CN218639166U - Positioning device of high-precision manipulator clamping mechanism - Google Patents
Positioning device of high-precision manipulator clamping mechanism Download PDFInfo
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- CN218639166U CN218639166U CN202222747886.9U CN202222747886U CN218639166U CN 218639166 U CN218639166 U CN 218639166U CN 202222747886 U CN202222747886 U CN 202222747886U CN 218639166 U CN218639166 U CN 218639166U
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- push rod
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Abstract
The utility model relates to the technical field of clamping mechanism positioning devices, in particular to a positioning device of a high-precision manipulator clamping mechanism, which is characterized by comprising a spring positioning device, an operating arm I, a steering mechanism, a power mechanism and a stand column; a connecting plate is fixed below the upright post; a steering mechanism is fixed on one side below the connecting plate, and the other side of the connecting plate is connected with a power mechanism; the steering mechanism is connected with the operating arm II and the operating arm II; the operating arm is provided with a plurality of groups of spring positioning devices; the spring positioning device comprises a spring, a push rod, an adjusting nut and a positioning block; the positioning block is fixed on the operating arm, and a push rod is arranged in the positioning block; one end of the push rod is fixed through the adjusting nut, and the other end of the push rod is provided with a spring. The device has simple structure, convenient modification, economy and reliability; the defects caused by the positioning precision of the mechanical arm can be effectively overcome; convenient to use, need not manual operation.
Description
Technical Field
The utility model belongs to the technical field of fixture positioning device technique and specifically relates to a high accuracy manipulator fixture's positioner.
Background
According to the production requirements of companies, the manipulator needs to realize the function of clamping the workpieces on the material tray to the machine tool through the manipulator, and then taking out the machined workpieces and putting the workpieces back to the material tray. Because the clamping structure of the machine tool is a three-jaw chuck, the position of a workpiece in the Z-axis direction cannot be adjusted, and the workpiece can be positioned on the Z axis only by contacting the end surface of the workpiece with the chuck of the machine tool during installation.
The existing manipulator has the following defects in the clamping process: 1. the collision accident is easy to happen. 2. The workpiece is not put in place, and the machining size is not easy to control. 3. The workpiece is not flat, and the parallelism is out of tolerance after processing.
SUMMERY OF THE UTILITY MODEL
In order to overcome the current not enough, the utility model provides a positioner of application on manipulator.
The utility model provides a technical scheme that its technical problem adopted is: a positioning device of a high-precision manipulator clamping mechanism is characterized by comprising a spring positioning device, an operating arm I, a steering mechanism, a power mechanism and an upright post; a connecting plate is fixed below the upright post; a steering mechanism is fixed on one side below the connecting plate, and the other side of the connecting plate is connected with a power mechanism; the steering mechanism is connected with the operating arm II and the operating arm II; the operating arm is provided with a plurality of groups of spring positioning devices; the spring positioning device comprises a spring, a push rod, an adjusting nut and a positioning block; the positioning block is fixed on the operating arm, and a push rod is arranged in the positioning block; one end of the push rod is fixed through the adjusting nut, and the other end of the push rod is provided with a spring.
According to the utility model discloses a further embodiment, further include, the locating piece is the L template, including short board and long board.
According to the utility model discloses a further embodiment, further include, be equipped with the counter bore of assembly push rod in the short slab, be equipped with the bolt fixed with the operation arm in the long slab.
According to another embodiment of the present invention, further comprising, the other end of the column is fixed to a moving mechanism capable of moving in vertical and horizontal directions.
According to the utility model discloses a further embodiment, further include, steering mechanism and power unit electric connection.
The utility model has the advantages of simple structure, convenient modification, economy and reliability; the defects caused by the positioning precision of the mechanical arm can be effectively overcome; convenient to use, need not manual operation.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 isbase:Sub>A cross-sectional view taken at A-A of FIG. 1;
fig. 3 is an operational schematic diagram of the present invention.
In the figure, 1, an operation arm I, 2, a bolt, 3, an adjusting nut, 4, a push rod, 5, a spring, 6, a positioning block, 7, a spring positioning device, 8, a steering mechanism, 9, a power mechanism, 10, an upright post, 11, a connecting plate, 12, a short plate, 13, a long plate, 14 and an operation arm II are shown.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, which is a positioning device of a high-precision manipulator clamping mechanism, and is characterized in that the positioning device comprises a spring positioning device 7, an operating arm 1, a steering mechanism 8, a power mechanism 9 and a stand column 10; a connecting plate 11 is fixed below the upright post 10; a steering mechanism 8 is fixed on one side below the connecting plate 11, and the other side of the connecting plate is connected with a power mechanism 9; the steering mechanism 8 is connected with a plurality of groups of first operating arms 1; a plurality of groups of spring positioning devices 7 are arranged on the first operating arm 1 and the second operating arm 14; the spring positioning device 7 comprises a spring 5, a push rod 4, an adjusting nut 3 and a positioning block 6; the positioning block 6 is fixed on the operating arm I1, and a push rod 4 is arranged in the positioning block; one end of the push rod 4 is fixed through the adjusting nut 3, and the other end of the push rod is provided with a spring 5.
According to another embodiment of the present invention, further comprising, the positioning block 6 is an L-shaped plate, including a short plate 12 and a long plate 13.
