CN208668023U - A kind of two-freedom clamping workbench - Google Patents
A kind of two-freedom clamping workbench Download PDFInfo
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- CN208668023U CN208668023U CN201821203451.5U CN201821203451U CN208668023U CN 208668023 U CN208668023 U CN 208668023U CN 201821203451 U CN201821203451 U CN 201821203451U CN 208668023 U CN208668023 U CN 208668023U
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- moving platform
- table top
- platform
- cylinder
- electric cylinder
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Abstract
The utility model discloses a kind of two-freedom clamping workbench, including moving platform table top, fixed platform, electric cylinder, center stand column, central cross cardan universal joint component and arm candan universal joint component；Moving platform table top is connect with fixed platform by center stand column and two electric cylinders.The push rod opposing cylinder of motor rotation driving electric cylinder relatively moves, and realizes that push rod along the elongation and shortening campaign of cylinder body, and passes through parallel robot the computation of inverse- kinematics and controls the swing angle of the platform.The utility model relates to composite material suture preform manufacture field, can safe bearing load workpiece to be stapled, realize two axial angles of horizontal direction it is accurate adjustment and fixation, the processing suitable for profiled piece etc..
Description
Technical field
The utility model relates to composite materials to suture preform manufacture field, and large-scale, special-shaped work can be driven by refering in particular to one kind
Part realizes the clamping workbench of 2 freedom degrees rotation in the horizontal direction.
Background technique
Currently, the clamping workbench in composite material robotic suturing device is typically only capable to the translational motion in the face of doing, suturing
When special-shaped component preform, sewing machine head is cooperated to work in order to make the face to be stapled be in station appropriate, operator needs
Being dismounted for multiple times workpiece, and its position and angle, this manual mode of operation's time and effort consuming, while hardly possible are adjusted with cushion block, supporter
To be accurately positioned.
Summary of the invention
In order to overcome the shortcomings of existing clamping platform complicated for operation, time and effort consuming when suturing profiled piece, this is practical new
Type provides a kind of clamping workbench, which can suture preform with clamping and drive its 2 axial direction turn in the horizontal direction
It is dynamic, realize large-scale workpiece normal direction On-line Control, the work of cooperation suture head solves numerical control equipment operation in workpiece process
The problem of being limited in scope.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of clamping workbench of two-freedom rotation, including moving platform table top and fixed platform, further include electric cylinder,
Center stand column, central cross cardan universal joint component and arm candan universal joint component；Moving platform table top and fixed platform pass through in one
Heart column and two electric cylinder connections；There are two absolute value encoders for center stand column and the installation of moving platform table top hinged place；It is electronic
Cylinder is the critical component for adjusting moving platform table top pivot angle and fixed moving platform, and electric cylinder is made of cylinder body and push rod two large divisions,
Motor rotation driving push rod opposing cylinder relatively moves, and realizes push rod along the elongation and shortening campaign of cylinder body.
The absolute value encoder recycles geometrical relationship to feed back current moving platform table top in the pivot angle of two axial directions
Electric cylinder length is found out, it is inverse by parallel robot by the pivot angle founding mathematical models of the length of electric cylinder and moving platform table top
Kinematic calculation and the swing angle for controlling the platform.
The center stand column is connect with moving platform table top using hook hinge.
The push rod of the electric cylinder is connect with moving platform table top using hook hinge, and cylinder body and fixed platform are cut with scissors using ball-type
Chain link.
The utility model has the advantages that compared with the prior art.
The utility model structure is simple, using drive and control of electric machine, has console convenient for manipulation.Moving platform table top can fill
Press from both sides larger size and workpiece to be stapled of different shapes, and realize in the horizontal direction biaxially, the rotation and fixation of multi-angle,
Pivot angle changes range at -30 ° ~ 30 °, and under any pivot angle, moving platform can be kept fixed.Therefore it can simplify special-shaped component
Quilting process reduces dismounting number, improves the accuracy of clamping angle.The utility model clamping platform stabilization is good, rigidity is good,
Workpiece, which is mounted on clamping platform, can absorb impact load 50kg, not deflect.The utility model integral platform is light-weight,
T-slot and table top are detachable.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the utility model two-freedom clamping workbench；
Fig. 2 is the A of Fig. 1 to schematic diagram.
In the figures above: 1, moving platform table top；2, fixed platform；3, electric cylinder；4, center stand column；5, central cross is universal
Save component；6, arm candan universal joint component；7, table top T-slot profile；8, cylinder body；9, push rod；10, steel plate；11, support foot.
Specific embodiment
Referring to shown in attached drawing 1-2, a kind of clamping workbench of two-freedom rotation, including moving platform table top 1 and fixed
Platform 2, moving platform table top 1 are spliced by the aluminium alloy extrusions 7 with T-slot, can be with the workpiece of clamping different sizes and shapes.
