CN108000548A - A kind of special manipulator for the assembling of encoder main body bearing - Google Patents
A kind of special manipulator for the assembling of encoder main body bearing Download PDFInfo
- Publication number
- CN108000548A CN108000548A CN201711364662.7A CN201711364662A CN108000548A CN 108000548 A CN108000548 A CN 108000548A CN 201711364662 A CN201711364662 A CN 201711364662A CN 108000548 A CN108000548 A CN 108000548A
- Authority
- CN
- China
- Prior art keywords
- electric cylinders
- clamping jaw
- connecting plate
- precision rotation
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of special manipulator of encoder main body bearing assembling, including Ce Song mechanisms, front end execution module and support base；Ce Song mechanisms include precision rotation electric cylinders I, connecting plate I, precision rotation electric cylinders II, connecting plate II, precision rotation electric cylinders III, connecting plate III, and the precision rotation electric cylinders I are assemblied in above electric cylinders fixed plate；Front end execution module includes miniature slide unit type Linear-electric-cylinder, slide unit, clamping jaw fixed plate, electronic clamping jaw, clamping jaw finger.The present invention is applied to encoder main body bearing and assembles, rotated using precision rotation electric cylinders and drive three connecting plates, miniature slide unit type Linear-electric-cylinder vertical movement drives electronic clamping jaw, realize the automation of encoder main body bearing assembling, accurate positioning, easy to operate, quickness and high efficiency, the labor intensity of worker is reduced, improves the efficiency of encoder main body bearing assembling.
Description
Technical field
The invention belongs to machinery field, and in particular to a kind of manipulator, during the eccentric adjustment of encoder Circular gratings
To encoder main body bearing automatic assembling.
Technical background
High precision photoelectric encoder is the important component of photogoniometer device, in encoder production process, is being compiled
Code device main body bearing and the requirement of encoder main body rigging error are very low, and are a weights during photoelectric encoder is manufactured
Link, encoder main body bearing and encoder main body quick assembling are wanted, is all the photoelectric encoder production of limitation enterprise all the time
A low key factor of efficiency, so the special manipulator of the positive active development encoder main body bearing assembling of enterprise now, but
The equipment that enterprise develops is still from many deficiencies.
At present in enterprise, the method that encoder main body bearing is used with encoder main body assembling is：In complete equipment, in
Between be provided with bearing storehouse mechanism, this mechanism is to realize that manipulator automatic positioning is taken bearing function.First, bearing is put into sleeve
In, bottom is sealed with locating piece, manipulator extract once, bearing fall it is next fall on locating piece, manipulator can only once carry
Take out a bearing.The right and left is separated by very big a distance and sets a high-precision shafting Automated assembly device, axis respectively
It is that automatic assembling apparatus is to extract bearing movement by PLC control machinery hands to be put on locating shaft, after the completion of positioning, pressure head passes through
Cylinder, which drives, is once rotated bearing press-in main body while main body, and pressure head again compresses bearing, and main body carries out secondary rotation
Turn, pressure head again compresses bearing.Manipulator is in front of equipment, and using three degrees of freedom right angle coordinate manipulator, manipulator is once
An encoder main body bearing can only be captured from bearing storehouse, the high-precision shafting Automated assembly device for being transported to one side is put into volume
In code device main body, three degrees of freedom right angle coordinate manipulator horizontal movement returns to bearing storehouse, then captures an encoder main body bearing,
The high-precision shafting Automated assembly device of another side is transported to, a bearing, and two assembly stations can only be captured every time
Set distant, to move very long a distance, greatly reduce encoder main body bearing and the speed of encoder main body assembling
Degree, and it is relatively slow to regulate the speed in this form manipulator, takes that working space is big, and assembly precision is relatively low, serious to reduce
Enterprise photoelectric encoder entirety production line rate.So occupy little space there is an urgent need to one kind, Adjustment precision is high, flexibly it is quick,
It can once capture two encoder main body bearings at the same time, realize that once crawl quickly transports two bearings and arrives high-precision shafting certainly
The special manipulator of the encoder main body bearing assembling in device is matched somebody with somebody in dynamic makeup.
