CN206982719U - A kind of Multifunction clamping manipulator for production line balance - Google Patents
A kind of Multifunction clamping manipulator for production line balance Download PDFInfo
- Publication number
- CN206982719U CN206982719U CN201720790903.3U CN201720790903U CN206982719U CN 206982719 U CN206982719 U CN 206982719U CN 201720790903 U CN201720790903 U CN 201720790903U CN 206982719 U CN206982719 U CN 206982719U
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- mechanical arm
- axis
- bolt
- production line
- sliding block
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Abstract
A kind of Multifunction clamping manipulator for production line balance is the utility model is related to, it includes mechanical arm, described to share two groups, and cooperate output, the input port progress clamp operation being respectively used to current transformer to be measured；Wire-clamping device is installed on the mechanical arm.The wire-clamping device includes slide block mechanism, pressure lever mechanism and connecting seat；The slide block mechanism includes lower plate, guide rail and spring；The lower plate and guide rail are formed and are slidably matched.This manipulator solves that artificial calibrating current transformer potential safety hazard is big, and labor intensity is high, the shortcomings such as operating efficiency is low.
Description
Technical field
It the utility model is related to manipulator field, particularly a kind of Multifunction clamping manipulator for production line balance.
Background technology
Manipulator be it is a kind of can imitate human hand and some actions of arm and function, with captured by fixed routine/carry thing
The automatic pilot of part or operation instrument.At present, due to the raising of enterprise's production requirement, the requirement to equipment performance is also therewith
Improve, production capacity is significantly increased.In the case, it is largely to use manipulator to improve one of effective way of production capacity,
Especially it is widely used in production line balance.Produced using mechanical Hand supplementary, first, in order to improve efficiency, reduce mistake；Second,
In order to increase benefit, cost is reduced, so as to coordinate to get up with production capacity.But the manipulator on existing streamline uses more
Pneumatic type power source, workpiece is impacted during this Robot actions it is larger, it is complicated, it is bulky, and can produce certain
Pollution, some can not be adapted to higher places are required to environment tidiness.Therefore, it is necessary to a kind of simple to operate, production efficiency
High, easily controllable manipulator carrys out the corresponding process operations that indirect labor carries out workpiece on streamline.The utility model patent is set
A kind of electronic gripping manipulator of multiple degrees of freedom has been counted, it is vdiverse in function, work on streamline can not only be automatically performed by manipulator
The operation such as the positioning of part, gripping, carrying, transfer, additionally it is possible to complete the auxiliary clamp detection work with electrical component equipment.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Multifunction clamping machinery for production line balance
Hand, this manipulator are solved in line flow procedure, and efficiency is low, labor intensity when hand haulage, transfer, gripping work piece operations
The problem of big and impact is easily caused to workpiece using Pneumatic manipulator, is also easy to produce the defects of pollution.
In order to solve the above-mentioned technical problem, the utility model proposes following technical scheme：It is a kind of for production line balance
Multifunction clamping manipulator, it includes clamp device and mechanical arm system；The clamp device passes through bolt hole and mechanical arm system
The sliding block of the Y-axis mechanical arm of system is fixedly linked.
The clamp device includes gripping body, gear train assembly and direct current generator；The gripping body includes sliding block
Mechanism and ball screw framework, the slide block mechanism includes train wheel bridge, lower plate, guide rod, clamping plate sliding block and sliding bearing, described
Lower plate is fixedly linked by clamping plate bolt with matrix, and the train wheel bridge is bolted by clamping plate bolt and clamping plate sliding block
It is connected, the guide rail of the train wheel bridge and slide block mechanism, which is formed, to be slidably matched.
The ball screw framework includes ball screw and ball nut, and the ball screw is vertical in matrix, institute
Ball nut is stated on clamping plate sliding block；The ball screw framework is used to drive the clamping plate sliding block of slide block mechanism to transport along guide rod
It is dynamic, and drive train wheel bridge to be moved along guide rod.
