straight line slide unit 11 is installed
It is fixed on support frame 3, straight line slide unit connecting plate 15 is fixed on Z axis sliding seat 16, and Y-axis straight line slide unit 4 is arranged on straight
On line slide unit connecting plate 15, rotary swinging air cylinder fixed plate 14 is fixed on Y-axis sliding seat 9, and rotary swinging air cylinder 5 is installed
It is fixed in rotary swinging air cylinder fixed plate 14, jaw fixed plate 7 is arranged on rotary swinging air cylinder 5, and two parallel air grippers 6 are pacified
In jaw fixed plate 7, four finger clamping jaws 8 are arranged on two parallel air grippers 6.
X-axis straight line slide unit 1, Y-axis straight line slide unit 4 and Z axis straight line slide unit 11 are ball wire rod-type straight line slide unit, X-axis servo
Motor 13, Y-axis servomotor 12 and Z axis servomotor 10 pass through flexible clutch and X-axis straight line slide unit 1, Y-axis straight line slide unit 4
Connected with the leading screw of Z axis straight line slide unit 11, driving X-axis sliding seat 2, Y-axis sliding seat 9 and Z axis sliding seat 16 realize linear reciprocation
Motion.
X-axis servomotor 13, Y-axis servomotor 12 and Z axis servomotor 10 are by Controlled by Programmable Controller.
The rotation of rotary swinging air cylinder 5 drives described two parallel air grippers 6 to realize 180 ° of rotations, the rotary oscillation gas
Cylinder 5 and two parallel air grippers 6 provide compressed air-driven by air compressor.
Claims (4)
1. a kind of hold for encoder main shaft and the automatic loading and unloading robot of grating axiality adjustment, including motion, hand
Row mechanism；Motion includes X-axis straight line slide unit（1）, Y-axis straight line slide unit（4）With Z axis straight line slide unit（11）, the X-axis straight line
Slide unit（1）, Y-axis straight line slide unit（4）With Z axis straight line slide unit（11）It is respectively arranged with X-axis servomotor（13）, Y-axis servomotor
（12）, Z axis servomotor（10）；Hand executing agency includes rotary swinging air cylinder（5）, parallel air gripper（6）, jaw fixed plate
（7）With finger clamping jaw（8）, it is characterised in that：Support frame（3）It is fixed on the X-axis straight line slide unit（1）On X-axis slide
Seat（2）On, the Z axis straight line slide unit（11）It is fixed on support frame as described above（3）On, straight line slide unit connecting plate（15）Installation is solid
It is scheduled on Z axis sliding seat（16）On, the Y-axis straight line slide unit（4）Installed in the straight line slide unit connecting plate（15）On, rotary oscillation
Air cylinder fixed plate（14）It is fixed on Y-axis sliding seat（9）On, the rotary swinging air cylinder（5）It is fixed on the rotation
Oscillating cylinder fixed plate（14）On, the jaw fixed plate（7）Installed in the rotary swinging air cylinder（5）On, it is described two flat
Promoting the circulation of qi pawl（6）Installed in the jaw fixed plate（7）On, four finger clamping jaws（8）Installed in described two parallel air grippers
（6）On.
2. a kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality according to claim 1,
It is characterized in that：The X-axis straight line slide unit（1）, Y-axis straight line slide unit（4）With Z axis straight line slide unit（11）For ball wire rod-type straight line
Slide unit, the X-axis servomotor（13）, Y-axis servomotor（12）With Z axis servomotor（10）By flexible clutch with it is described
X-axis straight line slide unit（1）, Y-axis straight line slide unit（4）With Z axis straight line slide unit（11）Leading screw connection, drive the X-axis sliding seat
（2）, Y-axis sliding seat（9）With Z axis sliding seat（16）Realize straight reciprocating motion.
3. a kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality according to claim 1,
It is characterized in that：X-axis servomotor（13）, Y-axis servomotor（12）With Z axis servomotor（10）By programmable controller control
System.
4. a kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality according to claim 1,
It is characterized in that：The rotary swinging air cylinder（5）Rotation drives described two parallel air grippers（6）Realize 180 ° of rotations, the rotation
Turn oscillating cylinder（5）With two parallel air grippers（6）Compressed air-driven is provided by air compressor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720254947.4U CN206780399U (en) | 2017-03-16 | 2017-03-16 | A kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720254947.4U CN206780399U (en) | 2017-03-16 | 2017-03-16 | A kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206780399U true CN206780399U (en) | 2017-12-22 |
Family
ID=60704006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720254947.4U Expired - Fee Related CN206780399U (en) | 2017-03-16 | 2017-03-16 | A kind of automatic loading and unloading robot adjusted for encoder main shaft with grating axiality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206780399U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015650A (en) * | 2018-08-23 | 2018-12-18 | 张丽忠 | A kind of multifunction manipulator neural network based |
| CN112739191A (en) * | 2020-12-21 | 2021-04-30 | 苏州光韵达自动化设备有限公司 | Plug-in mechanism capable of laterally plugging in plug-in |
| CN113118324A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with double manipulators |
-
2017
- 2017-03-16 CN CN201720254947.4U patent/CN206780399U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015650A (en) * | 2018-08-23 | 2018-12-18 | 张丽忠 | A kind of multifunction manipulator neural network based |
| CN112739191A (en) * | 2020-12-21 | 2021-04-30 | 苏州光韵达自动化设备有限公司 | Plug-in mechanism capable of laterally plugging in plug-in |
| CN113118324A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with double manipulators |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171222 Termination date: 20190316 |