CN209599224U - The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration - Google Patents
The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration Download PDFInfo
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- CN209599224U CN209599224U CN201920083102.2U CN201920083102U CN209599224U CN 209599224 U CN209599224 U CN 209599224U CN 201920083102 U CN201920083102 U CN 201920083102U CN 209599224 U CN209599224 U CN 209599224U
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Abstract
The automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration provided by the utility model, it is related to automating micro assemby technical field, including more arm motion modules, assembly manipulator and Quick change module and press fitting manipulator, more arm motion modules drive assembly manipulator and Quick change module and press fitting manipulator mobile.Assembly arm is mounted on the first Z-direction straight line precision arm motion platform, manipulator quick change main module feels that detection module feels that transfer block connects by quick change-power with power, it is able to achieve the detection of assembly dynamics and the quick-replaceable of manipulator, assembly manipulator is used to complete pickup, transhipment, gluing, registration and the assembly manipulation of part.Being pressed manipulator includes press fitting arm, press fitting manipulator ontology and pressure tool component, for preventing part deformation for the fixed press fitting of bonding part.The automatic microoperation arm-and-hand system of the micro- part of complexity multi-configuration is compact-sized, and component assembly is nimbly and freely, high-efficient, and assembling quality is good.
Description
Technical field
The utility model relates to automate micro assemby technical field, in particular to a kind of micro- part of complicated multi-configuration
Automatic microoperation arm-and-hand 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.
Existing assembly method is mainly realized by way of manual, since the dynamics that manual assembly operates every time cannot protect
It holds unanimously, assembly precision and consistency are difficult to ensure, and assembly efficiency relies on the assembly level and qualification of worker, it is difficult to
Increase substantially production efficiency.
Utility model content
In view of the drawbacks of the prior art, the purpose of this utility model is to provide a kind of micro- part of complicated multi-configuration is automatically micro-
Manipulator's system, be able to solve more sizes, across scale, multiple types complex configuration, a variety of constituent materials miniature components
Between assembly problem, improve assembly efficiency and assembly precision, it is ensured that assembly dynamics uniformly, it is consistent.
It is that it is realized by adopting the following technical scheme that the utility model, which improves its technical problem,.
A kind of automatic microoperation arm-and-hand system of complicated micro- part of multi-configuration provided by the utility model, including more arms fortune
Dynamic model block, assembly manipulator and Quick change module and press fitting manipulator.
More arm motion modules include that straight line great Cheng precision arm motion platform, the straight line of X-direction of Y direction are big
Cheng Jingmi arm motion platform, the first Z-direction straight line precision arm motion platform and the second Z-direction straight line precision arm motion
Platform.The straight line great Cheng precision arm motion platform of the X-direction is mounted on the straight line great Cheng precision arm motion of the Y direction
On platform, the first Z-direction straight line precision arm motion platform and the second Z-direction straight line precision arm motion platform are pacified
On the straight line great Cheng precision arm motion platform of the X-direction, and it is arranged in parallel.The assembly manipulator and Quick change module
On the first Z-direction straight line precision arm motion platform, the press fitting manipulator is set to second Z-direction
On straight line precision arm motion platform.
The assembly manipulator and Quick change module include assembly arm, power feel detection module, quick change-power feel transfer block, machine
The quick-moving change owner module of tool and assembly manipulator.The assembly arm is mounted on the first Z-direction straight line precision arm motion
On platform, the power feels that detection module is set on the assembly arm, and the manipulator quick change main module and the power feel detection mould
Block feels transfer block connection by quick change-power, and the assembly manipulator is connect with the manipulator quick change main module, the assembly machine
Tool hand is used to complete pickup, transhipment, gluing, registration and the assembly manipulation of part.
The press fitting manipulator includes press fitting arm, press fitting manipulator ontology and pressure tool component, the press fitting
Arm is mounted on the second Z-direction straight line precision arm motion platform, and the press fitting manipulator ontology is mounted on the pressure
It fills on arm.The pressure tool component includes that press fitting axis, press fitting sleeve and press fitting pedestal, the press fitting sleeve are set in institute
It states on press fitting axis, the press fitting sleeve is connect with the press fitting pedestal, and the press fitting manipulator ontology is for clamping the pressure
Fill axis and the press fitting sleeve.
Further, the quick change power feels that transfer block includes oval special-shaped pinboard, the one of the oval special-shaped pinboard
End feels that detection module is detachably connected with the power, the other end of the oval special-shaped pinboard and the fast change owner of the manipulator
Module is detachably connected.
