Manipulator device for full-automatic balancing machine

Abstract

The utility model discloses a manipulator device for a full-automatic balancing machine. Comprising a stand column mounting assembly, a lifting assembly, a rotating assembly and a manipulator pneumatic claw assembly, the lifting assembly is arranged on the stand column mounting assembly in a liftable mode, and the rotating assembly is rotatably arranged on the stand column mounting assembly, connected to the lifting assembly and driven by the lifting assembly to jointly ascend and descend; the bottom of the rotating assembly is fixedly connected with a mechanical arm pneumatic claw assembly used for carrying products. The device is stable in performance, low in cost, simple and reliable in structural design, convenient to process, install, maintain and debug, and capable of greatly improving the production efficiency and shortening the takt time; the rotor carrying device is wide in application range, and can be used for carrying rotors among stations in multi-station full-automatic balance correction equipment such as two stations, three stations and four stations.

Description

Technical Field

[0001] The utility model relates to a manipulator structure, in particular to a manipulator device used for a full-automatic balancing machine. Background Art

[0002] Motors are important products for production and daily life, and the rotor is an important working part of the motor. During the production process, the rotor will inevitably have an initial imbalance due to unreasonable design, uneven materials, and processing and assembly errors. A rotor with too large an imbalance will generate vibration and noise during the operation of the motor, which may degrade the motor performance at the least, or cause damage and accidents at the worst. Therefore, the rotor must be dynamically balanced to keep its imbalance within the qualified range.

[0003] Rotor dynamic balancing correction equipment can be divided into two categories, namely manual correction dynamic balancing machines and fully automatic balancing correction equipment. Manual correction balancing machines are low-cost, but the balancing process relies on the experience of workers, and the stability of the balance is difficult to guarantee. In comparison, fully automatic balancing correction equipment has high production efficiency, high balancing stability, and can optimize rotor correction, but the machine price is relatively expensive. At present, with the development of my country's motor industry, the use of fully automatic balancing correction equipment has become an inevitable trend.

[0004] For fully automatic balancing and correction equipment for motor rotors with two or more stations, a manipulator is generally required to carry the rotor workpiece between the stations. The manipulator needs to perform lifting and rotation functions. There are many types of manipulator structures at present. A representative one is the frame structure, which is composed of multiple guide rails and several flat plates to form a frame structure that can move up and down to realize the lifting function. A rotatable mechanism is fixed on the frame structure to realize the rotation function. For two-station equipment, since the rotational inertia of the rotating mechanism is small, it is generally driven by a swing cylinder. Although the swing cylinder is light and low in cost, its positioning accuracy is unstable and needs to be adjusted frequently. For equipment with more than two stations, the manipulator has a large rotational inertia, so a heavier mechanical swing divider is used to drive it, which will result in a large lifting inertia of the manipulator and a large lifting impact during operation. Therefore, no matter which configuration is used for the manipulator with a frame structure, there are problems with stability. Another type of manipulator structure is to use a vertical swing divider for lifting and rotating movements, or to use a combination of a cylinder, a servo motor, and a divider to realize the lifting and rotating movements of the manipulator. This type of robot has a large divider, heavy weight, and is inconvenient to carry and debug, so subsequent maintenance requires regular oiling and lubrication. At the same time, the robot's cycle is limited by the overall efficiency of the divider and cylinder, and cannot meet the production requirements of some fast-cycle products. Utility Model Content

[0005] In order to solve the problems in the background technology, the utility model provides a manipulator device for a fully automatic balancing machine. Through the coordination between the components, the stability problem of the current frame-type manipulator and the problems of large overall volume, heavy weight, and inconvenient handling and debugging are solved, which greatly meets the production requirements of some fast-beat products.

[0006] The technical solution adopted by the utility model is:

[0007] It is mainly composed of column mounting assembly, lifting assembly, rotating assembly and manipulator air gripper assembly;

[0008] The lifting component can be lifted and lowered on the column mounting component, the rotating component can be rotatably arranged below the column mounting component, the rotating component is connected to the lifting component and is driven by the lifting component to achieve up and down lifting, and a manipulator air gripper component for carrying products is fixedly connected to the bottom of the rotating component.

