CN209599223U - Accurate quick change microoperation clamper system for micro assemby - Google Patents
Accurate quick change microoperation clamper system for micro assemby Download PDFInfo
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- CN209599223U CN209599223U CN201920080898.6U CN201920080898U CN209599223U CN 209599223 U CN209599223 U CN 209599223U CN 201920080898 U CN201920080898 U CN 201920080898U CN 209599223 U CN209599223 U CN 209599223U
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Abstract
Accurate quick change microoperation clamper system provided by the utility model for micro assemby, it is related to micro assemby technical field, including multiple assembly manipulators, each assembly manipulator is arranged on hand-off rack module, and it can be by realizing manipulator quick-replaceable function with the mutual quick change cooperation of manipulator Quick change module group, to realize that pickup, assembly of a variety of across scale complex multi-configuration small parts etc. operates.When assembling micro- part of different shape, size, corresponding assembly manipulator is selected to be assembled.Manipulator Quick change module group includes manipulator quick change main module, quick change-power feel transfer block, power feel detection module, exerts oneself to feel that fixed block, upper power feel fixed block, manipulator quick change submodule, can be realized quick-replaceable between different assembly manipulators, operating efficiency is high.
Description
Technical field
The utility model relates to micro assemby technical fields, micro- in particular to a kind of accurate quick change for micro assemby
Operate clamper system.
Background technique
In existing micro- component assembly, it can be related to there are more sizes, across scale, multiple types complex configuration, a variety of composition materials
Assembly between the miniature components of material, this kind of micro- part of complexity are difficult to unified by automatic assembly equipment while being assembled.
It is higher to the precise requirements of the operations such as the fixation of miniature parts, positioning, clamping, movement especially in assembling process, at present
Common manual assembly mode is inefficient, and cumbersome, micro- component assembly to different shape, size needs to be used alone
Corresponding assembling assembly, replacement trouble, it still needs further improvement for assembly efficiency and assembling quality.
In view of this, designing and manufacturing a kind of accurate quick change microoperation clamper system for micro assemby, assembly is improved
Efficiency is to be badly in need of the technical issues of improving in current micro- component assembly technical field.
Utility model content
The purpose of this utility model include a kind of accurate quick change microoperation clamper system for micro assemby is provided, including
Multiple assembly manipulators can be realized the different assembly manipulator of quick-replaceable, to adapt to micro- part of different shape, size
It picks up, clamping, assembly, use scope is wide, and assembly efficiency is high.
It is that it is realized by adopting the following technical scheme that the utility model, which improves its technical problem,.
A kind of accurate quick change microoperation clamper system for micro assemby provided by the utility model, including make-up machinery
Hand and Quick change module, the assembly manipulator and Quick change module include the first assembly manipulator, the second assembly manipulator, third dress
With manipulator, the 4th assembly manipulator, manipulator Quick change module group and hand-off rack module.Each assembly manipulator is both placed in
On the hand-off rack module, and it can be detachably connected with the manipulator Quick change module group.
The manipulator Quick change module group includes manipulator quick change main module, quick change-power feel transfer block, power feel detection mould
Block exerts oneself to feel that fixed block, upper power feel fixed block, manipulator quick change submodule.
The power feels that detection module exerts oneself to feel that fixed block and the upper power are felt between fixed block described in being located in, described fast
Change-power feels that transfer block is mounted on the side for exerting oneself to feel that fixed block feels fixed block far from the upper power, the manipulator quick change
The side of main module is mounted on the quick change-power and feels in transfer block that the other side is connect with the manipulator quick change submodule.
Further, the manipulator quick change main module include two blind rivet pneuma-lock hole locations, four main biography stomata roads,
One positioning datum item, multiple position-limitting pin slots and multiple shop bolts.The positioning datum item is set to the manipulator quick change
Main module feels the middle part of the side of transfer block far from the quick change-power, described in two blind rivet pneuma-lock hole locations and four
The main periphery for passing stomata road and being respectively arranged on the positioning datum item.The blind rivet pneuma-lock hole location and manipulator quick change
Module connection, main the biographys stomata road for guiding gas flow, the positioning datum item and the position-limitting pin slot for
The manipulator quick change submodule connection, the shop bolt feel that transfer block is connect with the power.
Further, the manipulator quick change submodule set there are two gas-operated lock compact form positioning blind rivet, four son pass stomatas
Road, a positioning datum square groove, multiple sub- position-limitting pins and a holder fixed by vacuum mounting surface.The gas-operated lock compact form positioning is drawn
Nail is cooperatively connected with the blind rivet pneuma-lock hole location, and the main biography stomata road and the sub- biography gas hole link are used to draw
Conductive gas flow direction plays the role of passing gas when lossless fixed using vacuum suction.The positioning datum square groove and the positioning
Datum strip is cooperatively connected；The sub- position-limitting pin and the position-limitting pin slot are cooperatively connected.The holder fixed by vacuum mounting surface is used
It is connect in each assembly manipulator.
Further, the hand-off rack module includes on spill anchoring base seat, different quadrangle stiffener plate and benchmark
Table top.The upper surface of the benchmark upper table surface is equipped with hand-off station, auxiliary positioning slot and vacuum suction fixation hole, and the vacuum is inhaled
Attached fixation hole is set in the auxiliary positioning slot.The hand-off station is for placing assembly manipulator.