Further, the assembly manipulator includes the first assembly manipulator, the second assembly manipulator, third make-up machinery
Hand, the 4th assembly manipulator.The manipulator quick change main module is selectively filled with first assembly manipulator, described second
With any one connection in manipulator, the third assembly manipulator, the 4th assembly manipulator.
Further, first assembly manipulator includes hole shape hollow vacuum adsorption head, the first assembly hand main body, first
Quick change module.First Quick change module is connect with the manipulator quick change main module, it is described first assembly hand main body with it is described
The connection of first Quick change module, the first assembly hand main body are connect with the hole shape hollow vacuum adsorption head, and the hole shape is hollow
Vacuum suction head is for picking up part.
Second assembly manipulator includes the netted vacuum suction head of hole shape isomery, the second assembly hand main body, the second quick change
Module.Second Quick change module is connect with the manipulator quick change main module, the second assembly hand main body and described second
Quick change module connection, the second assembly hand main body are connect with the netted vacuum suction head of the hole shape isomery, the hole shape isomery
Netted vacuum suction head is for picking up part.
Further, the third assembly manipulator includes that micropore shape vacuum suction head, third assembly hand main body, third are fast
Change the mold block.The third Quick change module is connect with the manipulator quick change main module, third assembly hand main body and described the
The connection of three Quick change modules, the third assembly hand main body are connect with the micropore shape vacuum suction head, and the micropore shape vacuum is inhaled
Attached head is for picking up part.
4th assembly manipulator includes the long vacuum chamber adsorption head of bar shaped, the 4th assembly hand main body, the 4th Quick change module.
4th Quick change module is connect with the manipulator quick change main module, and the 4th assembly hand main body and the 4th Quick change module connect
It connects, the 4th assembly hand main body is connect with the long vacuum chamber adsorption head of the bar shaped, and the long vacuum chamber adsorption head of bar shaped is used for
Pick up part.
Further, the manipulator quick change main module is equipped with machine automatization and locks device.
Further, the press fitting pedestal is equipped with pedestal reference for assembling platform, pedestal recessing groove and pedestal limit fixing slot, institute
It states pedestal reference for assembling platform and is allowed for placing part, the space after the pedestal recessing groove is used to be registrated with the press fitting sleeve
Position, the pedestal limit fixing slot are used to fix the position after the press fitting base registration.
Further, the press fitting axis includes axis support side platform and axis aid face.Axis support side platform with
Axis aid face is formed between the end face of the press fitting axis, axis aid face is as the press fitting manipulator ontology
Carry out the first datum level of clipping operation.The press fitting sleeve includes sleeve aid face, and sleeve aid face is as the pressure
Fill the second datum level that manipulator ontology carries out clipping operation.The press fitting sleeve be equipped with cage guiding baseline trough, for pair
Part play the guiding role.
Further, the press fitting manipulator ontology include two finger paws and electronic aid hand, the electronic aid hand with
Press fitting arm fixation connection, two finger paw include finger under finger and two paws on two paws, on two paw
Finger is connect with the electronic aid hand under finger and two paw, and finger is for picking up described first on two paw
Datum level, finger is for picking up second datum level under two paw.
Further, the press fitting manipulator ontology includes three-finger paw, the electronic aid hand of three fingers and three finger pressures dress arm.
Described three refer to that electronic aid hand is connect with three finger pressure dress arm fixation, and described three refer to the axial direction and described three of electronic aid hand
The axial direction of finger pressure dress arm is mutually perpendicular to；The three-finger paw refers to including finger under finger on three paws and three paws, described three
Finger is for picking up first datum level on pawl, and finger is for picking up second datum level under three paw.
The complexity automatic microoperation arm-and-hand system of the micro- part of multi-configuration provided by the utility model has the following aspects
The utility model has the advantages that
The automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration provided by the utility model, passes through more arm motion moulds
Block realizes the three shaft spaces movement of assembly manipulator and Quick change module and press fitting manipulator, convenient for all directions, position
Part be registrated, be bonded and be pressed fixation.Assembly manipulator and Quick change module being capable of the different make-up machineries of quick-replaceable
Hand, the assembly for the part to different sizes, shape.Power feels that detection module and quick change-power feel that transfer block can monitor in real time
Assembly dynamics, it is ensured that in place, connection is reliable for assembly.It is pressed manipulator by pressure tool component to the part group after assembly
Part carries out press fitting fixation, prevents part deformation, improves assembly precision.The micro- part of the complexity multi-configuration automatic microoperation manipulator system
Unite simple and compact for structure, vdiverse in function, module integrated level is high, and replacement speed is fast, suitable for needles of various sizes, shape, material it is micro-
Component assembly, micro- component assembly consistency is high, high production efficiency, and assembling quality is good.