According to another embodiment of the present invention, further comprising, a counter bore for assembling the push rod 4 is provided in the short plate 12, and a bolt 2 fixed with the first operating arm 1 is provided in the long plate 13.
Specifically, push rod 4 one end is equipped with the screw thread with adjusting nut 3 assorted, and the cover has spring 5 on the other end, adjusts the pretightning force and the flexible volume of spring 5 through adjusting nut 3.
According to another embodiment of the present invention, it further comprises that the other end of the upright 10 is fixed on a moving mechanism capable of moving vertically and horizontally.
According to the utility model discloses a further embodiment, further include, steering mechanism 8 and power unit 9 electric connection, power unit 9 drives steering mechanism 8 on the one hand and rotates, and the manipulator can be controlled to another reverse side.
Specifically, the steering mechanism 8 is provided with a first operating arm 1 and a second operating arm 14, and the lower end of the first operating arm 1 is provided with a spring positioning device 7 for taking a product to be processed; the lower end of the second operating arm 14 is not provided with a spring positioning device 7 for grabbing the finished product.
Specifically, the spring positioning device 7 adjusts the height of the push rod 4 through the adjusting nut 3, so that the plane of the push rod 4 is higher than the clamping contact surface of the manipulator clamping mechanism by H, and the spring 5 has an initial pretightening force F0; when the manipulator grabs the workpiece, a gap between the clamping contact surface of the manipulator clamping mechanism and the end surface of the workpiece is h1, at the moment, the spring 5 is compressed, and the elasticity of the spring 5 is F1; when the manipulator installs the workpiece on the machine tool, the other end surface of the workpiece and the contact surface of the three-jaw chuck of the machine tool are separated by a gap h2; and then loosening the manipulator, pushing the workpiece onto the three-jaw chuck of the machine tool by the elastic force F1, reducing the elastic force of the spring from F1 to F2 in the extension process of the spring, pushing the workpiece onto the three-jaw chuck of the machine tool by the elastic force F2, clamping the three-jaw chuck of the machine tool, moving out the manipulator, and completing installation. The spring force F1= F0+ K (H-H1); spring force F2= F0+ K (H-H1-H2).
Wherein: k is the spring elastic coefficient.
In the specific operation process, the steering mechanism 8 moves to a proper position through the upright post 10, the first operating arm 1 rotates to the lower part to grab the product to be processed from the storage bin, the second operating arm 14 is horizontal at the moment and moves to the front of the chuck to grab the processed product; the steering mechanism 8 rotates 90 degrees, the first operating arm 1 sends a product to be processed into the chuck through the spring positioning device 7, the second operating arm 14 is vertical at the moment and moves to the storage bin, and the second operating arm 14 puts down the processed product; the steering mechanism 8 is turned 90 deg., and the above operation is repeated.
The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that many modifications, variations or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A positioning device of a high-precision manipulator clamping mechanism is characterized by comprising a spring positioning device (7), an operating arm I (1), a steering mechanism (8), a power mechanism (9) and an upright post (10); a connecting plate (11) is fixed below the upright post (10); a steering mechanism (8) is fixed on one side below the connecting plate (11), and the other side of the connecting plate is connected with a power mechanism (9); the steering mechanism (8) is connected with the first operating arm (1) and the second operating arm (14); a plurality of groups of spring positioning devices (7) are arranged on the first operating arm (1); the spring positioning device (7) comprises a spring (5), a push rod (4), an adjusting nut (3) and a positioning block (6); the positioning block (6) is fixed on the first operating arm (1), and a push rod (4) is arranged in the positioning block; one end of the push rod (4) is fixed through the adjusting nut (3), and the other end of the push rod is provided with a spring (5).
2. A positioning device of a high precision manipulator gripping mechanism according to claim 1, characterized in that the positioning block (6) is an L-shaped plate comprising a short plate (12) and a long plate (13).
3. The positioning device of the high-precision manipulator clamping mechanism according to claim 2, wherein a counter bore for assembling the push rod (4) is formed in the short plate (12), and a bolt (2) fixed with the first operating arm (1) is formed in the long plate (13).
4. A positioning device of a high-precision robot gripping mechanism according to claim 1, wherein the other end of the column (10) is fixed to a moving mechanism capable of moving in vertical and horizontal directions.
5. A positioning device for a high precision manipulator gripping mechanism according to claim 1, characterized in that the steering mechanism (8) is electrically connected to the power mechanism (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222747886.9U CN218639166U (en) | 2022-10-19 | 2022-10-19 | Positioning device of high-precision manipulator clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222747886.9U CN218639166U (en) | 2022-10-19 | 2022-10-19 | Positioning device of high-precision manipulator clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218639166U true CN218639166U (en) | 2023-03-17 |
Family
ID=85495650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222747886.9U Active CN218639166U (en) | 2022-10-19 | 2022-10-19 | Positioning device of high-precision manipulator clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218639166U (en) |
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2022
- 2022-10-19 CN CN202222747886.9U patent/CN218639166U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 213000 51 Xinsheng Road, Wujin high tech Development Zone, Changzhou City, Jiangsu Province Patentee after: Changzhou Wujin Jincheng Gear Co.,Ltd. Address before: 213000 51 Xinsheng Road, Wujin high tech Development Zone, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU WUJIN JINCHENG GEAR Co.,Ltd. |