Further, first assembly manipulator includes hole shape hollow vacuum absorption clamper, and the hole shape is hollow true
The attached clamper of suction is connect with the holder fixed by vacuum mounting surface of the manipulator quick change submodule.The hole shape hollow vacuum
Absorption clamper include grade aperture vacuum absorption holes, grade aperture vacuum air storing cavity, column side group area vacuum pass stomata,
The first clamp body of high rigidity, the first cross positioning datum item, the first positioning hole.Grade aperture vacuum suction
Hole, the grade aperture vacuum air storing cavity, the column side group area vacuum pass stomata and are located at first clamper of high rigidity
One end of main body, the first cross positioning datum item, first positioning hole are located at first clamper of high rigidity
The other end of main body.The first cross positioning datum item and the hand-off station cooperate.
Further, the second assembly manipulator includes the netted vacuum suction clamper of hole shape isomery, the hole shape heterogeneous network
Shape vacuum suction clamper is connect with the holder fixed by vacuum mounting surface of the manipulator quick change submodule.The hole shape isomery
Netted vacuum suction clamper includes that the netted vacuum absorption holes of hole shape isomery, hole shape isomery vacuum air storing cavity, cube base plane are true
Sky passes stomata, the second clamp body of high rigidity, the second cross positioning datum item, the second positioning hole.The hole shape isomery
Netted vacuum absorption holes, the hole shape isomery vacuum air storing cavity, the cube base plane vacuum pass stomata and are located at the high rigidity
One end of second clamp body, the second cross positioning datum item, second positioning hole are located at the high rigidity
The other end of second clamp body.The second cross positioning datum item and the hand-off station cooperate.
Further, the third assembly manipulator includes micropore shape vacuum suction clamper, and the micropore shape vacuum is inhaled
Attached clamper is connect with the holder fixed by vacuum mounting surface of the manipulator quick change submodule；The micropore shape vacuum suction folder
Holder includes micron order aperture vacuum absorption holes, micron order aperture vacuum air storing cavity, main body side base plane vacuum biography stomata, Gao Gang
Property third clamp body, third cross positioning datum item, third positioning hole-.Micron order aperture vacuum absorption holes,
The micron order aperture vacuum air storing cavity, the main body side base plane vacuum pass stomata and are located at the high rigidity third clamper master
One end of body, the third cross positioning datum item, the third positioning hole-are located at the high rigidity third clamper master
The other end of body.The third cross positioning datum item and the hand-off station cooperate.
Further, the 4th assembly manipulator includes the long vacuum chamber absorption clamper of bar shaped, the long vacuum of bar shaped
Chamber absorption clamper is connect with the holder fixed by vacuum mounting surface of the manipulator quick change submodule.The long vacuum chamber of bar shaped
Absorption clamper includes the long vacuum chamber adsorption hole of bar shaped, the long vacuum chamber air storing cavity of bar shaped, square chamber base plane vacuum biography stomata, Gao Gang
Property the 4th clamp body, the 4th cross positioning datum article, the 4th positioning hole-；The long vacuum chamber adsorption hole of the bar shaped, institute
State the long vacuum chamber air storing cavity of bar shaped, side's chamber base plane vacuum passes stomata and is located at the one of the 4th clamp body of high rigidity
End, the 4th cross positioning datum article, the 4th positioning hole are located at the another of the 4th clamp body of high rigidity
One end.The 4th cross positioning datum article and the hand-off station cooperate.
Further, the power feels that transfer block using one piece of oval special-shaped pinboard, is fixed equipped with limit fixed area, screw
Area, gas transmit resigning area, and the limit fixed area connect with the manipulator quick change main module, the screw fixed area with it is described
It exerts oneself to feel that fixed block connects, the setting in gas transmission resigning area, which is easy to implement, quickly passes airway dysfunction.
Further, the manipulator quick change main module is equipped with automation and locks device.
Accurate quick change microoperation clamper system provided by the utility model for micro assemby has the following aspects
The utility model has the advantages that
Accurate quick change microoperation clamper system provided by the utility model for micro assemby, including multiple make-up machineries
Hand, each assembly manipulator are arranged on hand-off rack module, and can by with the mutual quick change of manipulator Quick change module group
Manipulator quick-replaceable function is realized in cooperation, to realize the pickup of a variety of across scale complex multi-configuration small parts, assembly
Deng operation.When assembling micro- part of different shape, size, corresponding assembly manipulator is selected to be assembled.Manipulator quick change
Module group includes manipulator quick change main module, quick change-power feel transfer block, power feel detection module, exerts oneself to feel that fixed block, upper power feel solid
Determine block, manipulator quick change submodule, can be realized quick-replaceable between different assembly manipulators, operating efficiency is high.This is used for micro-
The accurate quick change microoperation clamper system structure of assembly is simple, and the different assembly manipulator of quick-replaceable may be implemented, with suitable
Pickup, the assembly of micro- part of different shape, size are answered, use scope is wide, and assembly efficiency is high.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
Overall structure diagram；
Fig. 2 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The quick change effective structure schematic diagram of manipulator Quick change module group；
Fig. 3 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The decomposition texture schematic diagram of manipulator Quick change module group；
Fig. 4 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The structural schematic diagram of hand-off rack module；
Fig. 5 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The cross-sectional view of first assembly manipulator structural schematic diagram and hole shape hollow vacuum absorption clamper；
Fig. 6 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
Second assembly manipulator structural schematic diagram and the netted vacuum suction clamper cross-sectional view of hole shape isomery；
Fig. 7 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The cross-sectional view of third assembly manipulator structural schematic diagram and micropore shape vacuum suction clamper；
Fig. 8 is the accurate quick change microoperation clamper system for micro assemby that the utility model specific embodiment provides
The cross-sectional view of 4th assembly manipulator structural schematic diagram and the long vacuum chamber absorption clamper of bar shaped.