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 automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
A kind of application scenarios structural schematic diagram；
Fig. 2 is the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of each assembly manipulator in assembly manipulator and Quick change module；
Fig. 3 is the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
It is pressed the structural schematic diagram of manipulator；
Fig. 4 is the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
The structural schematic diagram of pressure tool component；
Fig. 5 is the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
It is pressed the structural schematic diagram of two finger paw schemes in manipulator；
Fig. 6 is the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration that the utility model specific embodiment provides
It is pressed the structural schematic diagram of three-finger paw scheme in manipulator.
Icon: 1 equipment workbench；2 supporting plate Quick change modules and hand-off rack module；23 hand-off rack modules；3 complicated more structures
The automatic microoperation arm-and-hand system of the micro- part of type；More than 31 arm motion modules；The straight line great Cheng precision arm of 31-1Y axis direction is transported
Dynamic platform；The straight line great Cheng precision arm motion platform of 31-2X axis direction；31-3 the first Z-direction straight line precision arm motion platform；
31-4 the second Z-direction straight line precision arm motion platform；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 manipulator；The 4th assembly manipulator of 32-4；32-7 assembles arm；12 power are felt
Detection module；32-6 quick change-power feels transfer block；32-5 manipulator quick change main module；The hole 32-11 shape hollow vacuum adsorption head；32-
12 first assembly hand main bodys；The first Quick change module of 32-13；The netted vacuum suction head of the hole 32-21 shape isomery；32-22 second is assembled
Hand main body；The second Quick change module of 32-23；32-31 micropore shape vacuum suction head；32-32 third assembles hand main body；32-33 third
Quick change module；The long vacuum chamber adsorption head of 32-41 bar shaped；32-42 the 4th assembles hand main body；The 4th Quick change module of 32-43；33 press fittings
Manipulator；33-1 is pressed manipulator ontology；33-2 is pressed arm；The electronic aid hand of 33-12；Two finger paw of 33-11；33-
Finger on 111 liang of paws；Finger under two paw of 33-112；33-41 three-finger paw；33-42 tri- refers to electronic aid hand；33-43 tri-
Finger pressure fills arm；Finger on tri- paw of 33-411；Finger under tri- paw of 33-412；22-2 pressure tool component；In 22-21 press fitting
Axis；22-212 axis accommodates face；22-211 axis supports side platform；22-22 is pressed sleeve；22-221 sleeve accommodates face；22-222
Cage guiding baseline trough；22-23 is pressed pedestal；22-231 pedestal reference for assembling platform；22-232 pedestal recessing groove；22-233 pedestal
Limit fixing slot.
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 automatic microoperation arm-and-hand system 3 of complicated micro- part of multi-configuration provided in this embodiment, packet
Include more arm motion modules 31, assembly manipulator and Quick change module 32 and press fitting manipulator 33, more arm motion modules 31
It is mounted on equipment workbench 1.By the automatic microoperation arm-and-hand system of the micro- part of complicated multi-configuration 3 and supporting plate Quick change module and
Hand-off rack module 2 cooperates, and adjusts for realizing the pickup of across scale complex multi-configuration small parts, pose, gluing
Operation, rigging position accurate positioning, component assembly, manipulator quick change, press fitting is picked up, press fitting is registrated placement etc..
Specifically, more arm motion modules 31 include the straight line great Cheng precision arm motion platform 31-1 of Y direction, X-axis side
To straight line great Cheng precision arm motion platform 31-2, the first Z-direction straight line precision arm motion platform 31-3 and the second Z-direction
Straight line precision arm motion platform 31-4.The straight line great Cheng precision arm motion platform 31-1 of Y direction is mounted on equipment workbench 1
On, the straight line great Cheng precision arm motion platform 31-2 of X-direction is mounted on the straight line great Cheng precision arm motion platform of Y direction
On 31-1, the first Z-direction straight line precision arm motion platform 31-3 and the second Z-direction straight line precision arm motion platform 31-4 are equal
It is mounted on the straight line great Cheng precision arm motion platform 31-2 of X-direction, and is arranged in parallel.Assembly manipulator and Quick change module 32
On the first Z-direction straight line precision arm motion platform 31-3, press fitting manipulator 33 is set to the second Z-direction straight line essence
On close arm motion platform 31-4.Assembly manipulator and Quick change module 32 and press fitting manipulator are driven by more arm motion modules 31
Module 33 moves, to realize the large stroke and high precision motion control and positioning of manipulator.