[0009] The column mounting assembly is an inverted U-shaped structure as a whole, consisting of a horizontally arranged mounting base plate and two support rods respectively arranged at the bottom of both sides of the mounting base plate. An upper fixed plate is installed on the bottom surface of the mounting base plate. The output end of the lifting assembly is sequentially arranged through the mounting base plate and the fixed plate in the vertical downward direction, and the rotating assembly is arranged below the fixed plate.

[0010] The lifting assembly includes a vertical servo motor, a coupling, a first bearing box, a vertical screw, a screw support, a rising adapter plate and a screw support bottom plate;

[0011] The vertical servo motor is inserted in the middle of the column mounting assembly of the inverted U-shaped structure, the output end of the vertical servo motor is arranged vertically downward and connected to the vertical screw rod through a coupling, the vertical screw rod is arranged on the top surface of the screw rod support of the inverted U-shaped structure, the top and bottom ends of the vertical screw rod are respectively connected to the first bearing box and the screw rod support bottom plate, the first bearing box is rotatably connected to the top end of the vertical screw rod and is located on the top surface of the screw rod support, the lower part of the vertical screw rod is fixedly sleeved with a vertical nut to form a screw rod nut pair, the outer periphery of the vertical nut is fixedly sleeved with a rising adapter plate, the rising adapter plate is fixedly connected to the rotating assembly, the vertical servo motor drives the vertical nut to rise, drives the rising adapter plate to move up and down, and then drives the rotating assembly as a whole to move up and down.

[0012] The rotating assembly includes a second bearing box, a rotating servo motor, a hollow rotating platform, a device fixing plate, a spline shaft, a spline sleeve, a mounting column, a rotation position sensor, a sensor support seat, a spline sleeve fixing seat and a sensor detection part;

[0013] The rotary servo motor is arranged below the column mounting assembly, the output end of the rotary servo motor is arranged vertically downward and connected to a hollow rotary platform, the middle part of the hollow rotary platform is fixedly mounted in a groove opened in a horizontally arranged device fixing plate, the device fixing plate is fixedly connected to the column mounting assembly through a shielding assembly arranged at its edge, the lower side of the output end located at the bottom of the hollow rotary platform is fixedly connected to a spline sleeve fixing seat, the spline sleeve fixing seat has a spline sleeve in the fixing sleeve, and the spline in the spline sleeve is connected to a spline shaft;

[0014] The top end of the spline shaft is fixedly inserted into the second bearing box, the second bearing box is fixedly installed on the rising adapter plate of the lifting assembly, the bottom end of the spline shaft is successively passed through the device fixing plate, the output end of the hollow rotating platform, the spline sleeve and the sensor support seat, and then fixedly connected to the manipulator air claw assembly, and the device fixing plate, the output end of the hollow rotating platform and the sensor support seat are not in contact with the spline shaft;

[0015] The sensor support seat and the device fixing plate are fixed by a plurality of mounting columns arranged on the top surface of the sensor support seat.

[0016] The sensor support seat and the spline sleeve fixing seat are respectively provided with a rotation-in-place sensor and a sensor detection part for cooperating in detecting the movement of the entire rotating assembly.

[0017] The manipulator air gripper assembly includes a fixing ring, an air gripper fixing plate, an air gripper and a gripper clamp assembly; the fixing ring is fixedly sleeved on the bottom end of the spline shaft, the lower part of the fixing ring is fixedly connected to the air gripper fixing plate, the air grippers are arranged at circumferential intervals on the air gripper fixing plate, and a gripper clamp assembly for carrying products is installed at the bottom of the air gripper.

[0018] The shielding assembly is a U-shaped structure composed of two support plates respectively fixedly connected to the front shield, the two support plates are symmetrically arranged at the two side edges of the device fixing plate, the top and bottom surfaces of the support plates are respectively fixed to the bottom surface of the upper fixing plate and the top surface of the device fixing plate, the front shield is arranged between the fixing plate and the device fixing plate, and encloses a semi-enclosed structure with the two support plates, and a vertical position sensor is provided on one of the support plates.

[0019] The beneficial effects of the utility model are: stable performance, low cost, greatly improved production efficiency, shortened cycle time, simple and reliable structural design, easy processing and installation, maintenance and debugging are more convenient; wide application range, can be used for the transportation of rotors between various stations in two-station, three-station, four-station and other multi-station fully automatic balancing correction equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a manipulator device of the utility model.

[0021] Figure 2 It is an exploded view of the mechanical arm device of the utility model.