Icon: 32 assembly manipulators and Quick change module；The first assembly manipulator of 32-1；The second assembly manipulator of 32-2；32-
3 third assembly manipulators；The 4th assembly manipulator of 32-4；32-0 manipulator Quick change module group；23 hand-off rack modules；12- power
Feel detection module；32-5 manipulator quick change main module；32-6 quick change-power feels transfer block；The upper power of 32-8- feels fixed block；Under 32-9-
Power feels fixed block；32-10 manipulator quick change submodule；32-51 blind rivet pneuma-lock hole location；The main biography stomata road 32-52；32-53
Positioning datum item；32-54 position-limitting pin slot；32-55 shop bolt；32-61 limits fixed area；32-62 screw fixed area；32-
63 gas transmit resigning area；32-101 gas-operated lock compact form positions blind rivet；32-102 passes stomata road；32-103 positioning datum square groove；
The sub- position-limitting pin of 32-104；32-105 holder fixed by vacuum mounting surface；32-13 the first quick change submodule；32-23 the second quick change submodule
Block；32-33 third quick change submodule；The 4th quick change submodule of 32-43；23-4 spill anchoring base seat；The different quadrangle of 23-5 adds
Strengthening tendons plate；23-6 benchmark upper table surface；The hand-off station of 23-2；23-1 auxiliary positioning slot；23-3 vacuum suction fixation hole；The hole 32-11
Shape hollow vacuum adsorbs clamper；32-111 grade aperture vacuum absorption holes；32-112 grade aperture vacuum air storing cavity；
32-113 column side group area vacuum passes stomata；The first clamp body of 32-114 high rigidity；32-115 the first cross positioning datum
Item；The first positioning hole of 32-116；The first son of 32-132 passes stomata road；32-135 the first holder fixed by vacuum mounting surface；32-21
The netted vacuum suction clamper of hole shape isomery；The netted vacuum absorption holes of the hole 32-211 shape isomery；The storage of the hole 32-212 shape isomery vacuum
Air cavity；32-213 cube base plane vacuum passes stomata；The second clamp body of 32-214 high rigidity；The positioning of the second cross of 32-215
Datum strip；The second positioning hole of 32-216；The second son of 32-232 passes stomata road；32-235 the second holder fixed by vacuum mounting surface；
32-31 micropore shape vacuum suction clamper；32-311 micron order aperture vacuum absorption holes；The vacuum gas storage of 32-312 micron order aperture
Chamber；32-313 main body side base plane vacuum passes stomata；32-314 high rigidity third clamp body；The positioning of 32-315 third cross
Datum strip；32-316 third positioning hole；32-332 third passes stomata road；32-335 third holder fixed by vacuum mounting surface；
The long vacuum chamber of 32-41 bar shaped adsorbs clamper；The long vacuum chamber adsorption hole of 32-411 bar shaped；The long vacuum cavity gas storage of 32-412 bar shaped
Chamber；The side's 32-413 chamber base plane vacuum passes stomata；The 4th clamp body of 32-414 high rigidity；The 4th cross of 32-415 positions base
Floating screed；The 4th positioning hole of 32-416；The 4th son of 32-432 passes stomata road；The 4th holder fixed by vacuum mounting surface of 32-435；23-
21 first hand-off stations；The hand-off station of 23-22 second；The hand-off station of 23-23 third；The hand-off station of 23-24 the 4th.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
In the description of the present invention, it should be understood that the orientation or positional relationship of the instructions such as term " on ", "lower"
For be based on the orientation or positional relationship shown in the drawings or the utility model product using when the orientation or position usually put
The orientation or positional relationship that relationship or those skilled in the art usually understand is merely for convenience of description the utility model
It is described with simplifying, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.
" first " of the utility model, " second " etc., are only used to distinguish between description, and contain not special
Justice.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Please refer to Fig. 1, a kind of accurate quick change microoperation clamper system for micro assemby provided in this embodiment, core
Structure is assembly manipulator and Quick change module 32, and assembly manipulator and Quick change module 32 include: the first assembly manipulator 32-1, the
Two assembly manipulator 32-2, third assembly manipulator 32-3, the 4th assembly manipulator 32-4, manipulator Quick change module group 32-0 and
Hand-off rack module 23.Each assembly manipulator is both placed on hand-off rack module 23, by with manipulator Quick change module group
32-0 is detachably connected, and assembly manipulator quick-replaceable function is realized in mutual quick change cooperation, to realize a variety of across scale complex
The operation such as pickup, assembly of multi-configuration small parts.
