CN208231795U - Manipulator for pancake rotor assembly - Google Patents
Manipulator for pancake rotor assembly Download PDFInfo
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- CN208231795U CN208231795U CN201721921654.3U CN201721921654U CN208231795U CN 208231795 U CN208231795 U CN 208231795U CN 201721921654 U CN201721921654 U CN 201721921654U CN 208231795 U CN208231795 U CN 208231795U
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Abstract
The utility model discloses the manipulators assembled for pancake rotor, including support base, first mounting base is installed on support base, first mechanical arm is rotatably connected in first mounting base, the free end of first mechanical arm is rotatably connected to the second mounting base, the free end of second mounting base is rotatably connected to second mechanical arm, and the second mechanical wall can be moved up and down with respect to the second mounting base, and the bottom end of second mechanical arm is connected with suction jig；Suction jig includes support plate, and hardboard absorbent module, oscillator absorbent module and bearing absorbent module are arranged at intervals in support plate；Hardboard absorbent module includes the first cylinder and first motor, and the first output shaft lower end is communicated with the first suction nozzle；Oscillator absorbent module includes the second cylinder and the second motor.The integrated design that the utility model realizes hardboard, oscillator and bearing circulation structure realizes mass production in this way, assembly efficiency not only can be improved, and can also effectively save equipment and materials, realizes low cost production.
Description
Technical field
The utility model relates to pancake rotor mounting technology fields, are especially for the machinery of pancake rotor assembly
Hand.
Background technique
Pancake rotor includes hardboard, oscillator and bearing, when processing, usually first by after the combination of aforementioned three kinds of components again into
Row injection operation.In existing assembling process, hardboard, oscillator and bearing or be by manually being circulated or being point
It is not circulated by correspondingly fixture, the former, since hardboard, oscillator and bearing belong to fine features, thus, in this way, not
The labor intensity that operator can only be aggravated, also will affect assembling quality；The latter need to make more fixture and circulate respectively,
In this way, can not only improve processing cost, assembly efficiency also will affect.
Utility model content
The purpose of the utility model is to overcome the above problem of the prior art, the machinery for pancake rotor assembly is provided
Hand can realize their operating work by the structure of reference rotation mechanical arm for the position of each bearing, oscillator and hardboard
Make, in addition, suction jig realizes the integrated design of hardboard, oscillator and bearing circulation structure, in this way, can not only pass through concentration
The mode of transfer improves assembly efficiency, realizes mass production, can also effectively save equipment and materials, realizes low cost production.
The purpose of this utility model is achieved through the following technical solutions:
For the manipulator of pancake rotor assembly, including support base, the first mounting base, the first installation are installed on support base
It is rotatably connected to first mechanical arm on seat, the free end of first mechanical arm is rotatably connected to the second mounting base, the second mounting base
Free end is rotatably connected to second mechanical arm, and the second mechanical wall can be moved up and down with respect to the second mounting base, the bottom of second mechanical arm
End is connected with suction jig；
Suction jig includes support plate, and hardboard absorbent module, oscillator absorbent module and bearing are arranged at intervals in support plate
Absorbent module；
Hardboard absorbent module includes longitudinally disposed the first cylinder and first motor, and first motor is flexible with the first cylinder
End is connected, and first motor has the first output shaft of hollow setting, and the first output shaft runs through the upper and lower side of first motor, and first is defeated
Shaft lower end is communicated with the first suction nozzle, and the first output shaft upper end is communicated with the first vacuum tracheae by the first rotary joint；
Oscillator absorbent module includes longitudinally disposed the second cylinder and the second motor, the second motor and the second cylinder it is flexible
End is connected, and the second motor has the second output shaft of hollow setting, and the second output shaft runs through the upper and lower side of the second motor, and second is defeated
Shaft lower end is communicated with the second suction nozzle, and the second output shaft upper end is communicated with the second vacuum tracheae by the second rotary joint；
Bearing absorbent module includes the third suction nozzle being vertically arranged.
The utility model has abandoned traditional assembly mode, by the structure of reference rotation mechanical arm, can be directed to each axis
Hold, their operation is realized in the position of oscillator and hardboard, specifically, pass through the rotation of first mechanical arm, second mechanical
It the rotation of arm and moves up and down and the movements of each components can be realized in the suction-operated of suction jig.In addition, passing through absorption
The setting of fixture can also be achieved the circumferential correction work of hardboard and oscillator.In application, the first vacuum tracheae and the second vacuum tracheae
It is connected with vacuum generator.