The gear train assembly includes gear wheel and little gear, is connected and passed by flat key between the gear wheel and screw mandrel
Torque delivery, the little gear are connected by flat key with the main shaft of direct current generator, and the gear train assembly is encapsulated by upper end cover
In intrinsic silicon, the upper end cover is connected by bolt of cover with matrix by bolt.
Train wheel bridge and the lower plate center is provided with some through holes, and train wheel bridge and the lower plate medial surface is equipped with staggeredly
Lines.
The mechanical arm system is by X-axis mechanical arm, Z axis mechanical arm, Y-axis mechanical arm, X-axis stepper motor, Z axis stepping electricity
Machine, y-axis stepper motor composition, X-axis, Y-axis, Z axis mechanical arm vertical cartel two-by-two；The mechanical arm system is installed on streamline phase
Answer at station, fixed X-axis mechanical arm and streamline base by bolt.
The utility model has the advantages that：
1st, the utility model can pass through DC MOTOR CONTROL using slide block mechanism and the clamp device of ball wire rod mechanism
The opening degree size of clamping plate, it can efficiently accomplish and treat folder workpiece and be accurately positioned and grip operation.Clamp device power source is straight
Motor is flowed, it is simple to operate and easily controllable.Train wheel bridge and lower plate center are provided with some through holes, and this structure can convenient work to be pressed from both sides
Part is embedded, and has both been ensured that clamping is steady compact, has been increased effective contact area again.Staggeredly lines is provided with the inside of upper lower plate, is increased
The coefficient of friction with caught workpiece is added, it is more firm to grip.
2nd, the gripping manipulator can be also used for the electrical equipment on auxiliary detection streamline, and clamp behaviour is carried out in manipulator
When making, electro-insulating rubber pad can prevent that detecting current lead-through to mechanical arm causes short circuit.Detection ampere wires enter with connecting hole in advance
Row bolt connection, and complete to connect with detecting instrument.Clamp operation, mechanical arm are carried out by clamp device and Devices to test port
System is installed at the corresponding station of detection streamline, and the mechanical arm system positions whole clamp device to precalculated position, complete
Into space orientation.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the utility model integral installation distribution structure schematic diagram.
Fig. 2 is the single mechanical arm assembling structure schematic diagram of the utility model.
Fig. 3 is the utility model wire-clamping device integral installation distribution structure schematic diagram.
Fig. 4 is the utility model wire-clamping device front view structure sectional view.
Fig. 5 is that the utility model is dismantled under end cap state, wire-clamping device overlooking the structure diagram.
Fig. 6 is the utility model wire-clamping device left view structural representation.
Fig. 7 is the utility model wire-clamping device left view structure sectional view and close-up schematic view.
Fig. 8 is A close-up schematic views in the utility model wire-clamping device Fig. 7.
Fig. 9 is each parts exploded perspective view of the utility model.
In figure：Clamp device 1, mechanical arm system 2, X-axis mechanical arm 3, Z axis mechanical arm 4, Y-axis mechanical arm 5, X-axis stepping electricity
Machine 6, Z axis stepper motor 7, y-axis stepper motor 8, ball nut 9, sliding block 10, guide rail 11, ball screw 12, gripping body 13,
Ball wire rod mechanism 14, train wheel bridge 15, lower plate 16, clamping plate sliding block 17, slide block mechanism 18, sliding bearing 19, sleeve 20, snap ring
21st, guide rod 22, guide rod screw 23, clamping plate bolt 24, ball nut 25, screw mandrel 26, gear train assembly 27, gear wheel 28, small
Gear 29, direct current generator 30, upper end cover 31, bolt of cover 32, matrix 33, connecting hole 34, rubber-covered pad 35, mechanical arm 36,
Bolt 37, lightening hole 38, through hole 39, bolt hole 40.