Specifically, referring to figure 2. and Fig. 3, manipulator Quick change module group 32-0 include manipulator quick change main module 32-5, it is fast
Change-power feels that transfer block 32-6, power feel detection module 12, exert oneself to feel that fixed block 32-8, upper power feel fixed block 32-9, manipulator quick change
Submodule 32-10.Power feel detection module 12, which is located in, exerts oneself to feel that fixed block 32-8 and upper power feel between fixed block 32-9, quick change-
Power feels that transfer block 32-6 is mounted on and exerts oneself to feel side of the fixed block 32-8 far from upper power feel fixed block 32-9, manipulator quick change main mould
The side of block 32-5 is mounted on quick change-power and feels on transfer block 32-6 that the other side is connect with manipulator quick change submodule 32-10.Power
Feel that detection module 12 can be high-precision force sensor, micro force detection and micro-torque detection function with six-freedom degree,
For carrying out real time on-line monitoring, while the rigging position for judging micro assemby part to micro- force information during micro assemby
Information in place.
Manipulator quick change main module 32-5 includes two blind rivet pneuma-lock hole location 32-51, four main biography stomata road 32-
52, a positioning datum 32-53, multiple position-limitting pin slot 32-54 and multiple shop bolt 32-55.Positioning datum 32-53
The middle part of the side of transfer block 32-6, two blind rivet pneuma-locks are felt far from quick change-power set on manipulator quick change main module 32-5
Hole location 32-51 and four main biography stomata road 32-52 is respectively arranged on the periphery of positioning datum 32-53.Position-limitting pin slot 32-54 is set
In the lateral margin of manipulator quick change main module 32-5, shop bolt 32-55 is set to manipulator quick change main module 32-5 close to quick change-power
Feel the side of transfer block 32-6.Manipulator quick change main module 32-5 is for realizing the Quick change module with above-mentioned each assembly manipulator
Between quick-replaceable function, and have automation lock device, while can be used for give each manipulator carry out positive and negative function
The transmission of air pressure.
Preferably, quick change-power feels that transfer block 32-6 is one piece of oval special-shaped pinboard, and oval abnormity pinboard is equipped with limit
Position fixed area 32-61, screw fixed area 32-62, gas transmit resigning area 32-63.Fixed area 32-61 is limited for quick-moving with machinery
The 32-5 connection of change owner module, screw fixed area 32-62 are used for and exert oneself to feel that fixed block 32-8 is connect, and gas transmits resigning area 32-63
Setting be easy to implement quickly pass airway dysfunction.Oval abnormity pinboard is felt for realizing manipulator quick change main module 32-5 and power to be examined
Survey the active rigid connection of module 12.Power feel detection module 12 have the function of micro- power/moment inspecting of 6 freedom degrees, be used for pair
Micro- force information during micro assemby carries out real time on-line monitoring, while for judging that the rigging position of micro assemby part is believed in place
Breath.
Manipulator quick change submodule 32-10 set there are two gas-operated lock compact form positioning blind rivet 32-101, four son pass stomata roads
32-102, a positioning datum square groove 32-103, multiple sub- position-limitting pin 32-104 and a holder fixed by vacuum mounting surface 32-
105.Blind rivet pneuma-lock hole location 32-51 is used to position blind rivet 32- with the gas-operated lock compact form of manipulator quick change submodule 32-10
101 are cooperatively connected, and main biography stomata road 32-52 passes stomata road 32-102 with son and is connected to, and guidance gas flow are used to, using true
When suction is attached lossless fixed, play the role of passing gas.Determine on positioning datum 32-53 and manipulator quick change submodule 32-10
Position benchmark square groove 32-103 is correspondingly arranged, and may be implemented to cooperate.Position-limitting pin slot 32-54 is used for and manipulator quick change submodule
Sub- position-limitting pin 32-104 on block 32-10 is correspondingly arranged, and may be implemented to cooperate.Shop bolt 32-55 is used for and quick change-
Power feels transfer block 32-6 connection, and holder fixed by vacuum mounting surface 32-105 with each assembly manipulator for connecting.
Readily comprehensible, the quantity of manipulator quick change submodule 32-10 is four, respectively the first quick change submodule 32-
13, the second quick change submodule 32-23, third quick change submodule 32-33, the 4th quick change submodule 32-43, four manipulator quick changes
The specific structure and function of submodule 32-10 is all the same.It that is is the first quick change submodule 32- in the first assembly manipulator 32-1
It is the second quick change submodule 32-23 in 13, the second assembly manipulator 32-2, is that third is fast in third assembly manipulator 32-3
Submodule 32-33 is changed, is the 4th quick change submodule 32-43 in the 4th assembly manipulator 32-4.