When need to circulate hardboard to injection slot when, pass through the mobile suction jig of first mechanical arm and second mechanical arm to hardboard
The first cylinder is restarted in surface, makes it that first motor and the first suction nozzle be driven to move down until the first suction nozzle is in contact with hardboard,
Restarting vacuum generator enables the first suction nozzle to adsorb the hardboard, further according to the position of injection slot, starts first motor, passes through
First output shaft rotates to adjust the circumferential position of hardboard, then suction jig is moved to the surface of injection slot, passes through control
Vacuum generator processed and the first cylinder put down hardboard.When need to circulate oscillator to injection slot when, similarly operate.When needs make
When with this fixture circulation bearing, since bearing is in cylindrical type, thus it need to only directly control the position of this fixture and adsorb or put down
Bearing.Wherein, when the first output shaft rotates, the first rotary joint can avoid the first vacuum tracheae and also rotate and shadow
Ring the connection of itself and the first suction nozzle；When the rotation of the second output shaft, the second rotary joint can avoid the second vacuum tracheae and also occur
Rotate and influence the connection of itself and the second suction nozzle.
For the stability for improving operation, further, the support plate includes the disk body being laterally arranged, in disk body bottom end
Portion extends downward with connection cylinder；
The first motor is connected by the first fixedly connected part with first cylinder, and the first fixedly connected part and company
Cylinder is connect to be slidably matched；
Second motor is connected by the second fixedly connected part with second cylinder, and the second fixedly connected part and company
Cylinder is connect to be slidably matched；
The third suction nozzle is connected by third fixedly connected part with cylinder is connect.
In the utility model, by the setting of the first fixedly connected part, first motor and the first Telescopic-cylinder can be both realized
The connection at end, and the first cylinder driving first can be improved by being slidably matched between the first fixedly connected part and connection cylinder
The stability that motor moves up and down.Similarly, by the setting of the second fixedly connected part, the second motor and the second cylinder can both be realized
The connection of telescopic end, and the stability that the second cylinder drives the second motor to move up and down can be improved.
For the function of realizing the first fixedly connected part and the second fixedly connected part, further, described first is fixedly connected
Part and second fixedly connected part include vertical section, and vertical section upper end is extended to side upper horizontal segment, vertical section
Lower end is extended to same side lower horizontal segment；
The lower horizontal segment of first fixedly connected part is connected with the first motor, the upper horizontal segment of the first fixedly connected part with
First rotary joint is connected with the telescopic end of first cylinder, and it is sliding that first is vertically arranged on the connection cylinder
Rail is provided with the first sliding block that can be slidably matched with the first sliding rail in the vertical section of the first fixedly connected part；
The lower horizontal segment of second fixedly connected part is connected with second motor, the upper horizontal segment of the second fixedly connected part with
Second rotary joint is connected with the telescopic end of second cylinder, and it is sliding that second is vertically arranged on the connection cylinder
Rail is provided with the second sliding block that can be slidably matched with the second sliding rail in the vertical section of the second fixedly connected part.
In the utility model, by the setting of the first sliding block and the first sliding rail, it can prevent the first suction nozzle from position occurs when moving down
Set offset；By the setting of the second sliding block and the second sliding rail, it can prevent the second suction nozzle from positional shift occurs when moving down.
Further, further include the first connector for being connected to first output shaft Yu first suction nozzle；
It further include the second connector for being connected to first output shaft Yu first rotary joint；
It further include the third connector for being connected to second output shaft Yu second suction nozzle；
It further include the 4th connector for being connected to second output shaft Yu second rotary joint.
In the utility model, the first output shaft and the first suction nozzle is can be improved in the setting of the first connector and the second connector
The stability being connected to the first rotary joint, and then prevent from influencing the adsorption capacity of the first suction nozzle.Third connector and the 4th connection
The stability that the second output shaft is connected to the second suction nozzle and the second rotary joint can be improved in the setting of part, and then prevents influence
The adsorption capacity of two suction nozzles.
