CN207104919U - A kind of robot for being used to assemble damper - Google Patents
A kind of robot for being used to assemble damper Download PDFInfo
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- CN207104919U CN207104919U CN201720336383.9U CN201720336383U CN207104919U CN 207104919 U CN207104919 U CN 207104919U CN 201720336383 U CN201720336383 U CN 201720336383U CN 207104919 U CN207104919 U CN 207104919U
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- unit
- assemble
- connecting plate
- damper
- paw
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Abstract
The utility model provides a kind of robot for being used to assemble damper, including assemble mechanism, assembly bench；Assemble mechanism includes cartesian co-ordinate type gear unit, connection unit, suction unit, gripper unit；Cartesian co-ordinate type gear unit includes first longitudinal direction transmission device, the first traverse gear, the first lifting actuator；The sucker unit and the connection unit set up height difference, and be furnished with the first connecting plate and the first connecting plate drive device accordingly, according to actual conditions and the size of Assembly part adjustment difference in height, realize being independent of each other between assembly unit.
Description
Technical field
A kind of robot is the utility model is related to, more particularly to a kind of robot for being used to assemble damper.
Background technology
Damper is used to every field, the especially function such as its antidetonation, and its market demand is increasing, but mesh
Preceding damper is essentially all to be assembled by manpower, is met the market requirement to improve efficiency of assembling, assembles damper
Robot arises at the historic moment.Patent " damper automatic assembling " its application number applied such as Ningbo Auto Flexible Shaft ＆ Hose Co., Ltd.
It is that 2016.12.21 its scheme is for 201610760873.1 its publication date：A kind of damper automatic assembling, including work
Platform and controller, the workbench are provided with metal-coating feeding device, rear lining ring feeding device, Pipe protective joint feed dress
Put, preceding lining ring feeding device, back-up ring feeding device, for metal-coating, rear lining ring, Pipe protective joint, preceding lining ring and back-up ring to be filled
The assembling device matched somebody with somebody, and damper riveting assembling device；The metal-coating feeding device, rear lining ring feeding device, Pipe protective joint supply
Material device, preceding lining ring feeding device, back-up ring feeding device, assembling device and damper riveting assembling device are electrically connected with controller respectively
Connect.
In the market, it is bulky for assembling the robot of damper, close structure between each assembly unit, such as
Damper automatic assembling mentioned above, if unavoidable each assembly unit interferes, easily cause assembly precision not
It is accurate.
Utility model content
The purpose of this utility model is to overcome the shortcomings of the prior art, there is provided a kind of machine for being used to assemble damper
Device people, including assemble mechanism, assembly bench；The assemble mechanism includes cartesian co-ordinate type gear unit, connection unit, draws list
Member, gripper unit；The cartesian co-ordinate type gear unit includes first longitudinal direction transmission device, the first traverse gear, first
Lifting actuator；Each transmission device includes Mobile Slide, frame and transmission drive；The connection unit is located at institute
On the Mobile Slide for stating the first lifting actuator；Define the connection unit towards the surface of the assembly bench be the first table
Face；The suction unit, the gripper unit are on the first surface；The bottom of the suction unit is higher than the paw
The bottom of unit；The suction unit includes the first connecting plate, the first connecting plate drive device, Acetabula device；Described first connects
Fishplate bar drive device includes magnetic switch；The Acetabula device is on first connecting plate, the first connecting plate driving
Device drives first connecting plate to pump.The utility model can also be further complete by following technical measures
It is kind：
As a further improvement, further comprise the first sensing device further, the second sensing device further, the 3rd sensing device further；It is each
Sensing device further includes sensing catch and at least two sensors；The sensing catch is located at the Mobile Slide side, described
Sensor is set in the frame with sensing catch homonymy.
As a further improvement, the first surface includes the first concave part；First concave part is located at described first
Surface is away from the first lifting actuator side, for placing the suction unit or the gripper unit.
As a further improvement, the gripper unit includes paw head, paw drive device, connector；It is described
Paw head includes at least three paw parts, centering wheel；The paw drive device includes paw cylinder, pneumatic clamping
Disk, at least three claws, magnetic switch；The paw part includes first through hole, the second through hole, and second through hole is located at
Below the first through hole；The first through hole is connected with the claw by the connector, second through hole with it is described
Centering wheel is connected by the connector.
