CN210500311U

CN210500311U - Multi-station precision manipulator

Info

Publication number: CN210500311U
Application number: CN201921481859.3U
Authority: CN
Inventors: 林永良
Original assignee: WENZHOU HAOFENG MACHINERY CO Ltd
Current assignee: WENZHOU HAOFENG MACHINERY CO Ltd
Priority date: 2019-09-07
Filing date: 2019-09-07
Publication date: 2020-05-12
Anticipated expiration: 2029-09-07

Abstract

The utility model discloses a multistation precision manipulator, including manipulator fixed platen, longitudinal motion arm and longitudinal servo motor, install ball screw on the longitudinal servo motor, the terminal surface of manipulator fixed platen is equipped with the bearing frame, ball screw's one end is installed on the bearing frame, first slider fixedly connected with riser, install clamping servo motor on the riser, clamping gear and screw-nut, ball screw is fitted in screw-nut soon, install the driving gear on clamping servo motor's the output shaft, the driving gear drives left centre gripping sector through clamping gear meshing, left centre gripping sector meshing connects right centre gripping sector, fixed mounting has the follower block on left and right slider, be equipped with the guide arm that is used for installing anchor clamps on the follower block, the cover is equipped with the spring on the guide arm; the longitudinal motion arm is installed on the slider with second group longitudinal rail sliding connection, installs the transverse guide in the longitudinal motion arm, and left slider, right slider sliding connection are on the transverse guide.

Description

Multi-station precision manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a multistation precision manipulator.

Background

With the continuous development of economy and the continuous progress of science and technology, a good development platform is provided for the rapid rise of the automatic production and manufacturing industry. In the automatic production industry, in order to ensure the requirements of high precision, high quality and high efficiency of products, various devices, devices or machines applied to the automatic production industry must meet the requirements correspondingly.

The manipulator plays an important role in automatic processing machinery, the manipulator is generally realized by driving a mechanical arm to move by a mechanical transmission device, and a multi-station manipulator clamping arm in the prior art is usually arranged on a plurality of sliding blocks, so that the whole structure is complex and is not convenient to control.

Disclosure of Invention

The utility model aims to provide a multi-station precision manipulator, which realizes the adjustment of the working state of the clamp by controlling the movement of a left slide block and a right slide block, and is convenient to control; meanwhile, the movement in the longitudinal direction is completed through the linear guide rail, so that the deformation of the mechanical arm due to the overlong arm length is avoided, the working stability of the whole structure is kept, and the linear guide rail is particularly suitable for clamping long and narrow workpieces with more stations and high precision requirements; in addition, the adaptability of the clamp is improved by arranging the spring on the guide rod, and when a workpiece with a smaller size is clamped, the spring is popped up to provide enough clamping force to clamp the workpiece; when clamping a larger size workpiece or overtravel, a constant clamping force can be maintained to prevent the workpiece from being damaged, solving the problems in the prior art.

In order to achieve the above object, the utility model provides a following technical scheme:

a multi-station precision manipulator comprises a manipulator fixing platen, a longitudinal moving arm and a longitudinal servo motor arranged below the manipulator fixing platen, wherein a ball screw is arranged on the longitudinal servo motor, a bearing seat is arranged on the end face of the manipulator fixing platen, one end of the ball screw is arranged on the bearing seat, a first group of longitudinal guide rails for installing a first slide block is arranged on the lower end face of the manipulator fixing platen, a second group of longitudinal guide rails parallel to the first group of longitudinal guide rails is further arranged on the manipulator fixing platen, a vertical plate is fixedly connected with the first slide block, a clamping servo motor, a clamping gear and a screw nut are arranged on the vertical plate, the ball screw is screwed in the screw nut, a driving gear is arranged on an output shaft of the clamping servo motor, and a swing arm structure for providing signals for a sensor is arranged on the end face of the driving gear, the driving gear drives a left clamping sector gear through the meshing of a clamping gear, the left clamping sector gear is meshed and connected with a right clamping sector gear, a first shifting groove and a second shifting groove are respectively formed in the upper ends of the left clamping sector gear and the right clamping sector gear, the first shifting groove and the second shifting groove are respectively used for clamping a first connecting shaft and a second connecting shaft, the first connecting shaft and the second connecting shaft are respectively installed on a left sliding block and a right sliding block, a follow-up block is fixedly installed on the left sliding block and the right sliding block, a guide rod for installing a clamp is arranged on the follow-up block, a spring is sleeved on the guide rod, and a manipulator fixing panel for supporting a workpiece is arranged at the lower end of the clamp; the longitudinal motion arm is installed on the sliding block connected with the second group of longitudinal guide rails in a sliding mode, the longitudinal motion arm is internally provided with the transverse guide rails, and the left sliding block and the right sliding block are installed on the transverse guide rails in a sliding mode.

