CN109051751A - Multifunction manipulator grasping mechanism - Google Patents
Multifunction manipulator grasping mechanism Download PDFInfo
- Publication number
- CN109051751A CN109051751A CN201810907670.XA CN201810907670A CN109051751A CN 109051751 A CN109051751 A CN 109051751A CN 201810907670 A CN201810907670 A CN 201810907670A CN 109051751 A CN109051751 A CN 109051751A
- Authority
- CN
- China
- Prior art keywords
- pressing sleeve
- substrate
- grasping mechanism
- pneumatic clamper
- manipulator
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 11
- 239000000758 substrate Substances 0.000 claims abstract description 16
- 230000001939 inductive effect Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000009413 insulation Methods 0.000 abstract description 11
- 230000008859 change Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000006835 compression Effects 0.000 abstract description 4
- 238000007906 compression Methods 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention belongs to electrician's special equipments, and in particular to a kind of multifunction manipulator grasping mechanism.It is characterized in that: the lower end of manipulator sets pneumatic clamper connection installation folding clamping jaw, pneumatic clamper lower end, which is equipped with, compresses substrate, compressing the pilot hole mounting and adjusting axis on substrate, the pressing sleeve being equipped on the downside of adjustment axis lower end and compression substrate is connected, it compresses and is equipped with folded thick limited block between substrate and pressing sleeve, for pressure ring by the bearing holder (housing, cover) inside pressing sleeve loaded in pressing sleeve, pressing sleeve side is equipped with inductive switch.Have the function of that folded thick detection, discrete piece compresses, slot insulation is inserted in place detection, functional integration is high, and structure is simple, high degree of automation, the convenient and efficient advantage of die change.
Description
Technical field
The invention belongs to technical machinery process equipments, and in particular to one kind is for collecting stacked thick inspection on discrete piece slot insulation insertion machine
It surveys, discrete piece compresses, slot insulation is inserted in place the multifunction manipulator grasping mechanism of detection.
Background technique
Currently, the folded thickness of discrete piece slot insulation insertion machine detects, discrete piece compresses, slot insulation is inserted in place detection and is substantially
It is completed on station independently, the disadvantage is that: multiple stations are occupied, equipment volume is increased, or even need multiple devices
It can complete, structure is complicated, and the degree of automation is low, and die change is inconvenient.
Summary of the invention
It is high that the object of the present invention is to provide a kind of functional integrations, and structure is simple, high degree of automation, and die change is convenient
Efficiently multifunction manipulator grasping mechanism.
The technical scheme is that a kind of multifunction manipulator grasping mechanism, mainly by lift servo electric cylinders and level
The manipulator composition of servo electric cylinders driving, it is characterized in that: the lower end of manipulator sets pneumatic clamper connection installation folding clamping jaw, pneumatic clamper lower end
Equipped with substrate is compressed, the pilot hole mounting and adjusting axis on substrate, the pressure being equipped on the downside of adjustment axis lower end and compression substrate are being compressed
Set is connected, and compresses equipped with folded thick limited block between substrate and pressing sleeve, pressure ring, loaded in pressing sleeve, is pressed by the bearing holder (housing, cover) inside pressing sleeve
It covers side and is equipped with inductive switch.
By adopting the above-described technical solution, in the pneumatic clamper for the lower end that folding clamping jaw is installed on manipulator, pressing sleeve and pressure ring
The lower end of pneumatic clamper is installed on by adjusting axis, inductive switch is located at the side of pressing sleeve, and multiple functions are integrated on a station, because
And there is functional integration height, and compact-sized simple, high degree of automation, the convenient and efficient advantage of die change.
Detailed description of the invention: technical solution of the present invention is done further specifically below in conjunction with the drawings and specific embodiments
It is bright.
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the partial enlarged view of Fig. 1.
Fig. 3 is the axonometric drawing of folded thick limited block (5).
Fig. 4 is the axonometric drawing of pressing sleeve (8).
Fig. 5 is the axonometric drawing for opening and closing clamping jaw (9).
Specific embodiment: Fig. 1, Fig. 2, a kind of multifunction manipulator grasping mechanism, mainly by lift servo electric cylinders are referred to
It is formed with the manipulator 1 of horizontal servo electric cylinders driving, the lower end of manipulator 1 sets pneumatic clamper connection installation folding clamping jaw 9, pneumatic clamper lower end
Equipped with substrate 3 is compressed, the pilot hole mounting and adjusting axis 2 on substrate 3 is being compressed, is being equipped on the downside of adjustment 2 lower end of axis and compression substrate 3
Pressing sleeve 8 be connected, compress and be equipped with folded thick limited block 5 between substrate 3 and pressing sleeve 8, pressure ring 6 passes through the suit of bearing 7 inside pressing sleeve 8
In in pressing sleeve 8,8 side of pressing sleeve is equipped with inductive switch 4.
When work, pneumatic clamper driving folding clamping jaw opens, and elevation and subsidence mechanical subordinate drop drives pressure ring to move downward, until pressing sleeve
The upper end face contact of lower end surface and stator core discrete piece stops decline after reaching the pressure value of setting, and servo-system will at this time
The distance for calculating elevation and subsidence mechanical subordinate drop, is compared, to judge the folded thickness of discrete piece stator core with preset standard value
Whether qualified, if unqualified, control system can prompt to need to add and subtract the quantity of stator core discrete piece punching, if detection is closed
Lattice, pneumatic clamper driving folding clamping jaw closure, stator core discrete piece is clamped and is promoted, and is then laterally moved to slot insulation insertion station and is declined again
Discrete piece stator core is put in place, insertion is fixed when being clamped due to the positioning key that folding clamping jaw (9) inside therein is arranged
In sub- iron core outer circle in through slot, it is ensured that the verticality of discrete piece stator core, pneumatic clamper driving folding clamping jaw open, and pressing sleeve is after continuation of insurance
Compression is held, starts slot insulation, pressing sleeve position corresponding with stator core notch is provided with fluting, to prevent slot insulation from exposing
It collides when stator core discrete piece upper surface with pressing sleeve, if there is slot insulation leakage is inserted or is inserted into situation not in place, induction is opened
Pass will sense and stopping alarm, and after the completion of slot insulation, pneumatic clamper driving folding clamping jaw closure will be plugged the discrete piece of slot insulation
Stator core clamping promotion is traversing again to be placed to discharge station.Replacement only needs to change when folded thick compresses folding between substrate and pressing sleeve
Thick limited block, folding thickness limited block section is U-shaped opening quick-changing type structure, convenient and efficient.
Claims (4)
1. a kind of multifunction manipulator grasping mechanism, the manipulator mainly driven by lift servo electric cylinders and horizontal servo electric cylinders
(1) it forms, it is characterized in that: the lower end of manipulator (1) sets pneumatic clamper connection installation folding clamping jaw (9), pneumatic clamper lower end, which is equipped with, compresses base
Plate (3) is compressing the pilot hole mounting and adjusting axis (2) on substrate (3), and adjustment axis (2) lower end is equipped with substrate (3) downside is compressed
Pressing sleeve (8) be connected, compress and be equipped with folded thick limited block (5) between substrate (3) and pressing sleeve (8), pressure ring (6) is interior by pressing sleeve (8)
The bearing (7) in portion is set in pressing sleeve (8), and pressing sleeve (8) side is equipped with inductive switch (4).
2. a kind of multifunction manipulator grasping mechanism chatted according to claim 1, it is characterized in that: folded thickness limited block (5) uses
Section is the opening quick-changing type structure of U-shaped.
3. a kind of multifunction manipulator grasping mechanism chatted according to claim 1, it is characterized in that: pressing sleeve (8) lower end surface and fixed
The corresponding position of sub- iron core notch is provided with fluting.
4. a kind of multifunction manipulator grasping mechanism chatted according to claim 1, it is characterized in that: folding clamping jaw (9) is therein
One is provided with the positioning key in embeddable stator core outer circle in through slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810907670.XA CN109051751A (en) | 2018-08-10 | 2018-08-10 | Multifunction manipulator grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810907670.XA CN109051751A (en) | 2018-08-10 | 2018-08-10 | Multifunction manipulator grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109051751A true CN109051751A (en) | 2018-12-21 |
Family
ID=64683435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810907670.XA Pending CN109051751A (en) | 2018-08-10 | 2018-08-10 | Multifunction manipulator grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051751A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1232575A (en) * | 1967-04-13 | 1971-05-19 | ||
| JPS62255319A (en) * | 1986-04-25 | 1987-11-07 | Hitachi Ltd | Loading device for iron plate for stator core |
| DE4037883A1 (en) * | 1990-11-28 | 1992-06-04 | Hofmann Maschinenbau Gmbh | DEVICE FOR GRIPING WORKPIECES, ESPECIALLY ROTORS |
| JPH06343237A (en) * | 1993-05-28 | 1994-12-13 | Matsushita Seiko Co Ltd | Stator of outer rotor type induction motor |
| JP2001088078A (en) * | 1999-09-16 | 2001-04-03 | Toshiba Mach Co Ltd | Copper wire holding device |
| EP1424174A1 (en) * | 2002-11-29 | 2004-06-02 | Ame- Allgemeine Maschinenentwicklungs- Ges.m.b.H & Co. KG | Gripper for a robot |
| CN101655341A (en) * | 2008-08-19 | 2010-02-24 | 龙口中际电工机械有限公司 | Stack thickness detection compressing device |
| CN102589501A (en) * | 2011-01-07 | 2012-07-18 | 山东中际电工装备股份有限公司 | Stator stacking thickness detecting device |
| CN102638143A (en) * | 2011-02-10 | 2012-08-15 | 上海日立电器有限公司 | Coil insertion method and coil insertion device |
| CN104993654A (en) * | 2015-08-07 | 2015-10-21 | 苏州三体智能科技有限公司 | Grabbing manipulator assembling rotor core and rotating shaft |
| CN204928501U (en) * | 2015-07-06 | 2015-12-30 | 上海鸣志电器股份有限公司 | Stator core side rubber coating equipment |
| CN105515291A (en) * | 2016-01-15 | 2016-04-20 | 利欧集团浙江泵业有限公司 | Automatic lamination, detection and boxing assembly line for stator iron cores |
| CN208775824U (en) * | 2018-08-10 | 2019-04-23 | 山东中际智能装备有限公司 | Multifunction manipulator grasping mechanism |
-
2018
- 2018-08-10 CN CN201810907670.XA patent/CN109051751A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1232575A (en) * | 1967-04-13 | 1971-05-19 | ||
| JPS62255319A (en) * | 1986-04-25 | 1987-11-07 | Hitachi Ltd | Loading device for iron plate for stator core |
| DE4037883A1 (en) * | 1990-11-28 | 1992-06-04 | Hofmann Maschinenbau Gmbh | DEVICE FOR GRIPING WORKPIECES, ESPECIALLY ROTORS |
| JPH06343237A (en) * | 1993-05-28 | 1994-12-13 | Matsushita Seiko Co Ltd | Stator of outer rotor type induction motor |
| JP2001088078A (en) * | 1999-09-16 | 2001-04-03 | Toshiba Mach Co Ltd | Copper wire holding device |
| EP1424174A1 (en) * | 2002-11-29 | 2004-06-02 | Ame- Allgemeine Maschinenentwicklungs- Ges.m.b.H & Co. KG | Gripper for a robot |
| CN101655341A (en) * | 2008-08-19 | 2010-02-24 | 龙口中际电工机械有限公司 | Stack thickness detection compressing device |
| CN102589501A (en) * | 2011-01-07 | 2012-07-18 | 山东中际电工装备股份有限公司 | Stator stacking thickness detecting device |
| CN102638143A (en) * | 2011-02-10 | 2012-08-15 | 上海日立电器有限公司 | Coil insertion method and coil insertion device |
| CN204928501U (en) * | 2015-07-06 | 2015-12-30 | 上海鸣志电器股份有限公司 | Stator core side rubber coating equipment |
| CN104993654A (en) * | 2015-08-07 | 2015-10-21 | 苏州三体智能科技有限公司 | Grabbing manipulator assembling rotor core and rotating shaft |
| CN105515291A (en) * | 2016-01-15 | 2016-04-20 | 利欧集团浙江泵业有限公司 | Automatic lamination, detection and boxing assembly line for stator iron cores |
| CN208775824U (en) * | 2018-08-10 | 2019-04-23 | 山东中际智能装备有限公司 | Multifunction manipulator grasping mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 张子忠: "《微电机结构工艺学》", vol. 1, 哈尔滨工业大学出版社, pages: 86 - 89 * |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181221 |