As a further improvement, further comprise firm unit；The firm unit includes the first floor, the second floor；
First floor consolidates support first lifting actuator on the Mobile Slide of first horizontal mobile device,
Second floor consolidates the support connection unit on the Mobile Slide of first lifting and moving device.
As a further improvement, each transmission device uses ball leading screw driving, including first longitudinal direction transmitting balls screw mandrel,
First horizontal transmitting balls screw mandrel, the first lifting and driving ball screw；The first longitudinal direction transmitting balls screw mandrel axial load model
Enclose for 49N-60N, the first horizontal transmitting balls screw mandrel axial load is 29.4N-40N, the first lifting and driving ball
Screw mandrel axial load is 98N-112N.
As a further improvement, the nominal outside diameter of each ball screw is 16mm, and helical pitch 5mm, substantially specified dynamic load
Scope is 1574.5N-3125N, and material is steel.
As a further improvement,：Each transmission drive is servomotor, and the servomotor range of speeds is
1000rpm-2000rpm, the servomotor torque range of the first longitudinal direction transmission device are 0.277Nm-0.5Nm, institute
The servomotor torque range for stating the first traverse gear is 0.231Nm-0.6Nm, first lifting actuator
Servomotor torque range be 0.342Nm-0.8Nm.
As a further improvement, the first connecting plate drive device is cylinder, the stroke range of the cylinder is 50mm-
100mm。
As a further improvement, the Acetabula device is sucker, the absorption face diameter range of the sucker is 12.4mm-
17.6mm, suction force range 10N-14N.
Compared with prior art, the utility model has advantages below：
1st, the utility model provides a kind of robot for being used to assemble damper, the sucker unit and the connection unit
Height difference is set up, and is furnished with the first connecting plate and the first connecting plate drive device accordingly, according to actual conditions and assembling
The size adjustment difference in height of part, realizes being independent of each other between assembly unit.
2nd, the utility model provide it is a kind of be used to assembling the robot of damper, function is easy, it is simple in construction, height can be completed
Effect assembling.
3rd, the utility model provides a kind of robot for being used to assemble damper, provided with sensing device further, makes the robot
Molar behavior is more coordinated.
Brief description of the drawings
Fig. 1 is a kind of front view for being used to assemble the robot of damper of the utility model；
Fig. 2 is a kind of axle surveys view for being used to assemble the robot of damper of the utility model；
Fig. 3 is a kind of top view for being used to assemble the robot of damper of the utility model；
Fig. 4 is the schematic diagram of connection unit in a kind of robot for assembling damper of the utility model；
Fig. 5 is the schematic diagram of paw part in a kind of robot for assembling damper of the utility model；
Fig. 6 is the schematic diagram 1 of gripper unit in a kind of robot for assembling damper of the utility model；
Fig. 7 is the schematic diagram 2 of gripper unit in a kind of robot for assembling damper of the utility model；
Fig. 8 is the schematic diagram 2 of suction unit in a kind of robot for assembling damper of the utility model.
Main element symbol description
Assembly bench 2
Cartesian co-ordinate type gear unit 110
First longitudinal direction transmission device 111
First traverse gear 112
First lifting actuator 113
Mobile Slide 110A
Frame 110B
Transmission drive 110C
Transmitting balls screw mandrel 110D
Guide rail 110E
Sensing device further 150
Sense catch 150A
Sensor 150B
Connection unit 120
First surface 120A
First concave part 121
First lug boss 122
Suction unit 130
First connecting plate 130A
First connecting plate drive device 130B
Acetabula device 130C
Gripper unit 140
Paw head 141
Paw drive device 142
Connector 143
Paw part 141A
First through hole 141A1
Second through hole 141A2
Centering wheel 141B1
Paw drive device 1421
Paw cylinder 142A
Air spider 142B
Claw 142C
First floor 161
Second floor 162
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with this practicality
Accompanying drawing in new embodiment, the technical scheme in the utility model embodiment is clearly and completely described.