Assembly manipulator and Quick change module 32 include that assembly arm 32-7, power feel detection module 12, fast combined with Figure 1 and Figure 2,
- power feel transfer block 32-6, manipulator quick change main module 32-5 and assembly manipulator are changed, assembly arm 32-7 is mounted on the first Z axis
On the straight line precision arm motion platform 31-3 of direction, power feels that detection module 12 is set on assembly arm 32-7, and quick change-power feels transfer block
32-6 is set to power and feels between detection module 12 and manipulator quick change main module 32-5, and quick change-power feel transfer block 32-6 simultaneously with
Power feels that detection module 12 is connected with manipulator quick change main module 32-5.Assembly manipulator and manipulator quick change main module 32-5 connect
It connects, assembly manipulator is used to complete pickup, transhipment, gluing, registration and the assembly manipulation of part.Assembly manipulator and Quick change module
32 for realizing the operation to object is assembled, by cooperating a variety of manipulators on hand-off rack module 23 to realize each machinery
The quick-replaceable of hand, to realize that pickup, assembly of a variety of across scale complex multi-configuration small parts etc. operates.
Quick change-power feels that transfer block 32-6 feels between detection module 12 for realizing manipulator quick change main module 32-5 and power
Actively it is rigidly connected.Preferably, in the present embodiment, quick change-power feels that transfer block 32-6 includes oval special-shaped pinboard, oval abnormity
One end of pinboard feels that detection module 12 is detachably connected with power, the other end of oval abnormity pinboard and the fast change owner of manipulator
Module 32-5 is detachably connected, using dismountable connection type, is easy to implement the quick-replaceable of intermodule, it is preferred to use true
Empty suction type connection, it is of course also possible to be the modes such as clamping, bonding, magnetic attracting connection.Power feels that detection module 12 has 6
Micro- power/moment inspecting function of a freedom degree, for carrying out real time on-line monitoring to micro- force information during micro assemby, simultaneously
For judging the rigging position of micro assemby part information in place.
The quantity and structure type of assembly manipulator are not especially limited.In the present embodiment, the quantity of assembly manipulator is
It four, is individually positioned on hand-off rack module 23, is connect with hand-off rack module 23 using vacuum suction mode.Make-up machinery
Hand includes the first assembly manipulator 32-1, the second assembly manipulator 32-2, third assembly manipulator 32-3, the 4th assembly manipulator
32-4.Manipulator quick change main module 32-5 selectively with the first assembly manipulator 32-1, the second assembly manipulator 32-2, third
Any one connection in assembly manipulator 32-3, the 4th assembly manipulator 32-4.
As shown in Fig. 2, the first assembly manipulator 32-1 includes hole shape hollow vacuum adsorption head 32-11, the first assembly hand master
Body 32-12, the first Quick change module 32-13.First Quick change module 32-13 is connect with manipulator quick change main module 32-5, the first dress
Tennis partner's main body 32-12 is connect with the first Quick change module 32-13, the first assembly hand main body 32-12 and hole shape hollow vacuum adsorption head
32-11 connection, hole shape hollow vacuum adsorption head 32-11 is for picking up part.
Second assembly manipulator 32-2 includes the netted vacuum suction head 32-21 of hole shape isomery, the second assembly hand main body 32-
22, the second Quick change module 32-23.Second Quick change module 32-23 is connect with manipulator quick change main module 32-5, the second assembly hand master
Body 32-22 is connect with the second Quick change module 32-23, the second assembly hand main body 32-22 and netted vacuum suction head 32- of hole shape isomery
21 connections, shape isomery netted vacuum suction head 32-21 in hole is for picking up part.
Third assembly manipulator 32-3 includes micropore shape vacuum suction head 32-31, third assembly hand main body 32-32, third
Quick change module 32-33.Third Quick change module 32-33 is connect with manipulator quick change main module 32-5, and third assembles hand main body 32-32
It is connect with third Quick change module 32-33, third assembly hand main body 32-32 is connect with micropore shape vacuum suction head 32-31, micropore shape
Vacuum suction head 32-31 is for picking up part.