It further include electric cylinder 3, center stand column 4, central cross cardan universal joint component 5 and arm candan universal joint component 6.Moving platform table top 1 with
Fixed platform is connected by two electric cylinders 3 and center stand column 4.In order to improve the rigidity of the platform, in moving platform table top 1
Moving platform platform is connected by this two blocks of steel plates 10 with one block of steel plate 10, electric cylinder 3 and center stand column 4 is respectively installed in fixed platform 2
Face 1 and fixed platform 2.Center stand column 4 is connect with moving platform table top 1 using hook hinge, and there are two absolute values for hinged place installation
Encoder.Absolute value encoder recycles geometrical relationship to find out to feed back current moving platform table top 1 in the pivot angle of two axial directions
The pivot angle founding mathematical models of the length of electric cylinder 3 and moving platform table top 1 are passed through the inverse fortune of parallel robot by electric cylinder length
It is dynamic to learn the swing angle for calculating and controlling the platform.Electric cylinder 3 is the critical component for adjusting moving platform pivot angle and fixed moving platform,
Electric cylinder 3 is made of cylinder body 8 and 9 two large divisions of push rod, and motor rotation 9 opposing cylinder 8 of driving push rod relatively moves, and is realized
Push rod 9 is along the elongation and shortening campaign of cylinder body 8, to change the pivot angle of moving platform table top 1, range is between -30 ° ~ 30 °, electricity
The push rod 9 of dynamic cylinder 3 is connect with moving platform table top 1 using hook hinge, and cylinder body 8 is connect with fixed platform 2 using ball-type hinge.For
Facilitate the needs mobile and fixed in yard surface location of workbench, 2 bottom of fixed platform is equipped with support foot 11, can be with
It realizes to stablize by adjusting support foot height and supports and reach horizontal position.Meanwhile 6 servo-actuated castors being installed on frame, it uses
In the mobile replacement position of the platform.
Claims (4)
1. a kind of two-freedom clamping workbench, including moving platform table top (1) and fixed platform (2), which is characterized in that also wrap
Include electric cylinder (3), center stand column (4), central cross cardan universal joint component (5) and arm candan universal joint component (6)；Moving platform table top
(1) it is connect with fixed platform (2) by center stand column (4) He Lianggen electric cylinder (3)；Center stand column (4) and moving platform platform
There are two absolute value encoders for the installation of face (1) hinged place；Electric cylinder (3) is the portion for adjusting moving platform pivot angle and fixed moving platform
Part, electric cylinder (3) include cylinder body (8) and push rod (9), and motor rotation driving push rod (9) opposing cylinder (8) relatively moves,
Push rod (9) are realized along the elongation of cylinder body (8) and shorten movement.
2. a kind of two-freedom clamping workbench according to claim 1, which is characterized in that the absolute value encoder
To feed back current moving platform table top in the pivot angle of two axial directions, recycling geometrical relationship finds out the length of electric cylinder (3), will be electric
The length of dynamic cylinder (3) and the pivot angle founding mathematical models of moving platform table top (1), by parallel robot the computation of inverse- kinematics and are controlled
Make the swing angle of the platform.
3. a kind of two-freedom clamping workbench according to claim 1, it is characterised in that: the center stand column (4)
It is connect with moving platform table top (1) using hook hinge.
4. a kind of two-freedom clamping workbench according to claim 1, it is characterised in that: the electric cylinder (3)
Push rod (9) is connect with moving platform using hook hinge, and cylinder body (8) is connect with fixed platform (2) using ball-type hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821203451.5U CN208668023U (en) | 2018-07-27 | 2018-07-27 | A kind of two-freedom clamping workbench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821203451.5U CN208668023U (en) | 2018-07-27 | 2018-07-27 | A kind of two-freedom clamping workbench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208668023U true CN208668023U (en) | 2019-03-29 |
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ID=65832470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821203451.5U Active CN208668023U (en) | 2018-07-27 | 2018-07-27 | A kind of two-freedom clamping workbench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208668023U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948328A (en) * | 2019-11-28 | 2020-04-03 | 北京微纳精密机械有限公司 | High-precision one-dimensional angle adjusting workbench |
| CN113059538A (en) * | 2020-10-26 | 2021-07-02 | 三江学院 | Horizontal compensation mechanism |
-
2018
- 2018-07-27 CN CN201821203451.5U patent/CN208668023U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948328A (en) * | 2019-11-28 | 2020-04-03 | 北京微纳精密机械有限公司 | High-precision one-dimensional angle adjusting workbench |
| CN113059538A (en) * | 2020-10-26 | 2021-07-02 | 三江学院 | Horizontal compensation mechanism |
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