CN206898718U - A kind of three axle assembly manipulators - Google Patents
A kind of three axle assembly manipulators Download PDFInfo
- Publication number
- CN206898718U CN206898718U CN201720688556.3U CN201720688556U CN206898718U CN 206898718 U CN206898718 U CN 206898718U CN 201720688556 U CN201720688556 U CN 201720688556U CN 206898718 U CN206898718 U CN 206898718U
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- kinematic system
- motor cabinet
- clamp device
- axis kinematic
- slide plate
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of three axle assembly manipulators, including three axle control platforms, and the clamp device in three axle control platforms, three axle control platforms include being used for X-axis kinematic system, Y-axis kinematic system and the Z axis kinematic system for driving clamp device to move, clamp device includes slide plate, and it is slidably mounted on the motor cabinet on slide plate, the lower rotational of motor cabinet is provided with clamping jaw, the motor being connected with clamping jaw is installed on motor cabinet, notched detection plate is installed on clamping jaw, the detector for detecting detection plate rotational angle is provided with motor cabinet.Clamp device is driven by three axle control platforms, the accurate movement position for controlling clamp device, so as to realize to the accurate inserting of workpiece, instead of being inserted in traditional handicraft by human hand to workpiece, the efficiency and quality of inserting is improved, there is wide applicability.
Description
Technical field
Automatic field is the utility model is related to, in particular to a kind of three axle assembly manipulators.
Background technology
Shadedpole motor is simplest a kind of motor in single-direction AC motor, generally use cage modle skewed slot cast aluminium
Rotor.According to the difference of stator contour structures, shaded-pole motor is divided into two kinds of salient pole type and hidden pole type.Wherein salient pole type split-pole electricity
The stator core profile of motivation is square, rectangle or the field frame of circle, and magnetic pole is protruded, and 1 is provided with each magnetic pole
Or multiple short-circuit copper rings to help out, i.e. split-pole winding.During work, the concentratred winding on magnet limbs is as main winding.
After main winding is powered, split-pole winding can also produce induced-current, make magnetic pole of the stator by the magnetic flux of split-pole winding house portions by
Non- cover portion point rotates to the direction of quilt cover part.The stator of motor with cup rotor involved in the present invention includes and is provided with two groups of short-circuited conducting sleeves
With the silicon steel sheet being stacked, in the work flow that short-circuited conducting sleeve is set on the silicon steel sheet being stacked, bending, the weldering of short-circuited conducting sleeve
Connect processing and shaping be shaded-pole single-phase asynchronous motor production in master operation, when short-circuit copper ring is installed, generally
It is that copper ring is inserted by human hand, this process consumes substantial amounts of manpower and time, easily causes the waste of human resources.
Utility model content
The utility model is intended to one of above-mentioned technical problem at least solving in correlation technique to a certain extent.Therefore,
The utility model proposes a kind of three axle assembly manipulators, copper ring can be gripped and inserted, and inserting angle can be automatically adjusted,
Suitable for the split-pole winding of plurality of specifications, there is wide applicability.
To achieve the above object, the technical solution of the utility model is as follows：
A kind of three axle assembly manipulators, including three axle control platforms, and the clamp device in three axle control platforms,
Three axle control platforms include being used for X-axis kinematic system, Y-axis kinematic system and the Z axis kinematic system for driving clamp device to move, folder
Device is taken to include slide plate, and the motor cabinet being slidably mounted on slide plate, the lower rotational of motor cabinet is provided with clamping jaw, motor cabinet
On the motor being connected with clamping jaw is installed, notched detection plate is installed on clamping jaw, be provided with motor cabinet for detect inspection
Survey the detector of disk rotational angle.
It is further improved according to above-mentioned technical characteristic, motor cabinet is slidably mounted on slide plate by guide rail, slide plate
Bottom the baffle plate that limiting motor seat moves down is installed, the top of slide plate is provided with the buffer unit abutted with slide plate.
It is further improved according to above-mentioned technical characteristic, buffer unit includes fixed seat, is fixed with and prolongs in fixed seat
The lead inside motor cabinet is reached, compression spring is set with lead.
It is further improved according to above-mentioned technical characteristic, clamping jaw includes pneumatic gripping finger, the movable end peace of pneumatic gripping finger
Equipped with the jig arm for gripping workpiece.
It is further improved according to above-mentioned technical characteristic, Y-axis kinematic system includes main boom, X-axis kinematic system bag
The transverse strands vertical with main boom are included, one end bottom of transverse strands is connected with main boom by guide rail.
It is further improved according to above-mentioned technical characteristic, Y-axis kinematic system also includes what is be parallel to each other with main boom
Secondary arm frame, the other end bottom of transverse strands are connected with secondary arm frame by guide rail.
It is further improved, is provided with main boom or secondary arm frame for driving X-axis to transport according to above-mentioned technical characteristic
The Y drive devices of dynamic system motion.
It is further improved according to above-mentioned technical characteristic, is provided with and is used in X-axis kinematic system or Y-axis kinematic system
Detect the position sensor of clamp device relative position in an x or y direction.