, it is necessary to illustrate in description of the present utility model, herein, such as first and second or the like relation
Term is used merely to make a distinction an entity or operation with another entity or operation, and not necessarily requires or imply
Any this actual relation or order be present between these entities or operation.Moreover, term " including ", " including " or its
Any other variant is intended to including for nonexcludability so that process, method, article including a series of elements or
Equipment not only includes those key elements, but also the other element including being not expressly set out, or also include for this process,
Method, article or the intrinsic key element of equipment.In the absence of more restrictions." included one by sentence ... and limited
Fixed key element, it is not excluded that in addition identical also be present in the process including the key element, method, article or equipment will
Element ".
As shown in figures 1-8, a kind of robot for being used to assemble damper, including assemble mechanism, assembly bench 2；
The assemble mechanism includes cartesian co-ordinate type gear unit 110, connection unit 120, suction unit 130, paw list
Member 140；
The cartesian co-ordinate type gear unit includes first longitudinal direction transmission device 111, the first traverse gear 112, the
One lifting actuator 113；Each transmission device includes Mobile Slide 110A, frame 110B and transmission drive 110C；
The connection unit is on the Mobile Slide of first lifting actuator；The connection unit 120 is defined towards described
The surface of assembly bench 2 is first surface 120A；The suction unit 130, the gripper unit 140 are located at the first surface
On 120A；The bottom of the suction unit 130 is higher than the bottom of the gripper unit 140, and its difference in height is 10mm-40mm,；Institute
Stating suction unit 130 includes the first connecting plate 130A, the first connecting plate drive device 130B, Acetabula device 130C；Described first
Connecting plate drive device includes magnetic switch；The Acetabula device 130C is on the first connecting plate 130A, and described first
Connecting plate drive device 130B drives the first connecting plate 130A to pump.
The robot, further comprises sensing device further 150, and the sensing device further includes the first sensing device further, the second sense
Survey device, the 3rd sensing device further；Each sensing device further 150 includes sensing catch 150A and at least two sensor 150B；Institute
State sensing catch 150A and be located at the Mobile Slide 110A sides, the sensor 150B is on the frame 110B with sensing
Catch 150A homonymies are set, and preferably use two to ensure to sense sensor 150B described in precision sense device, and use infrared ray
Sensing.
The first surface 120A includes the first concave part 121 and the first lug boss 122；First concave part 121
With first lug boss 122 located at the first surface 120A away from the side of the first lifting actuator 113, described the
One concave part 121 is used to place the suction unit 130 or the gripper unit 140, and first lug boss 122 is used to place
The gripper unit 140.
The gripper unit includes paw head 141, paw drive device 142, connector 143；The paw is lived
Dynamic device 141 includes at least three paw part 141A, centering wheel 141B；The paw drive device 142 includes paw cylinder
142A, air spider 142B, at least three claw 142C, magnetic switch；The paw part includes first through hole 141A1, the
Two through hole 141A2, second through hole set 141A2 below the first through hole 141A1；The first through hole 141A1 and institute
State claw 142C to connect by the connector 143, the second through hole 141A2 takes turns 141B with the centering and passes through the connection
Part 143 connects, and to be held round when ensuring that the paw struts Assembly part, the paw part 141A is preferably 3, corresponding
The claw 142C be also three, the corresponding centering wheel 141B also include three in 120 ° of differences be used for it is described second logical
The plate of hole 141A2 connections.
The robot further comprises firm unit；The firm unit includes the first floor 161, the second floor 162；
First floor 161 consolidates support first lifting on the Mobile Slide 112A of first horizontal mobile device and passed
Dynamic device 113, second floor 162 are consolidated described in support on the Mobile Slide 113A of first lifting actuator
Connection unit 120.Right angle trigonometry is shaped as to keep supporting firm first floor 161 to be used with second floor 162
The floor of body, and to save material on the premise of firm support is not influenceed, it is logical that several are provided with first floor 161
Hole.