Referring to figure 4., hand-off rack module 23 include spill anchoring base seat 23-4, different quadrangle stiffener plate 23-5 and
Benchmark upper table surface 23-6.Different quadrangle stiffener plate 23-5 is for improving spill anchoring base seat 23-4 and benchmark upper table surface 23-6
Intensity, spill anchoring base seat 23-4 be equipped with mounting hole, for by spill anchoring base seat 23-4 be fixed to workbench or
On other components.The upper surface of benchmark upper table surface 23-6 is equipped with special hand-off station 23-2, auxiliary positioning slot 23-1 and very
Suction attached fixation hole 23-3, vacuum suction fixation hole 23-3 are in auxiliary positioning slot 23-1.Hand-off station 23-2 is for placing
Assembly manipulator, auxiliary positioning slot 23-1 for playing the role of positioning when assembly manipulator is put into hand-off station 23-2, inhale by vacuum
Attached fixation hole 23-3 is used for fixing assembling manipulator.The smooth indifference of different assembly manipulators may be implemented in benchmark upper table surface 23-6
It is not placed in hand-off station 23-2, and is placed by auxiliary positioning slot 23-1 precise positioning, by vacuum suction fixation hole 23-3
Firmly absorption is fixed.Preferably, there are four hand-off station 23-2, i.e., the first hand-off station 23-21, the second hand-off station 23-22,
The hand-off station 23-23 of third, the 4th hand-off station 23-24 are respectively used to place the first assembly manipulator 32-1, the second assembly machine
Tool hand 32-2, third assembly manipulator 32-3 and the 4th assembly manipulator 32-4.Hand-off station 23-2 can indifference store in advance
The manipulator of multiple and different types, and quick hand-off function can be realized respectively.Equal equivalent is disposed in each hand-off station 23-2
Auxiliary positioning slot 23-1 and vacuum suction fixation hole 23-3.Certainly, the quantity of hand-off station 23-2 and assembly manipulator and not only
It is limited to this, can also suitably increases or decreases, be not especially limited here.
Referring to figure 5., the first assembly manipulator 32-1 includes hole shape hollow vacuum absorption clamper 32-11, and hole shape is hollow
Vacuum suction clamper 32-11 is connect with the holder fixed by vacuum mounting surface 32-105 of manipulator quick change submodule 32-10.In the shape of hole
Empty vacuum suction clamper includes grade aperture vacuum absorption holes 32-111, grade aperture vacuum air storing cavity 32-112, column
Side group area vacuum pass stomata 32-113, the first clamp body of high rigidity 32-114, the first cross positioning datum 32-115,
First positioning hole 32-116.Grade aperture vacuum absorption holes 32-111, grade aperture vacuum air storing cavity 32-112, column
Side group area vacuum passes one end that stomata 32-113 is located at the first clamp body of high rigidity 32-114, the first cross positioning datum
32-115, the first positioning hole 32-116 are located at the other end of the first clamp body of high rigidity 32-114.First cross
First hand-off station 23-21 of positioning datum 32-115 and hand-off rack module 23 cooperates, in auxiliary positioning slot 23-1 and very
It is completed under the cooperation of the attached fixation hole 23-3 of suction precisely fixed.First quick change submodule 32-13 includes that two gas-operated lock compact forms are fixed
Position blind rivet 32-101, four the first sons pass stomata road 32-132, a positioning datum square groove 32-103, sub- position-limitting pin 32-104
With the first holder fixed by vacuum mounting surface 32-135.Hole shape hollow vacuum adsorbs clamper 32-11 and is suitable for clamping millimetre-sized circle
The part of cylindricality end, i.e., micro- part corresponding with grade aperture vacuum absorption holes 32-111, gas source is through main biography stomata road 32-
52, sub- biography stomata road 32-102 and column side group area vacuum pass stomata 32-113 and reach grade aperture vacuum air storing cavity 32-
112, the conduction of positive pressure or negative-pressure gas is realized, to realize clamping and the release function to micro- part.
Fig. 6 is please referred to, the second assembly manipulator 32-2 includes the netted vacuum suction clamper 32-21 of hole shape isomery, hole shape
The holder fixed by vacuum mounting surface 32-105 of the netted vacuum suction clamper 32-21 of isomery and manipulator quick change submodule 32-10 connects
It connects.Shape isomery netted vacuum suction clamper 32-21 in hole includes that the netted vacuum absorption holes 32-211 of hole shape isomery, hole shape isomery are true
Empty air storing cavity 32-212, cube base plane vacuum pass stomata 32-213, the second clamp body of high rigidity 32-214, the second cross
Positioning datum 32-215, the second positioning hole 32-216.The netted vacuum absorption holes 32-211 of hole shape isomery, hole shape isomery are true
Empty air storing cavity 32-212, cube base plane vacuum pass stomata 32-213 and are located at the one of the second clamp body of high rigidity 32-214
End, the second cross positioning datum 32-215, the second positioning hole 32-216 are located at the second clamp body of high rigidity 32-
214 other end.Second hand-off station 23-22 of the second cross positioning datum 32-215 and hand-off rack module 23 cooperates,
It is completed under the cooperation of auxiliary positioning slot 23-1 and vacuum suction fixation hole 23-3 precisely fixed.Second quick change submodule 32-23
Stomata road 32-232, a positioning datum square groove 32- are passed including two gas-operated lock compact form positioning blind rivet 32-101, four the second sons
103, sub- position-limitting pin 32-104, the second holder fixed by vacuum mounting surface 32-235.The netted vacuum suction clamper 32- of hole shape isomery
The 21 micro- parts for being suitable for being adapted with the netted vacuum absorption holes 32-211 of hole shape isomery, gas source is through main biography stomata road 32-52, son
It passes stomata road 32-102 and cube base plane vacuum passes stomata 32-213 and reaches hole shape isomery vacuum air storing cavity 32-212, realize just
The conduction of pressure or negative-pressure gas, to realize clamping and the release function to micro- part.