The beneficial effects of the utility model are：The utility model in three axle control platforms by installing clamp device, and three
Axle control platform includes being used for X-axis kinematic system, Y-axis kinematic system and the Z axis kinematic system for driving clamp device to move, gripping
Device includes slide plate, and the motor cabinet being slidably mounted on slide plate, and the lower rotational of motor cabinet is provided with clamping jaw, on motor cabinet
The motor being connected with clamping jaw is installed, notched detection plate is installed on clamping jaw, is provided with motor cabinet for detecting detection
The detector of disk rotational angle.Clamp device is driven by three axle control platforms, the accurate motion for controlling clamp device
Position, so as to realize to the accurate inserting of workpiece, instead of being inserted in traditional handicraft by human hand to workpiece, improve the efficiency of inserting
And quality, there is wide applicability.
Brief description of the drawings
It is described further below in conjunction with accompanying drawing and example.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the clamp device in the utility model.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that to the utility model
Limitation.
Referring to Figures 1 and 2, a kind of three axle assembly manipulators, including three axle control platforms, and installed in three axle control platforms
On clamp device 1, three axle control platforms include be used for drive clamp device 1 move X-axis kinematic system 2, Y-axis kinematic system
3 and Z axis kinematic system 4, clamp device 1 include slide plate 11, and the motor cabinet 12 being slidably mounted on slide plate 11, motor cabinet 12
Lower rotational clamping jaw 13 is installed, the motor being connected with clamping jaw 13 is installed on motor cabinet 12, is provided with lacking on clamping jaw 13
Mouthful detection plate 14, the detector 15 for detecting the rotational angle of detection plate 14 is provided with motor cabinet 12.Controlled by three axles
Platform is driven to clamp device 1, and X-axis kinematic system 2 and Y-axis kinematic system 3 control its coordinate in the horizontal plane respectively
Position, Z axis kinematic system 4 then control clamp device 1 to be moved up and down when gripping workpiece, and it can accurately control clamp device 1
Movement position, so as to realize to the accurate inserting of workpiece, instead of being inserted in traditional handicraft by human hand to workpiece, improve inserting
Efficiency and quality, there is wide applicability.By the detector 15 set on motor cabinet 12,14 turns of detection plate can be accurately detected
Dynamic angle, so as to ensure the angle of workpiece inserting, improve the accuracy of work.
Further, the motor cabinet 12 in the utility model is slidably mounted on slide plate 11 by guide rail, the bottom of slide plate 11
The baffle plate 16 that limiting motor seat 12 moves down is installed, the top of slide plate 11 is provided with the buffer unit abutted with slide plate 11.Gripping
When device 1 moves down, when colliding frock, motor cabinet 12 then moves up relative to slide plate 11, and now the buffer unit on top can delay
Its impulsive force to frock is rushed, protecting tool set-up is from damaging by pressure.
Further, preferably, the buffer unit in the utility model includes fixed seat 17, it is fixed with and prolongs in fixed seat 17
The lead 18 inside motor cabinet 12 is reached, compression spring 19 is set with lead 18.When clamp device 1 leaves frock,
Compression spring 19 makes its homing.
Further, preferably, the clamping jaw 13 in the utility model includes pneumatic gripping finger, the movable end installation of pneumatic gripping finger
There is the jig arm for gripping workpiece.
Further, the Y-axis kinematic system 3 in the utility model includes main boom 31, and X-axis kinematic system 2 includes and principal arm
The vertical transverse strands 21 of frame 31, one end bottom of transverse strands 21 are connected with main boom 31 by guide rail.In order that X-axis kinematic system
2 motions are more steady, improve its durability and positioning precision, and the Y-axis kinematic system 3 in the utility model also includes and main boom
31 secondary arm frames 32 being parallel to each other, the other end bottom of transverse strands 21 are connected with secondary arm frame 32 by guide rail, preferably, this
Y drive devices for driving X-axis kinematic system 2 to move are installed in the main boom 31 in utility model.
In order to limit the extreme position of clamp device 1, it is avoided to collide, X-axis kinematic system 2 or Y in the utility model
The position sensor for detecting the relative position on X or Y-direction of clamp device 1 is provided with axis motion system 3.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable
The orientation or position relationship of the instruction such as hour hands ", " counterclockwise " are based on orientation shown in the drawings or position relationship, merely to just
In description the utility model and simplified description, rather than indicate or imply that signified device or element must be with specifically square
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that at least two, example
Such as two, three etc., unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be
Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be two
The connection of element internal or the interaction relationship of two elements.For the ordinary skill in the art, can basis
Concrete condition understands concrete meaning of the above-mentioned term in the utility model.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it
" under " can directly be contacted including the first and second features, it is not directly to contact but lead to that can also include the first and second features
The other characterisation contact crossed between them.Moreover, fisrt feature second feature " on ", " top " and " above " include the
One feature is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.First is special
Sign second feature " under ", " lower section " and " below " including fisrt feature immediately below second feature and obliquely downward, or only
Represent that fisrt feature level height is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present utility model.In this manual, to the schematic table of above-mentioned term
State and be necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be with
Combined in an appropriate manner in any one or more embodiments or example.In addition, those skilled in the art can incite somebody to action
Different embodiments or example described in this specification are engaged and combined.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as to limitation of the present utility model, one of ordinary skill in the art is in the scope of the utility model
It is interior above-described embodiment to be changed, changed, replaced and modification.