Embodiment
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
As shown in figs 1-9, a kind of Multifunction clamping manipulator for production line balance, mainly by clamp device 1 and machine
The two large divisions of tool arm system 2 is formed；The clamp device is made up of gripping body 13, gear train assembly 27, direct current generator 30.
Further, the Y-axis mechanical arm of the clamp device 1 and mechanical arm system 2 is attached, the clamp device 1
Bolt connection is carried out by the sliding block 10 of bolt hole 40 and Y-axis mechanical arm 5.
Further, the gripping body 13 is made up of slide block mechanism 18 and ball screw framework 14.Slide block mechanism 18 by
Train wheel bridge 15, lower plate 16, guide rod 22, clamping plate sliding block 17, sliding bearing 19 form；The lower plate 16 passes through clamping plate bolt 24
Bolt connection is carried out with matrix 33, train wheel bridge 15 carries out bolt connection by clamping plate bolt 24 and clamping plate sliding block 17；The upper folder
Plate 15 can move along the guide rail 15 of slide block mechanism 18, and then adjust clamping plate openings of sizes.
Further, the ball screw framework 14 is made up of ball screw 12, ball nut 25；The ball screw 13
It is vertical in matrix 33, the ball nut 25 is on clamping plate sliding block 17；The ball screw framework 14 is used to drive cunning
The clamping plate sliding block 17 of block mechanism moves along guide rod 22, and then drives train wheel bridge 15 to be moved along guide rod 22.
Further, the gear train assembly 27 is made up of gear wheel 28 and little gear 29, the gear wheel 28 and silk
Connected between bar 26 by flat key, the little gear 29 drives axis connection by flat key and direct current generator 30；The gear drive
System 27 is packaged in matrix 33 by upper end cover 31, and the upper end cover 31 carries out bolt company by bolt of cover 32 and matrix 33
Connect；The driving pinion 29 of direct current generator 30 rotates, and the drive gear wheel 28 of little gear 29 rotates, and then drives screw mandrel 26 to rotate.
Further, train wheel bridge 15 and lower plate 16 center is provided with some through holes 39, is easy to caught workpiece to be embedded in, and increases
Add contact area；Train wheel bridge 15 and lower plate 16 medial surface is equipped with staggeredly lines, increase and the friction system of caught workpiece
Number, gripping are more firm.
Further, described matrix 33 among mechanical arm 36 with being provided with electro-insulating rubber pad 35, the mechanical arm 36 and matrix
It is attached between 33 by bolt 37.
Further, the gripping manipulator can be also used for the electrical equipment on auxiliary detection streamline, enter in manipulator
When row clamp operates, electro-insulating rubber pad 35 can prevent that detecting current lead-through to mechanical arm causes short circuit；It is advance to detect ampere wires
Bolt connection is carried out with connecting hole 31, and completes to connect with detecting instrument；Pressed from both sides by clamp device 1 and Devices to test port
Line is operated, and mechanical arm system 2 is installed at the corresponding station of detection streamline, and the mechanical arm system 2 determines whole clamp device 1
Position to precalculated position, complete space orientation.
Further, the mechanical arm system 2 is by X-axis mechanical arm 3, Z axis mechanical arm 4, Y-axis mechanical arm 5, X-axis stepping electricity
Machine 6, Z axis stepper motor 7, y-axis stepper motor 8 form, X-axis, Y-axis, Z axis mechanical arm vertical cartel two-by-two；The mechanical arm system
System 2 is installed at the corresponding station of streamline, is fixed X-axis mechanical arm 3 and streamline base by bolt.
Further, the mechanical arm 36 is provided with lightening hole 38, and for reducing robot load, end is provided with bolt
Hole, mechanical arm 36 can be attached cooperation by the sliding block 10 of bolt and Y-axis mechanical arm.