4th assembly manipulator 32-4 includes the long vacuum chamber adsorption head 32-41 of bar shaped, the 4th assembly hand main body 32-42, the
Four Quick change module 32-43.4th Quick change module 32-43 is connect with manipulator quick change main module 32-5, the 4th assembly hand main body 32-
42 connect with the 4th Quick change module 32-43, and the 4th assembly hand main body 32-42 is connect with the long vacuum chamber adsorption head 32-41 of bar shaped, item
The long vacuum chamber adsorption head 32-41 of shape is for picking up part.Preferably, manipulator quick change main module 32-5 is equipped with mechanical automatic lock
Tight device, for realizing the quick-replaceable function between the Quick change module of above-mentioned each assembly manipulator, while can be used for
Each manipulator carries out the transmission of positive and negative function air pressure.
As shown in figure 3, press fitting manipulator 33 includes press fitting arm 33-2, press fitting manipulator ontology 33-1 and pressure work
Arrangement 22-2, press fitting arm 33-2 are mounted on the second Z-direction straight line precision arm motion platform 31-4, are pressed manipulator sheet
Body 33-1 is mounted on press fitting arm 33-2.Pressure tool component 22-2 include press fitting axis 22-21, press fitting sleeve 22-22 and
It is pressed pedestal 22-23, press fitting sleeve 22-22 is set on press fitting axis 22-21, press fitting sleeve 22-22 and press fitting pedestal 22-23
Connection, press fitting manipulator ontology 33-1 is for clamping press fitting axis 22-21 and press fitting sleeve 22-22.It is pressed manipulator 33
For realizing to the pressure tool component 22-2 on supporting plate Quick change module and hand-off rack module 2 pickup and assembly manipulation, lead to
Cross the press fitting operation realized with resultant pressure tool component 22-2 to object is assembled.
Pressure tool component 22-2 guarantees that micro- part completes the essence after assembly for realizing the press fitting fixed function of micro- part
Spend stability.Specifically, as shown in figure 4, press fitting axis 22-21 includes axis support side platform 22-211 and axis aid face 22-
212.Axis, which supports, forms axis aid face 22-212, axis aid between side platform 22-211 and the end face for being pressed axis 22-21
Face 22-212 carries out the first datum level of clipping operation as press fitting manipulator ontology 33-1, to provide press fitting manipulator ontology
33-1 carries out the datum level of aid operation.Axis support side platform 22-211 is used to provide the support relative to press fitting sleeve 22-22
Power.
Press fitting sleeve 22-22 includes sleeve aid face 22-221, and sleeve accommodates face 22-221 as press fitting manipulator ontology
33-1 carries out the second datum level of clipping operation, to provide the press fitting manipulator ontology 33-1 datum level for carrying out aid operation.
It is pressed sleeve 22-22 and is equipped with cage guiding baseline trough 22-222, realizes and the oriention benchmark of the micro- part of strip is acted on.
It is pressed pedestal 22-23 and is equipped with pedestal reference for assembling platform 22-231, pedestal recessing groove 22-232 and pedestal limit fixation
Slot 22-233.Pedestal reference for assembling platform 22-231 for placing the micro- part of first order benchmark, pedestal recessing groove 22-232 be used for
Space after being pressed sleeve 22-22 registration is stepped down, and pedestal limit fixing slot 22-233 is used for fast to press fitting pedestal 22-23 and supporting plate
Pose after mold changing block and hand-off rack module 2 are registrated is fixed.
Being pressed manipulator ontology 33-1 includes two finger paw 33-11 and electronic aid hand 33-12, electronic aid hand 33-12
It is fixedly connected with press fitting arm 33-2, two finger paw 33-11 include finger 33- under finger 33-111 on two paws and two paws
112.Finger 33-112 is connect with electronic aid hand 33-12 under finger 33-111 and two paws on two paws, hand on two paws
Refer to that 33-111 is used to pick up the axis aid face 22-212 of press fitting axis 22-21, i.e. the first datum level.Finger 33- under two paws
112 for picking up the sleeve aid face 22-221 of press fitting sleeve 22-22, i.e. the second datum level.Electronic aid hand 33-12 is press fitting
The automatic aid motion module of manipulator ontology 33-1 is, it can be achieved that the switching action that two cleft hands refer to, completes crawl, placement movement.
Being pressed arm 33-2 has super large power/torque bearing function, is that the long stroke for various press fitting operations of specific customization is mechanical
Arm.