Fig. 7 is please referred to, third assembly manipulator 32-3 includes micropore shape vacuum suction clamper 32-31, micropore shape vacuum
Absorption clamper 32-31 is connect with the holder fixed by vacuum mounting surface 32-105 of manipulator quick change submodule 32-10.Micropore shape vacuum
Adsorbing clamper 32-31 includes micron order aperture vacuum absorption holes 32-311, micron order aperture vacuum air storing cavity 32-312, main body
Side group area vacuum pass stomata 32-313, high rigidity third clamp body 32-314, third cross positioning datum 32-315,
Third positioning hole 32-316.Micron order aperture vacuum absorption holes 32-311, micron order aperture vacuum air storing cavity 32-312, master
Side base plane vacuum passes one end that stomata 32-313 is located at high rigidity third clamp body 32-314, and third cross positions base
Floating screed 32-315, third positioning hole 32-316 are located at the other end of high rigidity third clamp body 32-314.30th
The hand-off station 23-23 of the third of word positioning datum 32-315 and hand-off rack module 23 cooperates, in auxiliary positioning slot 23-1 and
It is completed under the cooperation of vacuum suction fixation hole 23-3 precisely fixed.Third quick change submodule 32-33 includes two gas-operated lock compact forms
Position blind rivet 32-101, four third pass stomata road 32-332, a positioning datum square groove 32-103, sub- position-limitting pin 32-
104, third holder fixed by vacuum mounting surface 32-335.Micropore shape vacuum suction clamper 32-31 is suitable for micron order post ends
The clamping of head part, i.e., the micro- part being adapted with micron order aperture vacuum absorption holes 32-311, gas source is through main biography stomata road 32-
52, sub- biography stomata road 32-102 and main body side base plane vacuum pass stomata 32-313 and reach micron order aperture vacuum air storing cavity 32-
312, the conduction of positive pressure or negative-pressure gas is realized, to realize clamping and the release function to micro- part.
Fig. 8 is please referred to, the 4th assembly manipulator 32-4 includes the long vacuum chamber absorption clamper 32-41 of bar shaped, and bar shaped is long true
Cavity absorption clamper 32-41 is connect with the holder fixed by vacuum mounting surface 32-105 of manipulator quick change submodule 32-10.Bar shaped is long
It includes the long vacuum chamber adsorption hole 32-411 of bar shaped, the long vacuum chamber air storing cavity 32-412 of bar shaped, side that vacuum chamber, which adsorbs clamper 32-41,
Chamber base plane vacuum pass stomata 32-413, the 4th clamp body 32-414 of high rigidity, the 4th cross positioning datum article 32-415,
4th positioning hole 32-416.The long vacuum chamber adsorption hole 32-411 of bar shaped, the long vacuum chamber air storing cavity 32-412 of bar shaped, square chamber base
Area vacuum passes one end that stomata 32-413 is located at the 4th clamp body 32-414 of high rigidity, the 4th cross positioning datum article
32-415, the 4th positioning hole 32-416 are located at the other end of the 4th clamp body 32-414 of high rigidity.4th cross is fixed
4th hand-off station 23-24 of position datum strip 32-415 and hand-off rack module 23 cooperates, in auxiliary positioning slot 23-1 and vacuum
It adsorbs and completes precisely to fix under the cooperation of fixation hole 23-3.4th quick change submodule 32-43 includes two gas-operated lock compact form positioning
Blind rivet 32-101, four the 4th sons pass stomata road 32-432, a positioning datum square groove 32-103, sub- position-limitting pin 32-104,
4th holder fixed by vacuum mounting surface 32-435.The long vacuum chamber absorption clamper 32-41 of bar shaped is suitable for the micro- part of strip
Clamping, i.e., the micro- part being adapted with the long vacuum chamber adsorption hole 32-411 of bar shaped, gas source is through main biography stomata road 32-52, sub- biography gas
Duct 32-102 and square chamber base plane vacuum pass stomata 32-413 and reach the long vacuum chamber air storing cavity 32-412 of bar shaped, realize positive pressure or
The conduction of negative-pressure gas, to realize clamping and the release function to micro- part.