Claims (8)
- A kind of 1. three axle assembly manipulators, it is characterised in that：Including three axle control platforms, and in three axle control platforms Clamp device, the three axles control platform include being used for X-axis kinematic system, Y-axis kinematic system and the Z for driving clamp device to move Axis motion system, the clamp device include slide plate, and the motor cabinet being slidably mounted on slide plate, the bottom of the motor cabinet Clamping jaw is rotatablely equipped with, the motor being connected with clamping jaw is installed on the motor cabinet, notched inspection is installed on the clamping jaw Disk is surveyed, the detector for detecting detection plate rotational angle is provided with the motor cabinet.
- A kind of 2. three axles assembly manipulator according to claim 1, it is characterised in that：The motor cabinet is slided by guide rail On slide plate, the bottom of the slide plate is provided with the baffle plate that limiting motor seat moves down, the top of the slide plate be provided with The buffer unit that slide plate abuts.
- A kind of 3. three axles assembly manipulator according to claim 2, it is characterised in that：The buffer unit includes fixing , the lead extended to inside motor cabinet is fixed with the fixed seat, compression spring is set with the lead.
- A kind of 4. three axles assembly manipulator according to claim 1, it is characterised in that：The clamping jaw includes pneumatic gripping finger, The movable end of the pneumatic gripping finger is provided with the jig arm for gripping workpiece.
- A kind of 5. three axles assembly manipulator according to claim 1, it is characterised in that：The Y-axis kinematic system includes master Arm support, the X-axis kinematic system include the transverse strands vertical with main boom, and one end bottom and the main boom of the transverse strands pass through Guide rail connects.
- A kind of 6. three axles assembly manipulator according to claim 5, it is characterised in that：The Y-axis kinematic system also includes The secondary arm frame being parallel to each other with main boom, the other end bottom of the transverse strands are connected with secondary arm frame by guide rail.
- A kind of 7. three axles assembly manipulator according to claim 5, it is characterised in that：Pacify on the main boom or secondary arm frame Equipped with the Y drive devices for driving X-axis kinematic system to move.
- A kind of 8. three axles assembly manipulator according to claim 1, it is characterised in that：X-axis kinematic system or the Y-axis fortune The position sensor for detecting clamp device relative position in an x or y direction is provided with dynamic system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688556.3U CN206898718U (en) | 2017-06-13 | 2017-06-13 | A kind of three axle assembly manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720688556.3U CN206898718U (en) | 2017-06-13 | 2017-06-13 | A kind of three axle assembly manipulators |
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| Publication Number | Publication Date |
|---|---|
| CN206898718U true CN206898718U (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720688556.3U Active CN206898718U (en) | 2017-06-13 | 2017-06-13 | A kind of three axle assembly manipulators |
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| Country | Link |
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| CN (1) | CN206898718U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138930A (en) * | 2017-06-13 | 2017-09-08 | 江门市路思拓电机电器有限公司 | A kind of three axle assembly manipulators |
| CN108994599A (en) * | 2018-09-11 | 2018-12-14 | 东莞市松研智达工业设计有限公司 | Vertical-shaped band gasket is taken complete machine robot |
| CN111220225A (en) * | 2018-11-26 | 2020-06-02 | 约克广州空调冷冻设备有限公司 | Air volume sensor assembling device and assembling method thereof |
| CN111515653A (en) * | 2020-03-24 | 2020-08-11 | 江阴兴澄特种钢铁有限公司 | Dismounting robot for high-temperature connecting pipe |
-
2017
- 2017-06-13 CN CN201720688556.3U patent/CN206898718U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138930A (en) * | 2017-06-13 | 2017-09-08 | 江门市路思拓电机电器有限公司 | A kind of three axle assembly manipulators |
| CN108994599A (en) * | 2018-09-11 | 2018-12-14 | 东莞市松研智达工业设计有限公司 | Vertical-shaped band gasket is taken complete machine robot |
| CN111220225A (en) * | 2018-11-26 | 2020-06-02 | 约克广州空调冷冻设备有限公司 | Air volume sensor assembling device and assembling method thereof |
| CN111220225B (en) * | 2018-11-26 | 2021-09-24 | 约克广州空调冷冻设备有限公司 | Air volume sensor assembling device and assembling method thereof |
| CN111515653A (en) * | 2020-03-24 | 2020-08-11 | 江阴兴澄特种钢铁有限公司 | Dismounting robot for high-temperature connecting pipe |
| CN111515653B (en) * | 2020-03-24 | 2021-10-08 | 江阴兴澄特种钢铁有限公司 | Dismounting robot for high-temperature connecting pipe |
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