For the absorption demand for adapting to hardboard, oscillator and bearing respectively, further, the bottom end of first suction nozzle is communicated with
First suction nozzle cylinder, the first suction nozzle cylinder bottom end width are greater than the width of the first suction nozzle；
The bottom end of second suction nozzle is communicated with the second suction nozzle cylinder, the width of the width of the second suction nozzle cylinder less than the second suction nozzle
Degree；
The bottom end of the third suction nozzle is communicated with third suction nozzle cylinder, and the width of third suction nozzle cylinder is less than the width of third suction nozzle
Degree, and bearing guide pin is connected in the middle part of third suction nozzle cylinder bottom end.
The utility model is in application, the width of the first suction nozzle cylinder and the width size of hardboard are adapted；Second suction nozzle cylinder
The width size of width and oscillator is adapted；The width of third suction nozzle cylinder and the outer diameter size of bearing are adapted, and bearing is oriented to
Needle can realize that stablizing for middle (center) bearing adsorbs work through bearing.
Further, the inner wall of the third suction nozzle cylinder bottom end, which extends internally, is provided with several protrusions, the bearing
The outer wall of guide pin is connected with several protrusions.In this way, can not only realize absorption of the third suction nozzle cylinder to bearing, but also do not influence bearing
The connection of guide pin.
Further, first cylinder and second cylinder select pin type cylinder.
Further, the first motor and second motor select stepper motor.
It further, further include the image acquisition device being located at below second mounting base.
In application, should be equipped with industrial panel computer, image acquisition device, first motor and the second motor and industrial plate electricity
Brain connection, when adsorbed components are located at right above image acquisition device by suction jig, image acquisition device can then acquire this
The circumferential position information of components, and compare it with preset test pattern, then spread out of instruction to first motor
Or second motor make its drive components rotation to adjust circumferential position.
To realize that image acquisition device works to the Image Acquisition of components, further, described image collector includes phase
Machine and coaxial light source.
The utility model has the following beneficial effects:
1, the utility model has abandoned traditional assembly mode, by the structure of reference rotation mechanical arm, can be directed to each
The position of bearing, oscillator and hardboard realizes that their operation specifically passes through the rotation of first mechanical arm, the second machine
It the rotation of tool arm and moves up and down and the movements of each components can be realized in the suction-operated of suction jig.
2, the suction jig of the utility model realize hardboard, oscillator and bearing circulation structure integrated design in this way,
It can not only realize the concentration transfer work of various components, can also realize the circumferential correction work of hardboard and oscillator, have effect
Rate height, advantage at low cost.
3, the utility model passes through the setting of hardboard absorbent module, oscillator absorbent module and bearing absorbent module, both can be real
Now to the circulation work of hardboard, oscillator and bearing, the correction work to hardboard and oscillator circumferential position can also be achieved, in this way, can
Mitigate the burden of feeding work significantly.
4, by the setting of the first fixedly connected part, the connection of first motor Yu the first Telescopic-cylinder end can have not only been realized, but also
The stability that the first cylinder driving first motor moves up and down can be improved.Similarly, by the setting of the second fixedly connected part, both may be used
It realizes the connection of the second motor and the second Telescopic-cylinder end, and the stabilization that the second cylinder drives the second motor to move up and down can be improved
Property.
5, the width size of the width of the first suction nozzle cylinder and hardboard is adapted；The width of second suction nozzle cylinder and the width of oscillator
Size is adapted；The width of third suction nozzle cylinder and the outer diameter size of bearing are adapted, and bearing guide pin can be through bearing with reality
Existing middle (center) bearing stablizes absorption work.
Detailed description of the invention
It, below will be to required in description the utility model embodiment in order to illustrate more clearly of the embodiments of the present invention
The attached drawing to be used is briefly described.It will be apparent that the accompanying drawings in the following description is only to record in the utility model
Some embodiments for a person skilled in the art without creative efforts, can also be according to following
Attached drawing, obtain other attached drawings.