The content of the invention
The object of the present invention is to provide a kind of special manipulator of encoder main body bearing assembling, realizes encoder handling
Automation.
To achieve the above object, the technical solution adopted by the present invention is：A kind of special machine of encoder main body bearing assembling
Tool hand, including Ce Song mechanisms, front end execution module and support base；Ce Song mechanisms include precision rotation electric cylinders（2）, connection
Plate（4）, precision rotation electric cylinders（5）, connecting plate（6）, precision rotation electric cylinders（7）, connecting plate（8）, the precision rotation
Electric cylinders（2）It is installed on electric cylinders fixed plate（3）Above；Front end execution module includes miniature slide unit type Linear-electric-cylinder（9）, slide unit
（10）, clamping jaw fixed plate（11）, electronic clamping jaw（12）, clamping jaw finger（13）.Including bracket base（1）, precision rotation electric cylinders
（2）, electric cylinders fixed plate（3）, connecting plate（4）, precision rotation electric cylinders（5）, connecting plate（6）, precision rotation electric cylinders（7）, even
Fishplate bar（8）, miniature slide unit type Linear-electric-cylinder（9）, slide unit（10）, clamping jaw fixed plate（11）, electronic clamping jaw（12）And clamping jaw
Finger（13）.The bracket base（1）It is fixed on workbench, the electric cylinders fixed plate（3）It is fixed on the branch
Frame base（1）On, the precision rotation electric cylinders（2）It is connected through a screw thread and is installed on the electric cylinders fixed plate（3）On, the company
Fishplate bar（4）Rear end, which is connected through a screw thread, is fixedly mounted on the precision rotation electric cylinders（2）, the connecting plate（6）Rear end passes through
Threaded connection is fixedly mounted on the precision rotation electric cylinders（2）Upper end, it is described to state connecting plate（6）Front end is connected through a screw thread solid
Dingan County is mounted in the precision rotation electric cylinders（7）, the connecting plate（8）Rear end, which is connected through a screw thread, is fixedly mounted on the essence
Close rotation electric cylinders（7）, the connecting plate（8）Front end, which is connected through a screw thread, is fixedly mounted on the miniature slide unit type straight-line electric
Dynamic cylinder（9）.The clamping jaw fixed plate（11）It is connected through a screw thread and is fixedly mounted on the slide unit（10）, the electronic clamping jaw（12）
It is connected through a screw thread and is fixedly mounted on clamping jaw fixed plate（11）, the clamping jaw finger（13）It is fixedly mounted on electronic clamping jaw（12）；
The clamping jaw fixed plate（11）It is connected through a screw thread and is fixedly mounted on the slide unit（10）Realize vertical movement, the electronic clamping jaw
（12）It is connected through a screw thread and is fixedly mounted on clamping jaw fixed plate（11）；The clamping jaw finger（13）It is fixedly installed in electronic clamping jaw
（12）.
Further, the precision rotation electric cylinders（2）Drive the connecting plate being fixedly mounted（4）Realize 360 degree of rotations
Turn, accurate positioning, is swift in motion, it is possible to achieve flexible positioning.
Further, the precision rotation electric cylinders（5）Drive the connecting plate being fixedly mounted（6）Realize that small range is revolved
Turn, accurate adjustment action, realizes that front end execution module is accurately positioned.
Further, the precision rotation electric cylinders（7）The front end execution module being fixedly mounted is driven to realize 360 degree of scopes
Rotation, it is possible to achieve the accurate adjustment to placing part position.The electronic clamping jaw（12）Drive the clamping jaw finger（13）It is real
Existing encoder main body bearing clamping, two electronic clamping jaws（12）Arranged in parallel to clamp two parts at the same time, realization is once pressed from both sides
Two parts are held, improve work efficiency, save time cost.
The beneficial effects of the invention are as follows：The present invention uses three accurate rotational positionings of precision rotation electric cylinders, realizes that front end is held
Row module accurately clamps a yard device main body bearing, simple in structure, accurate positioning, easy to operate, saves work and takes, alleviates work
The labor intensity of people；A used precision rotation electric cylinders drive two parallel electronic clamping jaw structure types and according to code device masters
The pneumatic clamper finger of body bearing configuration design, improves production efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the top view of the present invention.
Fig. 4 is the right view figure of the present invention.
Fig. 5 is the rearview of the present invention.
In figure：1st, bracket base, 2, precision rotation electric cylinders, 3, electric cylinders fixed plate, 4, connecting plate, 5, precision rotation electric cylinders
, 6, connecting plate, 7, precision rotation electric cylinders, 8, connecting plate, 9, miniature slide unit type Linear-electric-cylinder, 10, slide unit, 11, clamping jaw
Fixed plate, 12, electronic clamping jaw, 13, clamping jaw finger.
Embodiment
Following non-limiting examples can make those of ordinary skill in the art be more fully understood the present invention, but not with
Any mode limits the present invention.
- 5 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of special-purpose machinery of encoder main body bearing assembling
Hand.Including bracket base 1, precision rotation electric cylinders2nd, electric cylinders fixed plate 3, connecting plate4th, precision rotation electric cylinders5th, connecting plate
6th, precision rotation electric cylinders7th, connecting plate8th, miniature slide unit type Linear-electric-cylinder 9, slide unit 10, clamping jaw fixed plate 11, electrical clip
Pawl 12 and clamping jaw finger 13.
Manipulator will have support to fix, and the present invention has built bracket base 1 using standard aluminium section bar, and bracket base 1 is firm,
It can realize that manipulator is accurately positioned, 1 top of bracket base is connected through a screw thread installation electric cylinders fixed plate 3, for installing precision
Rotate electric cylinders2, precision rotation electric cylinders2 are connected through a screw thread inside electric cylinders fixed plate 3.
- 5 are please referred to Fig.1, connecting plate4th, connecting plate6th, connecting plate8, which pass sequentially through threaded connection, is installed on accurate rotation
Turn electric cylinders2nd, precision rotation electric cylinders5th, precision rotation electric cylindersOn 7, wherein connecting plate4 are installed on precision rotation electric cylinders
In 2 rotating disk, connecting plate6 are installed on precision rotation electric cylindersIn 5 rotating disk, connecting plate8 are installed on precision rotation
Electric cylindersOn 7, respective connecting plate is driven to realize accurate rotation.
- 5 are please referred to Fig.1, front end execution module is the module realized the clamping of encoder main body bearing and accurately put.It is miniature
Slide unit type Linear-electric-cylinder 9 is connected through a screw thread installed in connecting plate8 front ends, band actuating miniature slide unit type Linear-electric-cylinder 9
360 degree of accurate rotations；Clamping jaw fixed plate 11 is connected through a screw thread on miniature 9 slide of slide unit type Linear-electric-cylinder, design
Clamping jaw fixed plate 11 can be connected through a screw thread two parallel electronic clamping jaws 12 of installation, each electronic clamping jaw 12 installs two
The clamping jaw finger 13 designed according to encoder main body bearing configuration.
The special manipulator positioning of encoder main body bearing assembling and clamping process are：Precision rotation electric cylinders2 drive connection
Plate4 progress wide-angles accurately adjust, and manipulator navigates to approximate location, precision rotation electric cylinders5 drive connecting plate6 carry out
Low-angle accurately adjusts, and manipulator is pin-pointed to clip position, precision rotation electric cylinders7 drive front end execution module accurate
Rotation, adjust posture, before angle adjustment process pass through PLC configuration monitorings synchronously carry out, adjust precisely quick, miniature slide unit type
Linear-electric-cylinder 9 drives two electronic clamping jaws 12 to adjust vertical range, clamping jaw finger 13 is clamped encoder main body bearing,
Good position is adjusted, 13 holding parts of left side clamping jaw finger, are finely adjusted angle, 13 holding parts of right side clamping jaw finger again.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of special manipulator of encoder main body bearing assembling, including Ce Song mechanisms, front end execution module and support bottom
Seat；Ce Song mechanisms include precision rotation electric cylinders（2）, connecting plate（4）, precision rotation electric cylinders（5）, connecting plate（6）, precision rotation
Electric cylinders（7）, connecting plate（8）, the precision rotation electric cylinders（2）It is installed on electric cylinders fixed plate（3）Above；Front end execution module
Including miniature slide unit type Linear-electric-cylinder（9）, slide unit（10）, clamping jaw fixed plate（11）, electronic clamping jaw（12）, clamping jaw finger
（13）；Including bracket base（1）, precision rotation electric cylinders（2）, electric cylinders fixed plate（3）, connecting plate（4）, precision rotation electric cylinders
（5）, connecting plate（6）, precision rotation electric cylinders（7）, connecting plate（8）, miniature slide unit type Linear-electric-cylinder（9）, slide unit（10）、
Clamping jaw fixed plate（11）, electronic clamping jaw（12）With clamping jaw finger（13）.
A kind of 2. special manipulator of encoder main body bearing assembling according to claim 1, it is characterised in that：The branch
Frame base（1）It is fixed on workbench, the electric cylinders fixed plate（3）It is fixed on the bracket base（1）On, it is described
Precision rotation electric cylinders（2）It is connected through a screw thread and is installed on the electric cylinders fixed plate（3）On, the connecting plate（4）Rear end passes through spiral shell
Line connection is fixedly mounted on the precision rotation electric cylinders（2）, the connecting plate（6）Rear end, which is connected through a screw thread, to be fixedly mounted on
The precision rotation electric cylinders（2）Upper end, it is described to state connecting plate（6）Front end, which is connected through a screw thread, is fixedly mounted on the accurate rotation
Turn electric cylinders（7）, the connecting plate（8）Rear end, which is connected through a screw thread, is fixedly mounted on the precision rotation electric cylinders（7）, it is described
Connecting plate（8）Front end, which is connected through a screw thread, is fixedly mounted on the miniature slide unit type Linear-electric-cylinder（9）.
A kind of 3. special manipulator of encoder main body bearing assembling according to claim 1, it is characterised in that：The folder
Pawl fixed plate（11）It is connected through a screw thread and is fixedly mounted on the slide unit（10）Realize vertical movement, the electronic clamping jaw（12）It is logical
Cross threaded connection and be fixedly mounted on clamping jaw fixed plate（11）, two electronic clamping jaws（12）It is arranged in parallel to clamp two zero at the same time
Part.
A kind of 4. special manipulator of encoder main body bearing assembling according to claim 1, it is characterised in that：The folder
Cleft hand refers to（13）It is fixedly installed in electronic clamping jaw（12）, each electronic clamping jaw（12）Equipped with two clamping jaw fingers（13）Realize
To encoder main body bearing holding action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711364662.7A CN108000548A (en) | 2017-12-18 | 2017-12-18 | A kind of special manipulator for the assembling of encoder main body bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711364662.7A CN108000548A (en) | 2017-12-18 | 2017-12-18 | A kind of special manipulator for the assembling of encoder main body bearing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108000548A true CN108000548A (en) | 2018-05-08 |
Family
ID=62059564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711364662.7A Pending CN108000548A (en) | 2017-12-18 | 2017-12-18 | A kind of special manipulator for the assembling of encoder main body bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000548A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061762A (en) * | 2020-08-25 | 2020-12-11 | 江苏卓高新材料科技有限公司 | Clamping device and clamping method |
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