Each transmission device uses ball leading screw driving, including first longitudinal direction transmitting balls screw mandrel 110D, the first horizontal biography
Dynamic ball screw, the first lifting and driving ball screw；First longitudinal direction transmitting balls screw mandrel axial direction loading range is 49N-
60N, the first horizontal transmitting balls screw mandrel axial direction loading range are 29.4N-40NN, the first lifting and driving ball screw
Axial load scope is 98N-112N, to ensure each ball screw 110D axial load and the structural load phase of present position
Adaptation, the axial load of the first longitudinal direction transmitting balls screw mandrel is preferably 49N, the axle of the first horizontal transmitting balls screw mandrel
It is preferably 29.4N to load, the axial load of the first lifting and driving ball screw is preferably 98N.
Each transmitting balls screw mandrel 110D nominal outside diameter is 16mm, helical pitch 5mm, and substantially specified dynamic load scope is
1574.5N-3125N, to ensure the nominal load holding structure quality requirements of each transmitting balls screw mandrel at work, basic volume
It is preferably 1575N to determine dynamic load value.
Each transmission drive 110C is that the servomotor range of speeds is 1000rpm-2000rpm described in servomotor,
To keep the operation of motor servo motor stabilizing and reducing the operating vibrations of transmission device, preferably 1000rpm, described first is vertical
It is 0.277Nm-0.5Nm to motor torque range, the first horizontal drive motor torque range is at least
0.231Nm-0.6Nm, the first lifting motor torque range are at least 0.342Nm-0.8Nm.To ensure
Motor work safety, and do not cause to occur acutely to tremble in the robot course of work to cause to assemble to be forbidden because rotating speed is excessive
Really, the essential torque of first longitudinal direction motor is preferably 0.277Nm, and the first horizontal drive motor torque is preferably
0.231Nm, the first lifting motor torque is preferably 0.342Nm.
The first connecting plate drive device 130B is cylinder, and the stroke range of the cylinder is 50mm-100mm.To be true
The bottom for protecting the suction unit is higher than the gripper unit in the first connecting plate drive device after motion upwards is done
Bottom, the first connecting plate drive device is set to be less than the bottom of the gripper unit, the cylinder row after moving downward
Journey is preferably 50mm.
The paw drive device 142 uses model MHS3-32D cylinder.
The Acetabula device 130C is sucker, and the absorption face diameter range of the sucker is 12.4mm-17.6mm, suction model
Enclose for 10N.To ensure that position of the sucker when drawing part is accurate, the excessive too small shadow in face is not drawn by the sucker
Ring, the sucker diameter is preferably 12.4mm.It is preferably 14N to ensure the absorption of different parts and placing the suction.
Each transmission device further comprises guide rail 110E；Every guide rail includes 1-2 sliding block, for ensure slide it is smooth,
And high intensity and high rigidity during support, it is preferred to use 2 model SBR sliding block；The guide rail quantitative range is 1-3
Root, to keep rationally support, it is preferred to use 2 guide rails, it is 245N-300N that every guide rail, which bears load,.
Each transmission device further comprises bearing；To ensure the high rotating speed of each ball leading screw driving and high accuracy and making
With the life-span, the bearing uses model 6201E-Z deep groove ball bearing,
The robot includes control port, and the control port is connected with PC, is carried out by the sensing device further 150
Position is fed back, and controls the transmission drive 110C, and pass through the connecting plate drive device of paw drive device 142 and first
Magnetic switch on 130B controls the gripper unit 140 and the suction unit 130, completes high accuracy and efficient dress
Match somebody with somebody.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements done etc., the utility model should be included in
Within the scope of protection.
Claims (10)
- A kind of 1. robot for being used to assemble damper, it is characterised in that：Including assemble mechanism, assembly bench；The assemble mechanism includes cartesian co-ordinate type gear unit, connection unit, suction unit, gripper unit；The cartesian co-ordinate type gear unit includes first longitudinal direction transmission device, the first traverse gear, the first lifting and driving Device；Each transmission device includes Mobile Slide, frame and transmission drive；The connection unit is located at described first liter On the Mobile Slide for dropping transmission device；Define the connection unit towards the surface of the assembly bench be first surface；The suction Unit, the gripper unit are taken on the first surface；The bottom of the suction unit is higher than the bottom of the gripper unit Portion；The suction unit includes the first connecting plate, the first connecting plate drive device, Acetabula device；The first connecting plate driving Device includes magnetic switch；The Acetabula device is on first connecting plate, the first connecting plate drive device driving First connecting plate pumps.