Operating principle and process：
Positioning stage：If workpiece holding, transfer operation are carried out using gripping manipulator, in positioning stage by controlling X-axis
Stepper motor 6, Z axis stepper motor 7, y-axis stepper motor 8 position clamp device 1 to caught workpiece；If use gripping machinery
Hand carries out the auxiliary detection wiring work of charging equipment, and in the preparatory stage, detection ampere wires one end is entered with connecting hole 34 in advance
Row bolt connection, the other end are attached with calibrating instrument, then control X, Y, Z axis motor to be transported to clamp device 1 to be checked
Locking equipment port precalculated position, complete space orientation.Control direct current generator 30 rotates so that and train wheel bridge 15 moves to peak,
Clamping plate opening is kept in maximum rating.
Gripping operation：After the completion of the space orientation of mechanical arm system 2, train wheel bridge 15 is in open mode.Control y-axis motor
Rotate, the sliding block 10 of driving Y-axis mechanical arm 5 moves along Y-axis, until caught workpiece or accredited device port are in clamp device
Between 1 train wheel bridge 15 and lower plate 16.Control direct current generator 30 rotates backward, and is opened by driving slide block mechanism 18 to adjust clamping plate
Mouth diminishes, until stepping up with caught workpiece.Finally, X, Y, Z axis motor is controlled by workpiece transfer to another station.
Reset operation：After the completion of train wheel bridge 15 and the gripping task of lower plate 6, X, Y, Z axis motor is controlled by mechanical arm system 2
It is moved to initial position；Control direct current generator 30 rotates forward, drive gear transmission system 27, roller screw mechanism 14, sliding block
Mechanism 18 moves so that train wheel bridge 15 moves to peak along guide rod 22, and clamping plate opening slowly becomes big, final to cause upper lower plate
With workpiece to be pressed from both sides or treating that calibration equipment port disengages.
The advantages of the utility model is：
By designing a kind of Multifunction clamping manipulator for production line balance, solve in line flow procedure,
The problem of efficiency is low, labor intensity is big and workpiece is easily made using Pneumatic manipulator when hand haulage, transfer, gripping work piece operations
Into impacting, be also easy to produce the defects of pollution.Using electrodynamic type manipulator, it is easy to control, compact is simple in construction；Using sliding block
The clamp device of mechanism and ball wire rod mechanism, it be able to can be efficiently accomplished by the opening degree size of DC MOTOR CONTROL clamping plate
That treats folder workpiece is accurately positioned and grips operation；The manipulator can be also used for electrical equipment on auxiliary detection streamline and connect
Line works, and has electro-insulating rubber pad between wire-clamping device and mechanical arm so that whole wire-clamping device can with hot line job without
Cause get an electric shock injury, short trouble.
The utility model preferred embodiment and implementation principle are explained in detail above in conjunction with accompanying drawing, still
The utility model is not limited to the above-described embodiment and examples principle, in those skilled in the art's possessed knowledge,
It can also make a variety of changes without departing from the concept of the premise utility.Thus, utility model model of the present utility model
Enclose and do not limited by above-described embodiment, and should be the maximum magnitude for meeting the inventive features that claims are previously mentioned.
Claims (5)
- A kind of 1. Multifunction clamping manipulator for production line balance, it is characterised in that：It includes clamp device（1）And machinery Arm system（2）；The clamp device（1）Pass through bolt hole（40）With mechanical arm system（2）Y-axis mechanical arm（5）Sliding block （10）It is fixedly linked；The clamp device（1）Including gripping body（13）, gear train assembly（27）And direct current generator（30）；The catching device Structure（13）Including slide block mechanism（18）And ball screw framework（14）, the slide block mechanism（18）Including train wheel bridge（15）, lower folder Plate（16）, guide rod（22）, clamping plate sliding block（17）And sliding bearing（19）, the lower plate（16）Pass through clamping plate bolt（24）With base Body（33）It is fixedly linked, the train wheel bridge（15）Pass through clamping plate bolt（24）With clamping plate sliding block（17）Be bolted it is connected, The train wheel bridge（15）With slide block mechanism（18）Guide rail（11）Composition is slidably matched.