Press fitting manipulator ontology 33-1 includes but is not limited to the scheme of two finger handgrips, can also refer to or refer to more handgrip knot for three
Structure.Optionally, as shown in figure 5, press fitting manipulator ontology 33-1 include three-finger paw 33-41, three refer to electronic aid hand 33-42 and
Three finger pressures fill arm 33-43.Three refer to that electronic aid hand 33-42 is fixedly connected with three finger pressures dress arm 33-43, and three refer to electronic aid
The axial direction of hand 33-42 and the axial direction of three finger pressures dress arm 33-43 are mutually perpendicular to.Three-finger paw 33-41 includes finger on three paws
Finger 33-412 under 33-411 and three paws, the axis that finger 33-411 is used to pick up press fitting axis 22-21 on three paws accommodate
Face 22-212, i.e. the first datum level.Finger 33-412 is used to pick up the sleeve aid face 22- of press fitting sleeve 22-22 under three paws
221, i.e. the second datum level.Three refer to that electronic aid hand 33-42 is the automatic aid motion module that three finger pressures fill handgrip ontology 33-4,
Switching action while three-jaw finger can be achieved, complete crawl, placement movement.Three finger pressures, which fill arm 33-43, has super large power/power
Square bearing function is the long stroke mechanical arm for various press fitting operations of specific customization.The structure of three-finger paw 33-41
Scheme can realize pressure tool component 22-2 preferably self-centering grasping manipulation, while grasp force is bigger, and grasping manipulation is more firm
It leans on.
The automatic microoperation arm-and-hand system 3 of the complexity micro- part of multi-configuration provided by the utility model, its working principles are as follows:
Make-up machinery arm in micro assemby manipulator provided in this embodiment and hand-off system 3 can be according to be assembled micro- zero
The shape size of part automatically selects corresponding assembly manipulator, and the quick-replaceable of manipulator is completed by manipulator Quick change module
And fixation.Complete manipulator replacement after, more arm motion modules 31 by robot movement to it is to be assembled be the pre- storage position of part,
Lossless, efficient pickup, transhipment, gluing, registration, assembly are carried out to micro- part by way of vacuum suction.By above more
A manipulator realizes the automatic micro assemby of multiple complicated multi-configuration micro parts to the assembly manipulation of different micro- parts.
Due to being adhesively fixed between micro- part by special glue, certain deformation can occur in its glue solidification process,
Therefore press fitting operation is carried out to the component assembled with targetedly special tooling-pressure tool component 22-2 by design, it adopts
Pressure tool component 22-2 is automatically picked up with press fitting manipulator 33, be registrated, is assembled, realizes high-precision pressure
Dress.The micro- part assemblies assembled can quickly be taken off from equipment together with supporting plate Quick change module 22, be transferred to solidification and deposit
Put area, when solidified between reach after can be taken off assembly finished parts.Press fitting manipulator ontology 33-1 can use above two press fitting
Grasp mode is realized by grabbing the press fitting sleeve 22-22 and press fitting axis 22-21 of pressure tool component 22-2 respectively simultaneously
It is taken respectively with hand and while distinguishing release function.
In conclusion it is provided by the utility model complexity the automatic microoperation arm-and-hand system 3 of the micro- part of multi-configuration have with
Under several aspects the utility model has the advantages that
The automatic microoperation arm-and-hand system 3 of the complexity micro- part of multi-configuration provided by the utility model, can solve size range
The a variety of micro- parts while assembly problem not waited from submicron order to decimeter grade；Part material includes metal, engineering plastics, powder
Synthetic material etc.；Planform is related to cylindrical body, hemispherical, slim disk, strip thin slice and anomalistic object.Due to
It is adhesively fixed between micro- part by special glue, certain deformation can occur in glue solidification process, there is needle by design
Press fitting operation is carried out to the micro- part assemblies assembled to the pressure tool component 22-2 of property, by manipulator to pressure tooling group
Part 22-2 is automatically picked up, is registrated, is assembled, and realizes high-precision press fitting.By this automatic assembling mode, micro- part
Assembly precision is better than 5 μm, it can be achieved that high-precision, the purpose of high consistency and efficient micro assemby.Also, the utility model proposes
The completely new achievable efficient quick change Multi-function extension application of one kind the micro- part of complicated multi-configuration automatic microoperation manipulator system
System 3, solves the problems, such as in across scale complex multi-configuration micro assemby technology at present, can be effectively applied to automation micro assemby equipment
In, it can not only be used for a part in automation equipment and use, while also can be used as the auxiliary mould of hand assembled operation.