- 2. the robot according to claim 1 for being used to assemble damper, it is characterised in that：Further comprise the first sensing Device, the second sensing device further, the 3rd sensing device further；Each sensing device further includes sensing catch and at least two sensors；Institute State sensing catch and be located at the Mobile Slide side, the sensor is set in the frame with sensing catch homonymy.
- 3. the robot according to claim 1 for being used to assemble damper, it is characterised in that：The first surface includes the One concave part；First concave part is located at the first surface away from the first lifting actuator side, for placing The suction unit or the gripper unit.
- 4. the robot according to claim 1 for being used to assemble damper, it is characterised in that：The gripper unit includes hand Pawl head, paw drive device, connector；The paw head includes at least three paw parts, centering wheel； The paw drive device includes paw cylinder, air spider, at least three claws, magnetic switch；The paw part includes First through hole, the second through hole, second through hole is below the first through hole；The first through hole passes through with the claw The connector connection, second through hole are connected with the centering wheel by the connector.
- 5. the robot according to claim 1 for being used to assemble damper, it is characterised in that：Further comprise firm single Member；The firm unit includes the first floor, the second floor；First floor is located at the shifting of first horizontal mobile device Support first lifting actuator is consolidated on dynamic slide unit, second floor is located at the shifting of first lifting and moving device The support connection unit is consolidated on dynamic slide unit.
- 6. the robot according to claim 1 for being used to assemble damper, it is characterised in that：Each transmission device is using rolling Ballscrew is driven, including first longitudinal direction transmitting balls screw mandrel, the first horizontal transmitting balls screw mandrel, the first lifting and driving ball wire Bar；First longitudinal direction transmitting balls screw mandrel axial direction loading range is 49N-60N, the first horizontal transmitting balls screw mandrel axial direction It is 98N-112N to load as 29.4N-40N, the first lifting and driving ball screw axial load.
- 7. the robot according to claim 6 for being used to assemble damper, it is characterised in that：The nominal of each ball screw External diameter is 16mm, helical pitch 5mm, and substantially specified dynamic load scope is 1574.5N-3125N, and material is steel.
- 8. the robot according to claim 1 for being used to assemble damper, it is characterised in that：Each transmission drive is Servomotor, the servomotor range of speeds are 1000rpm-2000rpm, the servomotor of the first longitudinal direction transmission device Torque range is 0.277Nm-0.5Nm, and the servomotor torque range of first traverse gear is 0.231N M-0.6Nm, the servomotor torque range of first lifting actuator is 0.342Nm-0.8Nm.
- 9. the robot according to claim 1 for being used to assemble damper, it is characterised in that：The first connecting plate driving Device is cylinder, and the stroke range of the cylinder is 50mm-100mm.
- 10. the robot according to claim 1 for being used to assemble damper, it is characterised in that：The Acetabula device is suction Disk, the absorption face diameter range of the sucker is 12.4mm-17.6mm, suction force range 10N-14N.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720336383.9U CN207104919U (en) | 2017-03-31 | 2017-03-31 | A kind of robot for being used to assemble damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720336383.9U CN207104919U (en) | 2017-03-31 | 2017-03-31 | A kind of robot for being used to assemble damper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207104919U true CN207104919U (en) | 2018-03-16 |
Family
ID=61596488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720336383.9U Active CN207104919U (en) | 2017-03-31 | 2017-03-31 | A kind of robot for being used to assemble damper |
Country Status (1)
| Country | Link |
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| CN (1) | CN207104919U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
| CN112809725A (en) * | 2020-12-30 | 2021-05-18 | 创维集团智能装备有限公司 | Injection molding assembly line positioning and grabbing equipment |
-
2017
- 2017-03-31 CN CN201720336383.9U patent/CN207104919U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
| CN112809725A (en) * | 2020-12-30 | 2021-05-18 | 创维集团智能装备有限公司 | Injection molding assembly line positioning and grabbing equipment |
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