In conclusion the accurate quick change microoperation clamper system provided by the utility model for micro assemby is with following
Several aspects the utility model has the advantages that
Accurate quick change microoperation clamper system provided by the utility model for micro assemby, including assembly manipulator and
Quick change module 32, assembly manipulator and Quick change module 32 include the first assembly manipulator 32-1, the second assembly manipulator 32-2, the
Three assembly manipulator 32-3, the 4th assembly manipulator 32-4, manipulator Quick change module group 32-0 and hand-off rack module 23.It is multiple
Assembly manipulator can be detachably connected with manipulator Quick change module group 32-0.When assembling micro- part of different shape, size,
Corresponding assembly manipulator is selected to be assembled.Manipulator Quick change module group 32-0 includes manipulator quick change main module 32-5, fast
Change-power feels that transfer block 32-6, power feel detection module 12, exert oneself to feel that fixed block 32-8, upper power feel fixed block 32-9, manipulator quick change
Submodule 32-10, can be realized quick-replaceable between different assembly manipulators, and operating efficiency is high.This is used for the precision of micro assemby
Quick change microoperation clamper system structure is simple, and the different assembly manipulator of quick-replaceable may be implemented, with adapt to different shape,
The assembly of micro- part of size, use scope is wide, and assembly efficiency is high.Use manual operations completion the type micro- with most of at present
The way of assembling assembly is compared, the accurate quick change microoperation clamper system for being used for micro assemby belong to compare forward position, only one
It is a kind of leading, novel clamping device without two, can be used in the skill for solving to complete across scale multi-configuration micro assemby
Art problem has wide market application prospect.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, the utility model can have various changes, combination and variation.It is all the utility model spirit and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of accurate quick change microoperation clamper system for micro assemby, which is characterized in that including assembly manipulator and fastly
It changes the mold block (32), the assembly manipulator and Quick change module (32) include the first assembly manipulator (32-1), the second make-up machinery
It hand (32-2), third assembly manipulator (32-3), the 4th assembly manipulator (32-4), manipulator Quick change module group (32-0) and changes
Hand rack module (23)；Each assembly manipulator is both placed on the hand-off rack module (23), and can be with the machinery
Hand Quick change module group (32-0) is detachably connected；
The manipulator Quick change module group (32-0) includes manipulator quick change main module (32-5), quick change-power feel transfer block (32-
6), power feels detection module (12), exerts oneself to feel that fixed block (32-8), upper power feel fixed block (32-9), manipulator quick change submodule
(32-10)；
The power feels that detection module (12) exert oneself to feel that fixed block (32-8) and the upper power feel fixed block (32-9) described in being located in
Between, the quick change-power feels that transfer block (32-6) exerts oneself to feel that fixed block (32-8) feels fixation far from described upper power described in being mounted on
The side of block (32-9), the side of the manipulator quick change main module (32-5) are mounted on the quick change-power and feel transfer block (32-
6) on, the other side is connect with the manipulator quick change submodule (32-10).
2. the accurate quick change microoperation clamper system according to claim 1 for micro assemby, which is characterized in that described
Manipulator quick change main module (32-5) include two blind rivet pneuma-lock hole locations (32-51), four main biography stomata roads (32-52),
One positioning datum item (32-53), multiple position-limitting pin slots (32-54) and multiple shop bolts (32-55)；The positioning datum
Item (32-53) is set to the manipulator quick change main module (32-5) far from the quick change-power feel transfer block (32-6) side
It is described fixed that middle part, two blind rivet pneuma-lock hole locations (32-51) and four main biography stomata roads (32-52) are respectively arranged on
The periphery of position datum strip (32-53)；The blind rivet pneuma-lock hole location (32-51) and the manipulator quick change submodule (32-
10) it connects, the main biography stomata road (32-52) is for guiding gas flow, the positioning datum item (32-53) and the limit
Cotter slot (32-54) for being connect with the manipulator quick change submodule (32-10), the shop bolt (32-55) with it is described
Power feels transfer block (32-6) connection.
3. the accurate quick change microoperation clamper system according to claim 2 for micro assemby, which is characterized in that described
Manipulator quick change submodule (32-10) set there are two gas-operated lock compact form positioning blind rivet (32-101), four son pass stomata road (32-
102), a positioning datum square groove (32-103), multiple sub- position-limitting pins (32-104) and a holder fixed by vacuum mounting surface
(32-105)；Gas-operated lock compact form positioning blind rivet (32-101) and the blind rivet pneuma-lock hole location (32-51) are cooperatively connected,
The main biography stomata road (32-52) is connected to the sub- biography stomata road (32-102), guidance gas flow is used to, using true
When suction is attached lossless fixed, play the role of passing gas；The positioning datum square groove (32-103) and the positioning datum item (32-
53) it is cooperatively connected；The sub- position-limitting pin (32-104) and the position-limitting pin slot (32-54) are cooperatively connected；The vacuum clip
Holder mounting surface (32-105) with each assembly manipulator for connecting.
4. the accurate quick change microoperation clamper system according to claim 3 for micro assemby, which is characterized in that described
Hand-off rack module (23) includes spill anchoring base seat (23-4), different quadrangle stiffener plate (23-5) and benchmark upper table surface
The upper surface of (23-6), the benchmark upper table surface (23-6) are equipped with hand-off station (23-2), auxiliary positioning slot (23-1) and vacuum
It adsorbs fixation hole (23-3), the vacuum suction fixation hole (23-3) is set in the auxiliary positioning slot (23-1)；It is described hand-off
Station (23-2) is for placing assembly manipulator.
5. the accurate quick change microoperation clamper system according to claim 4 for micro assemby, which is characterized in that described
First assembly manipulator (32-1) includes hole shape hollow vacuum absorption clamper (32-11), the hole shape hollow vacuum absorption folder
Holder (32-11) is connect with the holder fixed by vacuum mounting surface (32-105) of the manipulator quick change submodule (32-10)；Institute
Stating hole shape hollow vacuum absorption clamper (32-11) includes that grade aperture vacuum absorption holes (32-111), grade aperture are true
Empty air storing cavity (32-112), column side group area vacuum pass stomata (32-113), the first clamp body of high rigidity (32-114), the
One cross positioning datum item (32-115), the first positioning hole (32-116)；The grade aperture vacuum absorption holes (32-
111), the grade aperture vacuum air storing cavity (32-112), column side group area vacuum biography stomata (32-113) are located at institute
State one end of the first clamp body of high rigidity (32-114), the first cross positioning datum item (32-115), described first
Positioning hole (32-116) is located at the other end of first clamp body of high rigidity (32-114)；First cross is fixed
Position datum strip (32-115) and the hand-off station (23-2) cooperate.