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 automatic microoperation arm-and-hand system of complexity micro- part of multi-configuration, which is characterized in that including more arm motion modules
(31), assembly manipulator and Quick change module (32) and press fitting manipulator (33)；
More arm motion modules (31) include the straight line great Cheng precision arm motion platform (31-1) of Y direction, X-direction
Straight line great Cheng precision arm motion platform (31-2), the first Z-direction straight line precision arm motion platform (31-3) and the second Z-direction
Straight line precision arm motion platform (31-4)；The straight line great Cheng precision arm motion platform (31-2) of the X-direction is mounted on the Y
On the straight line great Cheng precision arm motion platform (31-1) of axis direction, the first Z-direction straight line precision arm motion platform (31-
3) the straight line great Cheng that the X-direction is installed in the second Z-direction straight line precision arm motion platform (31-4) is accurate
On arm motion platform (31-2), and it is arranged in parallel；The assembly manipulator and Quick change module (32) are set to first Z-direction
On straight line precision arm motion platform (31-3), it is accurate that the press fitting manipulator (33) is set to the second Z-direction straight line
On arm motion platform (31-4)；
The assembly manipulator and Quick change module (32) include assembly arm (32-7), power feel detection module (12), quick change-power feel
Transfer block (32-6), manipulator quick change main module (32-5) and assembly manipulator, the assembly arm (32-7) are mounted on described
On first Z-direction straight line precision arm motion platform (31-3), the power feels that detection module (12) are set to the assembly arm
On (32-7), the quick change-power feels that transfer block (32-6) is set to the power and feels detection module (12) and the fast change owner of the manipulator
Between module (32-5), and the quick change-power feels that transfer block (32-6) feels detection module (12) and the machine with the power simultaneously
Quick-moving change owner module (32-5) connection of tool；The assembly manipulator is connect with the manipulator quick change main module (32-5), described
Assembly manipulator is used to complete pickup, transhipment, gluing, registration and the assembly manipulation of part；
The press fitting manipulator (33) includes press fitting arm (33-2), press fitting manipulator ontology (33-1) and pressure tooling group
Part (22-2), the press fitting arm (33-2) are mounted on the second Z-direction straight line precision arm motion platform (31-4), institute
Press fitting manipulator ontology (33-1) is stated to be mounted on the press fitting arm (33-2)；The pressure tool component (22-2) includes pressure
Axis (22-21), press fitting sleeve (22-22) and press fitting pedestal (22-23) are filled, the press fitting sleeve (22-22) is set in described
It is pressed on axis (22-21), the press fitting sleeve (22-22) connect with the press fitting pedestal (22-23), the press fitting manipulator
Ontology (33-1) is for clamping the press fitting axis (22-21) and the press fitting sleeve (22-22).
2. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 1, which is characterized in that described
Quick change-power feels that transfer block (32-6) includes oval abnormity pinboard, and one end of the oval special-shaped pinboard and the power feel inspection
Survey module (12) is detachably connected, the other end of the oval special-shaped pinboard and the manipulator quick change main module (32-5)
It is detachably connected.
3. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 2, which is characterized in that described
Assembly manipulator include the first assembly manipulator (32-1), the second assembly manipulator (32-2), third assembly manipulator (32-3),
4th assembly manipulator (32-4)；The manipulator quick change main module (32-5) selectively with first assembly manipulator
(32-1), second assembly manipulator (32-2), the third assembly manipulator (32-3), the 4th assembly manipulator
Any one connection in (32-4).
4. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 3, which is characterized in that described
First assembly manipulator (32-1) includes hole shape hollow vacuum adsorption head (32-11), the first assembly hand main body (32-12), first
Quick change module (32-13)；First Quick change module (32-13) connect with the manipulator quick change main module (32-5), described
First assembly hand main body (32-12) is connect with first Quick change module (32-13), first assembly hand main body (32-12)
It is connect with the hole shape hollow vacuum adsorption head (32-11), the hole shape hollow vacuum adsorption head (32-11) is for picking up zero
Part；
Second assembly manipulator (32-2) includes the netted vacuum suction head (32-21) of hole shape isomery, the second assembly hand main body
(32-22), the second Quick change module (32-23)；Second Quick change module (32-23) and the manipulator quick change main module (32-
5) it connects, second assembly hand main body (32-22) is connect with second Quick change module (32-23), the second assembly hand
Main body (32-22) is connect with the netted vacuum suction head (32-21) of the hole shape isomery, the netted vacuum suction head of hole shape isomery
(32-21) is for picking up part.
5. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 3, which is characterized in that described
Third assembly manipulator (32-3) includes that micropore shape vacuum suction head (32-31), third assembly hand main body (32-32), third are fast
It changes the mold block (32-33)；The third Quick change module (32-33) connect with the manipulator quick change main module (32-5), and described
Three assembly hand main body (32-32) connects with the third Quick change module (32-33), the third assemble hand main body (32-32) and
Micropore shape vacuum suction head (32-31) connection, the micropore shape vacuum suction head (32-31) is for picking up part；
4th assembly manipulator (32-4) includes: the long vacuum chamber adsorption head (32-41) of bar shaped, the 4th assembly hand main body (32-
42), the 4th Quick change module (32-43)；4th Quick change module (32-43) and the manipulator quick change main module (32-5) are even
It connects, the 4th assembly hand main body (32-42) is connect with the 4th Quick change module (32-43), the 4th assembly hand main body
(32-42) is connect with the long vacuum chamber adsorption head (32-41) of the bar shaped, and the long vacuum chamber adsorption head (32-41) of bar shaped is used for
Pick up part.
6. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 1, which is characterized in that described
Manipulator quick change main module (32-5) is equipped with machine automatization and locks device.
7. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 1, which is characterized in that described
It is pressed pedestal (22-23) and is equipped with pedestal reference for assembling platform (22-231), pedestal recessing groove (22-232) and pedestal limit fixing slot
(22-233), the pedestal reference for assembling platform (22-231) for placing part, the pedestal recessing groove (22-232) be used for
Space after press fitting sleeve (22-22) registration is stepped down, and the pedestal limit fixing slot (22-233) is used for the press fitting
Position after pedestal (22-23) registration is fixed.
8. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 1, which is characterized in that described
Press fitting axis (22-21) includes axis support side platform (22-211) and axis aid face (22-212)；The axis supports side platform
Axis aid face (22-212) is formed between (22-211) and the end face of press fitting axis (22-21), the axis adds
Hold the first datum level that face (22-212) carries out clipping operation as press fitting manipulator ontology (33-1)；The press fitting sleeve
(22-22) includes sleeve aid face (22-221), and sleeve aid face (22-221) is used as the press fitting manipulator ontology
Second datum level of (33-1) progress clipping operation；The press fitting sleeve (22-22) is equipped with cage guiding baseline trough (22-
222), for playing the guiding role to part.
9. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 8, which is characterized in that described
Being pressed manipulator ontology (33-1) includes two finger paws (33-11) and electronic aid hand (33-12), the electronic aid hand (33-
12) be fixedly connected with the press fitting arm (33-2), two finger paw (33-11) include two paws on finger (33-111) and
Finger (33-112) under two paws, finger (33-112) is and institute under finger (33-111) and two paw on two paw
The connection of electronic aid hand (33-12) is stated, finger (33-111) is for picking up first datum level on two paw, and described two
Finger (33-112) is for picking up second datum level under paw.
10. the automatic microoperation arm-and-hand system of the complexity micro- part of multi-configuration according to claim 8, which is characterized in that institute
Stating press fitting manipulator ontology (33-1) includes three-finger paw (33-41), the electronic aid hand (33-42) of three fingers and three finger pressures dress arm
(33-43)；Described three refer to that electronic aid hand (33-42) is fixedly connected with three finger pressure dress arm (33-43), and described three refer to electricity
The axial direction of dynamic aid hand (33-42) and the axial direction of three finger pressure dress arm (33-43) are mutually perpendicular to；Three-finger paw (the 33-
It 41) include finger (33-412) under finger (33-411) and three paws on three paws, finger (33-411) use on three paw
In picking up first datum level, finger (33-412) is for picking up second datum level under three paw.
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| CN201920083102.2U CN209599224U (en) | 2019-01-17 | 2019-01-17 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514537A (en) * | 2019-01-17 | 2019-03-26 | 中国工程物理研究院激光聚变研究中心 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514537A (en) * | 2019-01-17 | 2019-03-26 | 中国工程物理研究院激光聚变研究中心 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
| CN109514537B (en) * | 2019-01-17 | 2024-04-05 | 中国工程物理研究院激光聚变研究中心 | Automatic micromanipulation manipulator system for complex multi-configuration micro-parts |
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