Furthermore, the follow-up block is respectively and fixedly arranged on the left sliding block and the right sliding block through screws.

The utility model discloses a theory of operation and working process do: the longitudinal servo motor drives the driving gear to engage with the clamping gear, the clamping gear drives the left and right clamping sector teeth to move in opposite directions, so that the left and right sliding blocks are close to and away from each other, the clamp is released when the sliding blocks are away from each other, and the clamp is clamped when the sliding blocks are close to each other; utilize the swing arm to provide the signal for the sensor, discern and detect the operating condition of anchor clamps, when detecting that anchor clamps are in clamping state, vertical servo motor drives the motion of ball screw, and then realizes that whole anchor clamps remove, moves the work piece of centre gripping to predetermineeing the station, presss from both sides tight servo motor reversal after accomplishing corresponding process and releases the work piece, and vertical servo motor reversal returns the normal position.

The utility model provides a multi-station precision manipulator, which realizes the adjustment of the working state of the clamp by controlling the movement of the left and right sliders, and is convenient to control; meanwhile, the movement in the longitudinal direction is accurately controlled through a ball screw pair driven by a servo motor and guided by a linear guide rail, so that the mechanical arm is prevented from deforming due to overlong arm length, the working stability and the moving precision of the whole structure are kept, and the device is particularly suitable for clamping long and narrow workpieces with multiple stations and high precision requirements; in addition, the adaptability of the clamp is improved by arranging the spring on the guide rod, and when a workpiece with a smaller size is clamped, the spring is popped up to provide enough clamping force to clamp the workpiece; when clamping a workpiece with larger size or overtravel, the constant clamping force can be kept to prevent the workpiece from being damaged; utilize the swing arm to provide the signal for the sensor, discern and detect the operating condition of anchor clamps, degree of automation is high, has solved the problem among the prior art.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a cross-sectional view taken along line C-C of fig. 1.

Fig. 3 is a schematic view of a partial three-dimensional structure of the present invention.

Fig. 4 is a partially enlarged view of a portion a in fig. 3.

In the figure: 10. a mechanical arm fixing bedplate; 20. a longitudinally moving arm; 30. a longitudinal servo motor; 40. a ball screw; 50. a first set of longitudinal rails; 60. a vertical plate; 70. a second set of longitudinal rails; 80. a clamp; 90. a workpiece; 100. the panel is fixed by the manipulator; 11. a bearing seat; 12. a first slider; 21. a transverse guide rail; 41. a feed screw nut; 61. clamping the servo motor; 62. clamping the gear; 63. a driving gear; 64. a left clamping sector gear; 641. a first shifting groove; 642. a first connecting shaft; 65. right clamping sector teeth; 651. a second shifting groove; 652. a second connecting shaft; 66. a left slider; 67. a right slider; 68. a follower block; 681. a guide bar; 682. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a multi-station precision manipulator, which includes a manipulator fixing platen 10, a longitudinal moving arm 20, and a longitudinal servo motor 30 installed below the manipulator fixing platen 10, a ball screw 40 is installed on the longitudinal servo motor 30, a bearing seat 11 is installed on an end surface of the manipulator fixing platen 10, one end of the ball screw 40 is installed on the bearing seat 11, a first set of longitudinal guide rails 50 for installing a first slider 12 is installed on a lower end surface of the manipulator fixing platen 10, a second set of longitudinal guide rails 70 parallel to the first set of longitudinal guide rails 50 is also installed on the manipulator fixing platen 10, a vertical plate 60 is fixedly connected to the first slider 12, a clamping servo motor 61, a clamping gear 62 and a screw nut 41 are installed on the vertical plate 60, the ball screw 40 is screwed into the screw nut 41, a driving gear 63 is installed on an output shaft of the clamping servo motor, the end face of the driving gear 63 is provided with a swing arm structure 631 used for providing signals for a sensor 632, the driving gear 63 drives the left clamping sector gear 64 through the meshing of the clamping gear 62, the left clamping sector gear 64 is meshed and connected with the right clamping sector gear 65, the upper ends of the left clamping sector gear 64 and the right clamping sector gear 65 are respectively provided with a first shifting groove 641 and a second shifting groove 651, the first shifting groove 641 and the second shifting groove 651 are respectively used for clamping a first connecting shaft 642 and a second connecting shaft 652, the first connecting shaft 642 and the second connecting shaft 652 are respectively arranged on the left slider 66 and the right slider 67, the left slider 66 and the right slider 67 are fixedly provided with a follower block 68, the follower block 68 is provided with a guide rod 681 used for installing a clamp 80, the guide rod 681 is sleeved with a spring, and the lower end of the clamp 80 is provided with a manipulator fixing panel 100 used for supporting the; the longitudinal moving arm 20 is mounted on a slide block which is connected with the second group of longitudinal guide rails 70 in a sliding way, the transverse guide rail 21 is mounted in the longitudinal moving arm 20, and the left slide block 66 and the right slide block 67 are mounted on the transverse guide rail 21 in a sliding way.

Further, the follower blocks 68 are fixedly mounted on the left slider 66 and the right slider 67, respectively, by screws.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-station precision manipulator is characterized by comprising a manipulator fixing platen, a longitudinal moving arm and a longitudinal servo motor arranged below the manipulator fixing platen, wherein a ball screw is arranged on the longitudinal servo motor, a bearing seat is arranged on the end surface of the manipulator fixing platen, one end of the ball screw is arranged on the bearing seat, a first group of longitudinal guide rails for mounting a first slide block is arranged on the lower end surface of the manipulator fixing platen, a second group of longitudinal guide rails parallel to the first group of longitudinal guide rails is further arranged on the manipulator fixing platen, a vertical plate is fixedly connected with the first slide block, a clamping servo motor, a clamping gear and a screw nut are arranged on the vertical plate, the ball screw is screwed in the screw nut, a driving gear is arranged on an output shaft of the clamping servo motor, and a swing arm structure for providing signals for a sensor is arranged on the end surface of the driving gear, the driving gear drives a left clamping sector gear through the meshing of a clamping gear, the left clamping sector gear is meshed and connected with a right clamping sector gear, a first shifting groove and a second shifting groove are respectively formed in the upper ends of the left clamping sector gear and the right clamping sector gear, the first shifting groove and the second shifting groove are respectively used for clamping a first connecting shaft and a second connecting shaft, the first connecting shaft and the second connecting shaft are respectively installed on a left sliding block and a right sliding block, a follow-up block is fixedly installed on the left sliding block and the right sliding block, a guide rod for installing a clamp is arranged on the follow-up block, a spring is sleeved on the guide rod, and a manipulator fixing panel for supporting a workpiece is arranged at the lower end of the clamp; the longitudinal motion arm is installed on the sliding block connected with the second group of longitudinal guide rails in a sliding mode, the longitudinal motion arm is internally provided with the transverse guide rails, and the left sliding block and the right sliding block are installed on the transverse guide rails in a sliding mode.

2. A multi-station precision manipulator as claimed in claim 1, wherein said follower blocks are fixedly mounted to said left slider and said right slider respectively by screws.