Fig. 1 is the structural representation of manipulator one specific embodiment described in the utility model for pancake rotor assembly
Figure；
Fig. 2 is the structural representation of manipulator one specific embodiment described in the utility model for pancake rotor assembly
Figure；
Fig. 3 is one specific embodiment of suction jig in the manipulator described in the utility model for pancake rotor assembly
Structural schematic diagram；
Fig. 4 is one specific embodiment of suction jig in the manipulator described in the utility model for pancake rotor assembly
Structural schematic diagram；
Knot when Fig. 5 is suction jig absorption oscillator in the manipulator described in the utility model for pancake rotor assembly
Structure schematic diagram；
Fig. 6 is the structural schematic diagram of oscillator in the manipulator described in the utility model for pancake rotor assembly；
Fig. 7 is the structural schematic diagram of the manipulator middle (center) bearing described in the utility model for pancake rotor assembly；
Fig. 8 is the structural schematic diagram of hardboard in the manipulator described in the utility model for pancake rotor assembly.
Wherein, the corresponding parts title of appended drawing reference is as follows: 1, disk body, 2, hardboard absorbent module, 3, oscillator absorption group
Part, 4, bearing absorbent module, the 5, first cylinder, the 6, first output shaft, the 7, first suction nozzle, the 8, first rotary joint, 9, first is true
Air hose, the 10, second cylinder, the 11, second motor, the 12, second output shaft, the 13, second suction nozzle, the 14, second rotary joint, 15,
Second vacuum tracheae, 16, third suction nozzle, 17, connection cylinder, the 18, first fixedly connected part, the 19, first connector, 20, second
Connector, the 21, second fixedly connected part, 22, third fixedly connected part, 23, vertical section, 24, upper horizontal segment, 25, lower horizontal segment,
26, third connector, the 27, the 4th connector, the 28, first suction nozzle cylinder, the 29, second suction nozzle cylinder, 30, third suction nozzle cylinder, 31, first
Motor, the 32, first sliding block, the 33, first sliding rail, the 34, second sliding rail, the 35, second sliding block, 36, bearing guide pin, 37, protrusion,
38, support base, the 39, first mounting base, 40, first mechanical arm, the 41, second mounting base, 42, second mechanical arm, 43, Image Acquisition
Device, the 44, first elastic component, the 45, second elastic component, 46, oscillator, 47, bearing, 48, hardboard, 49, suction jig, 50, camera,
51, coaxial light source.
Specific embodiment
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model embodiment
In attached drawing the technical solutions in the embodiments of the present invention are clearly and completely described.It will be apparent that described below
Embodiment be only a part in the utility model embodiment, rather than all.The implementation recorded based on the utility model
Example, other all embodiments that those skilled in the art obtain without creative efforts are practical new at this
In the range of type protection.
Embodiment 1
As shown in FIG. 1 to FIG. 8, for the manipulator of pancake rotor assembly, including support base 38, it is equipped on support base 38
First mounting base 39 is rotatably connected to first mechanical arm 40 in first mounting base 39, and the free end of first mechanical arm 40, which rotates, to be connected
It is connected to the second mounting base 41, the free end of the second mounting base 41 is rotatably connected to second mechanical arm 42, and the second mechanical wall 42 can phase
Second mounting base 41 is moved up and down, the bottom end of second mechanical arm 42 is connected with suction jig；
Suction jig includes support plate, and hardboard absorbent module 2, oscillator absorbent module 3 and axis are arranged at intervals in support plate
Hold absorbent module 4；
Hardboard absorbent module 2 includes longitudinally disposed the first cylinder 5 and first motor 31, first motor 31 and the first cylinder
5 telescopic end is connected, and first motor 31 has the first output shaft 6 of hollow setting, and the first output shaft 6 is through first motor 31
Upper and lower side, 6 lower end of the first output shaft are communicated with the first suction nozzle 7, and 6 upper end of the first output shaft is communicated with by the first rotary joint 8
First vacuum tracheae 9；
Oscillator absorbent module 3 includes longitudinally disposed the second cylinder 10 and the second motor 11, the second motor 11 and the second gas
The telescopic end of cylinder 10 is connected, and the second motor 11 has the second output shaft 12 of hollow setting, and the second output shaft 12 is through the second electricity
The upper and lower side of machine 11,12 lower end of the second output shaft are communicated with the second suction nozzle 13, and 12 upper end of the second output shaft is connect by the second rotation
First 14 are communicated with the second vacuum tracheae 15；
Bearing absorbent module 4 includes the third suction nozzle 16 being vertically arranged.