- A kind of 2. Multifunction clamping manipulator for production line balance according to claim 1, it is characterised in that：It is described Ball screw framework（14）Including ball screw（12）And ball nut（25）, the ball screw（12）It is vertical at matrix （33）It is interior, the ball nut（25）Located at clamping plate sliding block（17）On；The ball screw framework（14）For driving sliding block machine The clamping plate sliding block of structure（17）Along guide rod（22）Motion, and drive train wheel bridge（15）Along guide rod（22）It is mobile.
- A kind of 3. Multifunction clamping manipulator for production line balance according to claim 1, it is characterised in that：It is described Gear train assembly（27）Including gear wheel（28）And little gear（29）, the gear wheel（28）With screw mandrel（26）Between by flat Key connection transmits moment of torsion, the little gear（29）Pass through flat key and direct current generator（30）Main shaft be connected, the pinion unit System（27）Pass through upper end cover（31）It is packaged in matrix（33）Inside, the upper end cover（31）Pass through bolt of cover（32）With matrix （33）It is connected by bolt.
- A kind of 4. Multifunction clamping manipulator for production line balance according to claim 1, it is characterised in that：It is described Train wheel bridge（15）And lower plate（16）Center is provided with some through holes（39）, the train wheel bridge（15）And lower plate（16）Medial surface is equal Provided with staggeredly lines.
- A kind of 5. Multifunction clamping manipulator for production line balance according to claim 1, it is characterised in that：It is described Mechanical arm system（2）By X-axis mechanical arm（3）, Z axis mechanical arm（4）, Y-axis mechanical arm（5）, X-axis stepper motor（6）, Z axis stepping Motor（7）, y-axis stepper motor（8）Composition, X-axis, Y-axis, Z axis mechanical arm vertical cartel two-by-two；The mechanical arm system（2）Peace At the corresponding station of streamline, by bolt by X-axis mechanical arm（3）Fixed with streamline base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720790903.3U CN206982719U (en) | 2017-07-03 | 2017-07-03 | A kind of Multifunction clamping manipulator for production line balance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720790903.3U CN206982719U (en) | 2017-07-03 | 2017-07-03 | A kind of Multifunction clamping manipulator for production line balance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982719U true CN206982719U (en) | 2018-02-09 |
Family
ID=61400445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720790903.3U Expired - Fee Related CN206982719U (en) | 2017-07-03 | 2017-07-03 | A kind of Multifunction clamping manipulator for production line balance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206982719U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536560A (en) * | 2018-04-25 | 2018-09-14 | 永城职业学院 | A kind of computer hardware automatic detection platform |
| CN108890628A (en) * | 2018-08-08 | 2018-11-27 | 中山市鸿菊自动化设备制造有限公司 | A kind of Novel translation manipulator |
| CN111590623A (en) * | 2020-05-29 | 2020-08-28 | 南宁学院 | Multifunctional mechanical arm |
| CN115488922A (en) * | 2022-11-15 | 2022-12-20 | 泰州市龙洋木业有限公司 | Multilayer and multi-column grabbing type automatic manipulator |
-
2017
- 2017-07-03 CN CN201720790903.3U patent/CN206982719U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536560A (en) * | 2018-04-25 | 2018-09-14 | 永城职业学院 | A kind of computer hardware automatic detection platform |
| CN108536560B (en) * | 2018-04-25 | 2021-03-19 | 永城职业学院 | Automatic detection platform of computer hardware |
| CN108890628A (en) * | 2018-08-08 | 2018-11-27 | 中山市鸿菊自动化设备制造有限公司 | A kind of Novel translation manipulator |
| CN111590623A (en) * | 2020-05-29 | 2020-08-28 | 南宁学院 | Multifunctional mechanical arm |
| CN115488922A (en) * | 2022-11-15 | 2022-12-20 | 泰州市龙洋木业有限公司 | Multilayer and multi-column grabbing type automatic manipulator |
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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 |
Granted publication date: 20180209 Termination date: 20180703 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |