CN110103204A - A kind of bend linkage instrument board installation manipulator - Google Patents
A kind of bend linkage instrument board installation manipulator Download PDFInfo
- Publication number
- CN110103204A CN110103204A CN201910435378.7A CN201910435378A CN110103204A CN 110103204 A CN110103204 A CN 110103204A CN 201910435378 A CN201910435378 A CN 201910435378A CN 110103204 A CN110103204 A CN 110103204A
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- bend
- cylinder
- sides
- lifting
- instrument board
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- 238000009434 installation Methods 0.000 title claims abstract description 21
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 239000000758 substrate Substances 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 210000003195 fascia Anatomy 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/14—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being passenger compartment fittings, e.g. seats, linings, trim, instrument panels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of bend linkage instrument board installation manipulator, including, mobile foundation, movable base, Mobile base, Y-direction drive cylinder, its cylinder body is arranged along one peripheral outer side surface of Mobile base, and piston rod end is connected to the movable base side frame end above Mobile base by connector；Sleeve-type expansion joint, fixing seat, two lifting cylinders, bend linkage mechanism, two instrument board clamp assemblies are respectively arranged at supporting beam two sides；Controller and operation panel.The present invention solves heavy manual handling assembly, promotes fascia assembly intelligent, reduces consumption, enhances productivity；It solves because of mixed dynamic or pure electric automobile built-in space protrusion, causes that fascia is difficult to install and installation part damages problem；It finely tunes and rotates by bend Track fusion automobile instrument board clamp, effectively facilitate the linkage of complete machine, it is energy-saving.
Description
Technical field
The present invention relates to vehicle arrangement mounting technique field, in particular to a kind of bend linkage instrument board installation manipulator.
Background technique
Sale of automobile at present is too late expected, and anti-increasing does not drop in the manually installed cost of automobile assembly, and major automotive field is different
Degree changes orthodox car and assembles pattern, persistently promotes automobile assembling assembly intelligence and the degree of automation, and then cost efficiency, increases
Johnson & Johnson's force of labor；Conventional vehicle built-in space channel is lower, and fascia can be installed directly in car body, and with new energy vapour
The favor that the development of garage's industry and people match automobile height, the height in channel is opposite in automobile is promoted, and instrument plate bulk is also opposite
Increase, cause the installation of conventional instrument plate that cannot pass in and out safely, installation difficulty and parts damages bottleneck increase.
Existing " bend linkage instrument board installation manipulator and clamp technology " be using cylinder directly with instrument board clamp
Docking, run trace be according to certain straight path swing or rotate, cannot be finely adjusted in automobile accommodation space and
Curved trajectory is unable to satisfy the installation of existing more fascias.
Summary of the invention
It is an object of the invention to design a kind of bend linkage instrument board installation manipulator, heavy manual handling dress is solved
Match, promotes fascia assembly intelligent, reduce consumption, enhance productivity；It solves because being emptied in mixed dynamic or pure electric automobile
Between protrusion, cause fascia to be difficult to install and installation part damage problem；By bend Track fusion automobile instrument board clamp
Fine tuning rotation, effectively facilitates the linkage of complete machine, energy-saving.
In order to achieve the above objectives, the technical scheme is that
A kind of bend linkage instrument board installation manipulator comprising, mobile foundation is a rectangular frame, top surface
Two sides projection can be slidedly arranged on the traveling wheel of moving track；And the two sides frame of mobile foundation rectangular frame length direction is rail
Road structure forms X to track；Movable base, is a rectangular frame, and the projection of top surface two sides can be slidedly arranged on the X to rail
The X in road is to traveling wheel；And the two sides frame of movable base rectangular frame length direction is track structure, forms Y-direction track；
Mobile base, is a frame, and the projection of top surface two sides can be slidedly arranged on the Y-direction traveling wheel of the Y-direction track；Y-direction drives cylinder, cylinder
Body is arranged along one peripheral outer side surface of Mobile base, and piston rod end is connected to the institute above Mobile base by connector
State movable base side frame end；Sleeve-type expansion joint, including fixing sleeve and the movable sleeve being movably set in fixing sleeve, Gu
Surely set two sides are vertically arranged in the frame of the Mobile base by two support plates；It is flexible to be set to described sleeve pipe formula for fixing seat
The movable sleeve lower end of section；Two lifting cylinders, cylinder body are vertically arranged at the two sides of described sleeve pipe formula telescopic joint fixing sleeve, piston
Boom end is connected to the fixing seat two sides by the first connecting plate；Revolving support is made of inside support ring, outer support ring,
Inside support ring, outer support ring can relative rotation；The fixing seat is connected to the inside support ring of the revolving support；Bend gear
Structure, comprising: movable boom, L-shaped, the end top surface of a side being located above is connected to the revolution by a connection ring
The outer support ring of support is realized movable boom and the fixing seat and is turned round, and another side edge bending of movable boom is downward；Support
Beam, one end are bent to form interconnecting piece, which is movably connected on the movable boom other side side by shaft
Lower end；Rotary cylinder, cylinder body are connected to below the bending place of the movable boom, and piston rod end is connected to the support
In the middle part of beam interconnecting piece；Fixed frame is vertically arranged at the side of the movable base；Two bend lifting sliding rails and lifting slider,
Two bend lifting sliding rails are respectively arranged at fixed frame lateral surface two sides；Two bends fix bottom plate, are respectively arranged at described
On lifting slider on two bend lifting sliding rails；Two bends are arranged in parallel in the fixed bottom plate of two bend or more up and down respectively；
Bend lift adjustment cylinder, cylinder body are vertically arranged at the middle part of the fixed frame, and tailpiece of the piston rod connects the bend；Two
Idler wheel is respectively set in support rod, the upper end, which is slidedly arranged on respectively on two bend, and the lower end of two support rods connects respectively
It is connected in a side of the movable boom and the interconnecting piece of the supporting beam；Two instrument board clamp assemblies, are respectively arranged at institute
Supporting beam two sides are stated, the instrument board clamp assemblies include: pedestal, are set to the supporting beam leading flank, by substrate and are hung down
The direct-connected supporting plate composition for being connected to substrate back two sides；The supporting plate is connected to the supporting beam, and substrate is parallel with supporting beam leading flank；
Substrate center upper portion sets through-hole；Two first sliding rails are arranged in parallel in the substrate front side two sides；It is sliding that first is set on first sliding rail
Block；First fixed plate is set to first upper end of slide block face, one connecting rod of the first fixed plate upper rear portion center projection, connecting rod
The other end passes through the through-hole of the substrate center upper portion；First cylinder, cylinder body are set to the substrate back central lower,
Piston rod is vertical with the connecting rod of the substrate is passed through, and is connected to the interlinking lever end；Two second sliding rails are arranged in parallel in described
First fixed plate is positive up and down；The second sliding block is set on horizontal slide rail；Second fixed plate is U-shaped, is set to described two second
The second upper end of slide block face on sliding rail, one fixed part of nearly supporting beam center side projection；Second cylinder, cylinder body are set to institute
It states in the second fixed plate, parallel with second sliding rail, piston rod is connected to second fixed plate；Limited block, projection with
The positive middle side part of first fixed plate, it is corresponding with the U-shaped opening of second fixed plate；Clamping piece is set to described
The top of the one side at the nearly supporting beam center of the second fixed plate fixed part；Positioning pin is set to the second fixed plate fixed part
The lower part of the one side at nearly supporting beam center；Controller and operation panel are set to the supporting beam rear, the lifting air
The controller is electrically connected in cylinder, rotary cylinder, bend lift adjustment cylinder, the first cylinder, the second cylinder.
It preferably, further include a lifting buffer limit component comprising: buffer bar wears upper and lower limits respectively up and down
Part, the upper and lower limits part, the top and the bottom for being connected to the fixing sleeve lateral surface；Buffer bar upper end passes through the support plate,
Its lower end is connected to the fixing seat, and, buffer bar top is also arranged a buffer spring, which is resisted against described
Support plate bottom surface, buffer spring lower end correspond to the upper limit part；Limited block is set to described sleeve pipe formula telescopic joint fixing sleeve
In the middle part of lateral surface；Limiting cylinder is set in the middle part of the buffer bar by a bracket, and piston rod end corresponds to the limit
Block, the bracket both ends are arranged in two guide rods, and the upper end of two guide rod is arranged in the support plate, and lower end of the guide rod connects by second
Fishplate bar is connected to the fixing sleeve lower end surface.
It further, further include single-revolution locking device comprising: single-revolution lock cylinder, cylinder body are perpendicular by mounting plate
Directly it is set to the fixing seat side；Locking pin is set to the revolution lock cylinder piston rod end；Clamping block passes through peace
Dress ring is set under the movable boom connection ring, and the lock pin holes planted for locking pin are set on clamping block.
Also, the bend linkage mechanism further includes a bend lifting limited device comprising: lifting position-limited rack passes through branch
Erection is placed in fixed frame lateral surface side, is a stop collar；Gag lever post is gone up and down, the lifting position-limited rack is arranged in
On, lifting gag lever post lower end is connected to two bend.
Preferably, further include slewing limit part, be set to the outer support ring upper surface of the revolving support, the corresponding shifting
Dynamic seat.
Beneficial effects of the present invention:
Instrument board installation manipulator of the present invention solves channel height in new-energy automobile and causes instrument that can not install bottleneck；Its
Track operation, has broken conventional mechanical hand installation space used time too long of situation, and it is high to efficiently solve workpiece damage rate
Problem；The installation of relative usage robot, land occupation is smaller, and cost is lower, and later maintenance is more convenient, and robot is in continuous flow
Auto production line be difficult to apply；Positive effect is played to the development of new-energy automobile, impetus has been risen to efforts at environmental protection, and
And other workpiece are installed or are run and give new thinking.
Detailed description of the invention
Fig. 1 is the perspective view 1 of the embodiment of the present invention.
Fig. 2 is the perspective view 2 of the embodiment of the present invention.
Fig. 3 is the rearview of the embodiment of the present invention.
Fig. 4 is middle sleeve of embodiment of the present invention formula telescopic joint, the perspective view 1 for going up and down buffer limit component.
Fig. 5 is the stereogram exploded view of slewing lock in the embodiment of the present invention.
Fig. 6 is middle sleeve of embodiment of the present invention formula telescopic joint, the perspective view 2 for going up and down buffer limit component.
Fig. 7 is the perspective view 1 of bend linkage mechanism in the embodiment of the present invention.
Fig. 8 is the perspective view 2 of bend linkage mechanism in the embodiment of the present invention.
Fig. 9 is the perspective view 1 of instrument board clamp assemblies in the embodiment of the present invention.
Figure 10 is the perspective view 2 of instrument board clamp assemblies in the embodiment of the present invention.
Figure 11 is the perspective view 3 of instrument board clamp assemblies in the embodiment of the present invention.
Specific embodiment
Referring to Fig. 1~Figure 11, bend linkage instrument board installation manipulator of the present invention comprising,
Mobile foundation 1, be a rectangular frame, the projection of top surface two sides can be slidedly arranged on moving track traveling wheel 101,
101'；And the two sides frame of 1 rectangular frame length direction of mobile foundation is track structure, forms X to track；
Movable base 2, is a rectangular frame, and the projection of top surface two sides can be slidedly arranged on the X to the X of track to walking
Take turns 21,21 '；And the two sides frame of 2 rectangular frame length direction of movable base is track structure, forms Y-direction track；
Mobile base 3, is a frame, and the projection of top surface two sides can be slidedly arranged on the Y-direction traveling wheel 31,31 ' of the Y-direction track；
Y-direction drives cylinder 18, and cylinder body is arranged along 3 one peripheral outer side surface of Mobile base, and piston rod end passes through company
Fitting 181 is connected to the 2 side frame end of the movable base above Mobile base 3；
Sleeve-type expansion joint 4, including fixing sleeve 41 and the movable sleeve being movably set in fixing sleeve 42,41 two sides of fixing sleeve
It is vertically arranged in the frame of the Mobile base 3 by two support plates 43,43 '；
Fixing seat 5 is set to 42 lower end of movable sleeve of described sleeve pipe formula telescopic joint 4；
Two lifting cylinders 6,6 ', cylinder body are vertically arranged at the two sides of 4 fixing sleeve 41 of described sleeve pipe formula telescopic joint, piston
Boom end is connected to 5 two sides of fixing seat by the first connecting plate；
Revolving support 15 is made of inside support ring 151, outer support ring 152, and inside support ring 151, outer support ring 152 can
Relative rotation；The fixing seat 5 is connected to the inside support ring 151 of the revolving support 15；
Bend linkage mechanism 7, comprising:
Movable boom 71, L-shaped, the end top surface of a side 711 being located above is connected to by a connection ring 713
The outer support ring 152 of the revolving support 15 is realized movable boom 71 with the fixing seat 5 and is turned round, movable boom 71 it is another
A side 712 is bent downwards；
Supporting beam 72, one end are bent to form interconnecting piece 721, which is movably connected on institute by shaft
State the lower end of another side 712 of movable boom 71；
Rotary cylinder 73, cylinder body are connected to below the bending place of the movable boom 7, and piston rod end is connected to institute
State 72 interconnecting piece of supporting beam, 721 middle part；
Fixed frame 74 is vertically arranged at the side of the movable base 2；
Two bend lifting sliding rails 75 and lifting slider 751, two bend lifting sliding rails 7 are respectively arranged at the fixed frame 74
Lateral surface two sides；
Two bends fix bottom plate 76,76 ', are respectively arranged on the lifting slider 751 on the two bends lifting sliding rail 75；
Two bends 77,77 ' are arranged in parallel in the fixed bottom plate 76, about 76 ' of two bend up and down respectively；
Bend lift adjustment cylinder 78, cylinder body are vertically arranged at the middle part of the fixed frame 74, and tailpiece of the piston rod connects
Connect the bend 77；
Idler wheel 791,791 ' is respectively set in two support rods 79,79 ', the upper end, which is slidedly arranged on respectively
On two bend 77,77 ', the lower end of two support rods 79,79 ' is connected to 711 He of a side of the movable boom 71
On the interconnecting piece 721 of the supporting beam 72；
Two instrument board clamp assemblies 8,8 ', are respectively arranged at 72 two sides of supporting beam, the instrument board clamp assemblies (with
For instrument board clamp assemblies 8, similarly hereinafter) include:
Pedestal 81 is set to 72 leading flank of supporting beam, by substrate 811 and is vertically connected at 811 back side two of substrate
The supporting plate 812 of side forms；The supporting plate 812 is connected to the supporting beam 72, and substrate 811 is parallel with 72 leading flank of supporting beam；Substrate
811 center upper portions set through-hole 8111；
Two first sliding rails 82 are arranged in parallel in the positive two sides of the substrate 811；The first sliding block is set on first sliding rail 82；
First fixed plate 83 is set to first upper end of slide block face, the 83 upper rear portion center projection one of the first fixed plate
Connecting rod 84,84 other end of connecting rod pass through the through-hole 8111 of 811 center upper portion of substrate；
First cylinder 85, cylinder body are set to 811 back side central lower of substrate, piston rod with pass through the substrate
811 connecting rod 84 is vertical, and is connected to 84 end of connecting rod；
It is positive up and down to be arranged in parallel in first fixed plate 83 for two second sliding rails 86；Second is set on horizontal slide rail 8
Sliding block 81；
Second fixed plate 87 is U-shaped, is set to 81 upper surface of the second sliding block on two second sliding rails 86, close
72 center side projection of supporting beam, one fixed part 871；
Second cylinder 88, cylinder body are set in second fixed plate 87, parallel with second sliding rail 8, piston
Bar is connected to second fixed plate 87；
Limited block 89, projection and the positive middle side part of first fixed plate 83, are opened with the U-shaped of second fixed plate 87
Mouth is corresponding；
Clamping piece 9 is set to the top of the one side at nearly 72 center of supporting beam of 87 fixed part of the second fixed plate 871；
Positioning pin 10 is set to the lower part of the one side at nearly 72 center of supporting beam of 87 fixed part of the second fixed plate 871；
Controller and operation panel 12 are set to the supporting beam rear, the lifting cylinder, rotary cylinder, bend liter
The controller is electrically connected in falling tone displacements of cylinders, the first cylinder, the second cylinder.
It preferably, further include a lifting buffer limit component 11 comprising:
Buffer bar 111 wears a upper and lower limits part 112,113 respectively up and down, the upper and lower limits part 112,113 difference
It is connected to the top and the bottom of 41 lateral surface of fixing sleeve；111 upper end of buffer bar passes through the support plate 43, and lower end is connected to institute
Fixing seat 5 is stated, and, 111 top of buffer bar is also arranged a buffer spring 114, which is resisted against the support
43 bottom surface of plate, 114 lower end of buffer spring correspond to the upper limit part 112；
Limited block 115 is set in the middle part of the lateral surface of 4 fixing sleeve 41 of described sleeve pipe formula telescopic joint；
Limiting cylinder 116 is set in the middle part of the buffer bar 111 by a bracket 117, described in the correspondence of piston rod end
Limited block 115,117 both ends of bracket are arranged in two guide rods 118, and the upper end of two guide rod 118 is arranged in the support plate 43,
118 lower end of guide rod is connected to 41 lower end surface of fixing sleeve by the second connecting plate 119.
It further include single-revolution locking device 16 referring to Fig. 5 comprising:
Single-revolution lock cylinder 161, cylinder body are vertically arranged at 5 side of fixing seat by mounting plate；
Locking pin 162 is set to 161 piston rod end of revolution lock cylinder；
Clamping block 163 is set under 71 connection ring 713 of the movable boom by mounting ring 164, is set on clamping block 163
The lock pin holes planted for locking pin 162.
Referring to Fig. 8, the bend linkage mechanism 7 further includes a bend lifting limited device 17 comprising:
Position-limited rack 171 is gone up and down, the 74 lateral surface side of fixed frame is set to by bracket, is a stop collar；
Gag lever post 172 is gone up and down, is arranged on the lifting position-limited rack 171, lifting 172 lower end of gag lever post is connected to described two
Bend 77,77 '.
Referring to fig. 4, Fig. 6 further includes slewing limit part 19, is set to 152 upper end of outer support ring of the revolving support 15
Face, the corresponding Mobile base 3.
Claims (5)
- The instrument board installation manipulator 1. a kind of bend links, which is characterized in that including,Mobile foundation, is a rectangular frame, and the projection of top surface two sides can be slidedly arranged on the traveling wheel of moving track；And it is mobile The two sides frame of pedestal rectangular frame length direction is track structure, forms X to track；Movable base, is a rectangular frame, and the projection of top surface two sides can be slidedly arranged on the X to the X of track to traveling wheel； And the two sides frame of movable base rectangular frame length direction is track structure, forms Y-direction track；Mobile base, is a frame, and the projection of top surface two sides can be slidedly arranged on the Y-direction traveling wheel of the Y-direction track；Y-direction drives cylinder, and cylinder body is arranged along one peripheral outer side surface of Mobile base, and piston rod end is connected by connector In the movable base side frame end being located above Mobile base；Sleeve-type expansion joint, including fixing sleeve and the movable sleeve being movably set in fixing sleeve, fixing sleeve two sides pass through two supports Plate is vertically arranged in the frame of the Mobile base；Fixing seat is set to the movable sleeve lower end of described sleeve pipe formula telescopic joint；Two lifting cylinders, cylinder body are vertically arranged at the two sides of described sleeve pipe formula telescopic joint fixing sleeve, and piston rod end passes through First connecting plate is connected to the fixing seat two sides；Revolving support is made of inside support ring, outer support ring, and the inside support ring, outer support ring can relative rotation；It is described solid Reservation is connected to the inside support ring of the revolving support；Bend linkage mechanism, comprising:Movable boom, L-shaped, the end top surface of a side being located above is connected to the revolving support by a connection ring Outer support ring, realize movable boom and the fixing seat and turn round, another side edge bending of movable boom is downward；Supporting beam, one end are bent to form interconnecting piece, and it is another which by shaft is movably connected on the movable boom The lower end of a side；Rotary cylinder, cylinder body are connected to below the bending place of the movable boom, and piston rod end is connected to the support In the middle part of beam interconnecting piece；Fixed frame is vertically arranged at the side of the movable base；Two bend lifting sliding rails and lifting slider, two bend lifting sliding rails are respectively arranged at fixed frame lateral surface two sides；Two bends fix bottom plate, are respectively arranged on the lifting slider on the two bends lifting sliding rail；Two bends are arranged in parallel in the fixed bottom plate of two bend or more up and down respectively；Bend lift adjustment cylinder, cylinder body are vertically arranged at the middle part of the fixed frame, and tailpiece of the piston rod connects the song Rail；Idler wheel is respectively set in two support rods, the upper end, which is slidedly arranged on respectively on two bend, the lower end of two support rods It is connected in a side of the movable boom and the interconnecting piece of the supporting beam；Two instrument board clamp assemblies, are respectively arranged at the supporting beam two sides, and the instrument board clamp assemblies include:Pedestal is set to the supporting beam leading flank, is made of substrate and the supporting plate for being vertically connected at substrate back two sides；It should Supporting plate is connected to the supporting beam, and substrate is parallel with supporting beam leading flank；Substrate center upper portion sets through-hole；Two first sliding rails are arranged in parallel in the substrate front side two sides；The first sliding block is set on first sliding rail；First fixed plate is set to first upper end of slide block face, one connecting rod of the first fixed plate upper rear portion center projection, connecting rod The other end passes through the through-hole of the substrate center upper portion；First cylinder, cylinder body are set to the substrate back central lower, and piston rod hangs down with the connecting rod for passing through the substrate Directly, and it is connected to the interlinking lever end；It is positive up and down to be arranged in parallel in first fixed plate for two second sliding rails；The second sliding block is set on horizontal slide rail；Second fixed plate is U-shaped, is set to the second upper end of slide block face on two second sliding rails, nearly supporting beam center One fixed part of side projection；Second cylinder, cylinder body are set in second fixed plate, and parallel with second sliding rail, piston rod is connected to institute State the second fixed plate；Limited block, projection and the positive middle side part of first fixed plate, it is corresponding with the U-shaped opening of second fixed plate；Clamping piece is set to the top of the one side at the nearly supporting beam center of the second fixed plate fixed part；Positioning pin is set to the lower part of the one side at the nearly supporting beam center of the second fixed plate fixed part；Controller and operation panel are set to the supporting beam rear, the lifting cylinder, rotary cylinder, bend lift adjustment The controller is electrically connected in cylinder, the first cylinder, the second cylinder.
- The instrument board installation manipulator 2. bend as described in claim 1 links, which is characterized in that further include lifting buffering limit Hyte part comprising:Buffer bar wears upper and lower limits part respectively up and down, which is connected to the fixing sleeve lateral surface Top and the bottom；Buffer bar upper end passes through the support plate, and lower end is connected to the fixing seat, and, buffer bar top is also arranged One buffer spring, the buffer spring upper end are resisted against the support plate bottom surface, and buffer spring lower end corresponds to the upper limit part；Limited block is set in the middle part of the lateral surface of described sleeve pipe formula telescopic joint fixing sleeve；Limiting cylinder is set in the middle part of the buffer bar by a bracket, and piston rod end corresponds to the limited block, the branch Frame both ends are arranged in two guide rods, and the upper end of two guide rod is arranged in the support plate, and lower end of the guide rod is connected by the second connecting plate In the fixing sleeve lower end surface.
- The instrument board installation manipulator 3. bend as described in claim 1 links, which is characterized in that further include single-revolution locking dress It sets comprising: single-revolution lock cylinder, cylinder body are vertically arranged at the fixing seat side by mounting plate；Locking pin, setting In the revolution lock cylinder piston rod end；Clamping block is set under the movable boom connection ring, locking by mounting ring The lock pin holes planted for locking pin are set on block.
- The instrument board installation manipulator 4. bend as described in claim 1 links, which is characterized in that the bend linkage mechanism is also Including a bend lifting limited device comprising: lifting position-limited rack is set to the fixed frame lateral surface one by bracket Side is a stop collar；Gag lever post is gone up and down, is arranged on the lifting position-limited rack, lifting gag lever post lower end is connected to described two Bend.
- The instrument board installation manipulator 5. bend as described in claim 1 links, which is characterized in that it further include slewing limit part, It is set to the outer support ring upper surface of the revolving support, the corresponding Mobile base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910435378.7A CN110103204B (en) | 2019-05-23 | 2019-05-23 | Curved rail linkage instrument board installation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910435378.7A CN110103204B (en) | 2019-05-23 | 2019-05-23 | Curved rail linkage instrument board installation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110103204A true CN110103204A (en) | 2019-08-09 |
| CN110103204B CN110103204B (en) | 2024-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910435378.7A Active CN110103204B (en) | 2019-05-23 | 2019-05-23 | Curved rail linkage instrument board installation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110103204B (en) |
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| CN108724154A (en) * | 2018-07-06 | 2018-11-02 | 芜湖博康汽车饰件有限公司 | A kind of more clamping jaw inside gadget manipulators |
| CN210189778U (en) * | 2019-05-23 | 2020-03-27 | 上海永乾机电有限公司 | Curved rail linkage instrument board installation manipulator |
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| WO2002051694A1 (en) * | 2000-12-23 | 2002-07-04 | Thyssenkrupp Technologies Ag | Device for connecting support pipes and modular gripper system which uses this device |
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| CN207223986U (en) * | 2017-07-14 | 2018-04-13 | 上海永乾机电有限公司 | One kind moves horizontally control machinery hand |
| CN108724154A (en) * | 2018-07-06 | 2018-11-02 | 芜湖博康汽车饰件有限公司 | A kind of more clamping jaw inside gadget manipulators |
| CN210189778U (en) * | 2019-05-23 | 2020-03-27 | 上海永乾机电有限公司 | Curved rail linkage instrument board installation manipulator |
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| CN110103204B (en) | 2024-05-10 |
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