In the present embodiment, should be provided in the first mounting base 39 driving first mechanical arm 40 the first driving assembly, first
First servo motor can be selected in driving assembly, and the output end of first servo motor, which acts on first mechanical arm 40, then may make second
Mounting base 41 makees yaw motion with respect to the first mounting base 39.The driving movement of second mechanical arm 42 should be equipped in second mounting base 41
Second driving assembly, the drive rod that the second driving assembly should include the second servo motor, be connected with second mechanical arm 42, is set in
The transmission skin of driven wheel, the driving wheel and gearing driven wheel and driving wheel that are set in the second servo motor output end on drive rod
Band can be realized the rotation of second mechanical arm 42 or moved up and down by the cooperation between drive rod and driven wheel.First gas
Cylinder 5 and the second cylinder 10 select pin type cylinder, specifically, CJ1B4-20SU4 can be selected.First rotary joint 8 and the second rotation
Connector 14 selects KSH04-M5.First motor 31 and the second motor 11 select stepper motor, specifically, can be selected
20HB3402KB-D8.5。
To further increase assembly efficiency, may be provided in each support plate the equal multiple groups hardboard absorbent module 2 of quantity,
Oscillator absorbent module 3 and bearing absorbent module 4.
Embodiment 2
The present embodiment has made restriction further below on the basis of embodiment 1: the support plate includes laterally setting
Disk body 1, connection cylinder 17 is extended downward in the middle part of 1 bottom end of disk body；
The first motor 31 is connected by the first fixedly connected part 18 with first cylinder 5, and first is fixedly connected
Part 18 is slidably matched with cylinder 17 is connect；
Second motor 11 is connected by the second fixedly connected part 21 with second cylinder 10, and second is fixedly connected
Part 21 is slidably matched with cylinder 17 is connect；
The third suction nozzle 16 is connected by third fixedly connected part 22 with cylinder 17 is connect.
In the present embodiment, the first cylinder 5 and the second cylinder 10 can be connected through disk body 1 with disk body 1.First vacuum tracheae
9 and second vacuum tracheae 15 can be connected to the first rotary joint 8 and the second rotary joint 14 respectively through disk body 1.
Preferably, first fixedly connected part 18 and second fixedly connected part 21 include vertical section 23, vertically
23 upper ends of section are extended to side upper horizontal segment 24, and 23 lower end of vertical section is extended to same side lower horizontal segment
25；
The lower horizontal segment 25 of first fixedly connected part 18 is connected with the first motor 31, the first fixedly connected part 18 it is upper
Horizontal segment 24 is connected with the telescopic end of first rotary joint 8 and first cylinder 5, vertical on the connection cylinder 17
It is provided with the first sliding rail 33, can be slidably matched with the first sliding rail 33 is provided in the vertical section 23 of the first fixedly connected part 18
One sliding block 32；
The lower horizontal segment 25 of second fixedly connected part 21 is connected with second motor 11, the second fixedly connected part 21 it is upper
Horizontal segment 24 is connected with the telescopic end of second rotary joint 20 and second cylinder 10, erects on the connection cylinder 17
Directly it is provided with the second sliding rail 34, being provided in the vertical section 23 of the second fixedly connected part 21 can be slidably matched with the second sliding rail 34
Second sliding block 35.
In the present embodiment, MGN7H-1R-55-ZOHM is can be selected in the first sliding rail 33 and the second sliding rail 34.In order to further mention
The stability of high first fixedly connected part 18 and the movement of the second fixedly connected part 21, can also be in disk body 1 and the first fixedly connected part
It is provided with the first elastic component 44 between 18, the second elastic component 45, the first bullet are provided between disk body 1 and the second fixedly connected part 21
Property part 44 is set on the piston rod of the first cylinder 5, and the second elastic component 45 is set on the piston rod of the second cylinder 10.
Embodiment 3
The present embodiment has made restriction further below on the basis of embodiment 1: further including for being connected to described first
First connector 19 of output shaft 6 and first suction nozzle 7；
It further include the second connector 20 for being connected to first output shaft 6 and first rotary joint 8；
It further include the third connector 26 for being connected to second output shaft 12 and second suction nozzle 13；
It further include the 4th connector 27 for being connected to second output shaft 12 and second rotary joint 14.
Embodiment 4
The present embodiment has made restriction further below on the basis of embodiment 1: the bottom end connection of first suction nozzle 7
There is the first suction nozzle cylinder 28,28 bottom end width of the first suction nozzle cylinder is greater than the width of the first suction nozzle 7；
The bottom end of second suction nozzle 13 is communicated with the second suction nozzle cylinder 29, and the width of the second suction nozzle cylinder 29 is less than the second suction nozzle
13 width；
The bottom end of the third suction nozzle 16 is communicated with third suction nozzle cylinder 30, and the width of third suction nozzle cylinder 30 is less than third suction nozzle
16 width, and bearing guide pin 36 is connected in the middle part of 30 bottom end of third suction nozzle cylinder.
Preferably, the inner wall of 30 bottom end of third suction nozzle cylinder, which extends internally, is provided with several protrusions 37, the axis
The outer wall for holding guide pin 36 is connected with several protrusions 37.Protrusion 37 may be provided with 3.
It preferably, further include the image acquisition device 43 for being located at 41 lower section of the second mounting base.
Preferably, described image collector 43 includes camera and coaxial light source.Aca2500-14gm can be selected in camera, coaxially
HL-CL-25 (blue light) can be selected in light source.
The above content is the further descriptions made in conjunction with specific preferred embodiment to the utility model, cannot recognize
Determine specific embodiment of the present utility model to be only limited to these instructions.For the common skill of the utility model technical field
For art personnel, the other embodiments obtained in the case where not departing from the technical solution of the utility model be should be included in practical
In novel protection scope.
Claims (10)
1. the manipulator for pancake rotor assembly, it is characterised in that: including support base (38), the is equipped on support base (38)
One mounting base (39) is rotatably connected to first mechanical arm (40) in the first mounting base (39), the free end of first mechanical arm (40)
It being rotatably connected to the second mounting base (41), the free end of the second mounting base (41) is rotatably connected to second mechanical arm (42), and second
Mechanical arm (42) can be moved up and down with respect to the second mounting base (41), and the bottom end of second mechanical arm (42) is connected with suction jig；
Suction jig includes support plate, and hardboard absorbent module (2), oscillator absorbent module (3) and axis are arranged at intervals in support plate
Hold absorbent module (4)；
Hardboard absorbent module (2) includes longitudinally disposed the first cylinder (5) and first motor (31), first motor (31) and first
The telescopic end of cylinder (5) is connected, and first motor (31) has the first output shaft (6) of hollow setting, and the first output shaft (6) runs through
The upper and lower side of first motor (31), the first output shaft (6) lower end are communicated with the first suction nozzle (7), and the first output shaft (6) upper end passes through
First rotary joint (8) is communicated with the first vacuum tracheae (9)；
Oscillator absorbent module (3) includes longitudinally disposed the second cylinder (10) and the second motor (11), the second motor (11) and the
The telescopic end of two cylinders (10) is connected, and the second motor (11) has the second output shaft (12) of hollow setting, the second output shaft
(12) run through the upper and lower side of the second motor (11), the second output shaft (12) lower end is communicated with the second suction nozzle (13), the second output shaft
(12) upper end is communicated with the second vacuum tracheae (15) by the second rotary joint (14)；
Bearing absorbent module (4) includes the third suction nozzle (16) being vertically arranged.
2. the manipulator according to claim 1 for pancake rotor assembly, it is characterised in that: the support plate includes cross
To the disk body (1) of setting, connection cylinder (17) is extended downward in the middle part of disk body (1) bottom end；
The first motor (31) is connected by the first fixedly connected part (18) with first cylinder (5), and the first fixed company
Fitting (18) is slidably matched with cylinder (17) is connect；
Second motor (11) is connected by the second fixedly connected part (21) with second cylinder (10), and the second fixed company
Fitting (21) is slidably matched with cylinder (17) is connect；
The third suction nozzle (16) is connected by third fixedly connected part (22) with cylinder (17) are connect.
3. the manipulator according to claim 2 for pancake rotor assembly, it is characterised in that: described first is fixedly connected
Part (18) and second fixedly connected part (21) include vertical section (23), and vertical section (23) upper end is extended to side to be had
Upper horizontal segment (24), vertical section (23) lower end is extended to same side lower horizontal segment (25)；
The lower horizontal segment (25) of first fixedly connected part (18) is connected with the first motor (31), the first fixedly connected part (18)
Upper horizontal segment (24) be connected with the telescopic end of first rotary joint (8) and first cylinder (5), the connecting column
It is vertically arranged on body (17) the first sliding rail (33), being provided in the vertical section (23) of the first fixedly connected part (18) can be with first
The first sliding block (32) that sliding rail (33) is slidably matched；
The lower horizontal segment (25) of second fixedly connected part (21) is connected with second motor (11), the second fixedly connected part (21)
Upper horizontal segment (24) be connected with the telescopic end of second rotary joint (20) and second cylinder (10), the connection
It is vertically arranged on cylinder (17) the second sliding rail (34), being provided in the vertical section (23) of the second fixedly connected part (21) can be with
The second sliding block (35) that two sliding rails (34) are slidably matched.
4. the manipulator according to claim 1 for pancake rotor assembly, it is characterised in that: further include for being connected to
State the first connector (19) of the first output shaft (6) Yu first suction nozzle (7)；It further include for being connected to first output shaft
(6) with the second connector (20) of first rotary joint (8)；
It further include the third connector (26) for being connected to second output shaft (12) Yu second suction nozzle (13)；
It further include the 4th connector (27) for being connected to second output shaft (12) Yu second rotary joint (14).
5. the manipulator according to claim 1 for pancake rotor assembly, it is characterised in that: first suction nozzle (7)
Bottom end be communicated with the first suction nozzle cylinder (28), the first suction nozzle cylinder (28) bottom end width is greater than the width of the first suction nozzle (7)；
The bottom end of second suction nozzle (13) is communicated with the second suction nozzle cylinder (29), and the width of the second suction nozzle cylinder (29) is inhaled less than second
The width of mouth (13)；
The bottom end of the third suction nozzle (16) is communicated with third suction nozzle cylinder (30), and the width of third suction nozzle cylinder (30) is inhaled less than third
The width of mouth (16), and bearing guide pin (36) are connected in the middle part of third suction nozzle cylinder (30) bottom end.
6. the manipulator according to claim 5 for pancake rotor assembly, it is characterised in that: the third suction nozzle cylinder
(30) inner wall of bottom end, which extends internally, is provided with several raised (37), the outer wall of the bearing guide pin (36) and several
Raised (37) are connected.
7. the manipulator described according to claim 1~any one of 6 for pancake rotor assembly, it is characterised in that: institute
It states the first cylinder (5) and second cylinder (10) selects pin type cylinder.
8. the manipulator according to claim 7 for pancake rotor assembly, it is characterised in that: the first motor (31)
Stepper motor is selected with second motor (11).
9. the manipulator according to claim 1 for pancake rotor assembly, it is characterised in that: further include being located at described the
Image acquisition device (43) below two mounting bases (41).
10. the manipulator according to claim 9 for pancake rotor assembly, it is characterised in that: described image collector
It (43) include camera and coaxial light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721921654.3U CN208231795U (en) | 2017-12-29 | 2017-12-29 | Manipulator for pancake rotor assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721921654.3U CN208231795U (en) | 2017-12-29 | 2017-12-29 | Manipulator for pancake rotor assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208231795U true CN208231795U (en) | 2018-12-14 |
Family
ID=64578830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721921654.3U Active CN208231795U (en) | 2017-12-29 | 2017-12-29 | Manipulator for pancake rotor assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208231795U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016094A (en) * | 2019-12-28 | 2020-04-17 | 吉丽雄 | Modular demolding equipment based on image recognition and working method thereof |
| CN112059568A (en) * | 2020-07-17 | 2020-12-11 | 江苏开放大学（江苏城市职业学院） | End effector of nut transfer robot |
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2017
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016094A (en) * | 2019-12-28 | 2020-04-17 | 吉丽雄 | Modular demolding equipment based on image recognition and working method thereof |
| CN112059568A (en) * | 2020-07-17 | 2020-12-11 | 江苏开放大学（江苏城市职业学院） | End effector of nut transfer robot |
| CN112059568B (en) * | 2020-07-17 | 2022-05-10 | 江苏开放大学（江苏城市职业学院） | Nut transfer robot end effector |
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