6. the accurate quick change microoperation clamper system according to claim 4 for micro assemby, which is characterized in that second
Assembly manipulator (32-2) includes the netted vacuum suction clamper (32-21) of hole shape isomery, and the netted vacuum of hole shape isomery is inhaled
The holder fixed by vacuum mounting surface (32-105) of attached clamper (32-21) and the manipulator quick change submodule (32-10) is even
It connects；The netted vacuum suction clamper (32-21) of hole shape isomery includes the netted vacuum absorption holes of hole shape isomery (32-211), hole
Shape isomery vacuum air storing cavity (32-212), cube base plane vacuum pass stomata (32-213), the second clamp body of high rigidity
(32-214), the second cross positioning datum item (32-215), the second positioning hole (32-216)；The hole shape isomery is netted true
Empty adsorption hole (32-211), the hole shape isomery vacuum air storing cavity (32-212), the cube base plane vacuum pass stomata (32-
213) it is located at one end of second clamp body of high rigidity (32-214), the second cross positioning datum item (32-
215), second positioning hole (32-216) is located at the other end of second clamp body of high rigidity (32-214)；
The second cross positioning datum item (32-215) and the hand-off station (23-2) cooperate.
7. the accurate quick change microoperation clamper system according to claim 4 for micro assemby, which is characterized in that described
Third assembly manipulator (32-3) includes micropore shape vacuum suction clamper (32-31), the micropore shape vacuum suction clamper
(32-31) is connect with the holder fixed by vacuum mounting surface (32-105) of the manipulator quick change submodule (32-10)；It is described micro-
Hole shape vacuum suction clamper (32-31) includes micron order aperture vacuum absorption holes (32-311), the vacuum gas storage of micron order aperture
Chamber (32-312), main body side base plane vacuum pass stomata (32-313), high rigidity third clamp body (32-314), the 30th
Word positioning datum item (32-315), third positioning hole (32-316)；Micron order aperture vacuum absorption holes (32-311),
The micron order aperture vacuum air storing cavity (32-312), the main body side base plane vacuum pass stomata (32-313) and are located at the height
One end of rigid third clamp body (32-314), the third cross positioning datum item (32-315), third positioning
Mounting hole (32-316) is located at the other end of the high rigidity third clamp body (32-314)；The third cross positions base
Floating screed (32-315) and the hand-off station (23-2) cooperate.
8. the accurate quick change microoperation clamper system according to claim 4 for micro assemby, which is characterized in that described
4th assembly manipulator (32-4) includes long vacuum chamber absorption clamper (32-41) of bar shaped, the long vacuum chamber absorption folder of bar shaped
Holder (32-41) is connect with the holder fixed by vacuum mounting surface (32-105) of the manipulator quick change submodule (32-10)；Institute
Stating long vacuum chamber absorption clamper (32-41) of bar shaped includes the long vacuum chamber adsorption hole (32-411) of bar shaped, the long vacuum chamber storage of bar shaped
Air cavity (32-412), square chamber base plane vacuum pass stomata (32-413), the 4th clamp body (32-414) of high rigidity, the 40th
Word positioning datum article (32-415), the 4th positioning hole (32-416)；The long vacuum chamber adsorption hole (32-411) of the bar shaped, institute
State the long vacuum chamber air storing cavity (32-412) of bar shaped, side's chamber base plane vacuum passes stomata (32-413) and is located at the high rigidity the
One end of four clamp bodies (32-414), the 4th cross positioning datum article (32-415), the 4th positioning hole
(32-416) is located at the other end of the 4th clamp body (32-414) of high rigidity；The 4th cross positioning datum article
(32-415) and the hand-off station (23-2) cooperate.
9. the accurate quick change microoperation clamper system according to claim 1 for micro assemby, which is characterized in that described
Power feels that transfer block (32-6) using one piece of oval special-shaped pinboard, is equipped with limit fixed area (32-61), screw fixed area (32-
62), gas transmission resigning area (32-63), the limit fixed area (32-61) and the manipulator quick change main module (32-5) are even
It connects, the screw fixed area (32-62) is exerted oneself to feel that fixed block (32-8) is connect with described, and the gas transmits resigning area (32-63)
Setting be easy to implement quickly pass airway dysfunction.
10. the accurate quick change microoperation clamper system according to claim 1 for micro assemby, which is characterized in that institute
It states manipulator quick change main module (32-5) and locks device equipped with automation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920080898.6U CN209599223U (en) | 2019-01-17 | 2019-01-17 | Accurate quick change microoperation clamper system for micro assemby |
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|---|---|---|---|
| CN201920080898.6U CN209599223U (en) | 2019-01-17 | 2019-01-17 | Accurate quick change microoperation clamper system for micro assemby |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551471A (en) * | 2019-01-17 | 2019-04-02 | 中国工程物理研究院激光聚变研究中心 | Accurate quick change microoperation clamper system for micro assemby |
-
2019
- 2019-01-17 CN CN201920080898.6U patent/CN209599223U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551471A (en) * | 2019-01-17 | 2019-04-02 | 中国工程物理研究院激光聚变研究中心 | Accurate quick change microoperation clamper system for micro assemby |
| CN109551471B (en) * | 2019-01-17 | 2023-10-20 | 中国工程物理研究院激光聚变研究中心 | Precision quick-change micro-operation gripper system for micro-assembly |
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