[0022] Figure 3 It is a schematic diagram of the installation of the column installation component and the shielding component of the utility model, and the shielding component.

[0023] Figure 4 It is an exploded view of the lifting component of the utility model.

[0024] Figure 5 It is a schematic diagram of the lifting component of the utility model.

[0025] Figure 6 It is an exploded view of the rotating assembly of the utility model.

[0026] Figure 7 It is a schematic diagram of the rotating assembly of the utility model.

[0027] Figure 8 It is a schematic diagram of the air claw assembly of the robot arm of the utility model.

[0028] In the figure: A0 column mounting assembly, A1 support rod, A2 mounting base plate, A3 upper fixing plate; B0 lifting assembly, B1 vertical servo motor, B2 coupling, B3 first bearing box, B5 screw support, B4 vertical screw, B6 vertical nut, B7 rising adapter plate, B8 screw support base plate; C0 rotating assembly, C1 second bearing box, C2 rotating servo motor, C3 hollow rotating platform, C4 device fixing plate, C5 spline shaft, C6 spline sleeve, C7 mounting column, C8 rotation in place sensor, C9 sensor support seat, C10 spline sleeve fixing seat, C11 sensor detection part; D0 robot hand air claw assembly, D1 fixing ring, D2 air claw fixing plate, D3 air claw, D4 claw clamp assembly; E0 shielding assembly, E1 front guard, E2 left and right support plates, E3 vertical in place sensor. DETAILED DESCRIPTION

[0029] The utility model is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 As shown, the manipulator device for the fully automatic balancing machine is mainly composed of a column mounting assembly A0, a lifting assembly B0, a rotating assembly C0 and a manipulator air gripper assembly D0;

[0031] The lifting component B0 can be lifted and lowered on the column mounting component A0, and the rotating component C0 can be rotatably arranged below the column mounting component A0. The rotating component C0 is connected to the lifting component B0 and is driven by the lifting component B0 to achieve up and down lifting. The bottom of the rotating component C0 is fixedly connected to a robot air gripper component D0 for transporting products.

[0032] The column mounting assembly A0 has an inverted U-shaped structure as a whole, consisting of a horizontally arranged mounting base plate A2 and two support rods A1 respectively arranged at the bottom of both sides of the mounting base plate A2. The overall structure is fixedly mounted on the equipment table through the support rods A1. An upper fixed plate A3 is installed at the center of the bottom surface of the mounting base plate A2. The output end of the lifting assembly B0 is sequentially arranged through the mounting base plate A2 and the fixed plate A3 in the vertical downward direction, and the rotating assembly C0 is arranged below the fixed plate A3.

[0033] The lifting assembly B0 includes a vertical servo motor B1, a coupling B2, a first bearing box B3, a vertical screw B4, a screw support B5, a rising adapter plate B7 and a screw support bottom plate B8;

[0034] The vertical servo motor B1 is inserted into the through holes on the same axial direction of the mounting base plate A2 and the fixing plate A3 in sequence. The output end of the vertical servo motor B1 is arranged vertically downward and connected to the vertical screw rod B4 through the coupling B2. The vertical screw rod B4 is arranged on the top surface of the screw rod support B5 of the inverted U-shaped structure. The top and bottom ends of the vertical screw rod B4 are respectively connected to the first bearing box B3 and the screw rod support bottom plate B8. The first bearing box B3 is rotatably connected to the top end of the vertical screw rod B4 and is located on the top surface of the screw rod support B5. The lower part of the vertical screw rod B4 is fixedly sleeved with a vertical nut B6 to form a screw rod nut pair. The outer periphery of the vertical nut B6 is fixedly sleeved with a rising adapter plate B7. The rising adapter plate B7 is fixedly connected to the rotating component C0. The vertical servo motor B1 drives the vertical nut B6 to rise, drives the rising adapter plate B7 to move up and down, and then drives the rotating component C0 to move up and down as a whole.

[0035] The rotating assembly C0 includes a second bearing box C1, a rotating servo motor C2, a hollow rotating platform C3, a device fixing plate C4, a spline shaft C5, a spline sleeve C6, a mounting column C7, a rotation position sensor C8, a sensor support seat C9, a spline sleeve fixing seat C10 and a sensor detection part C11;

[0036] The rotary servo motor C2 is arranged below the column mounting assembly A0, and the output end of the rotary servo motor C2 is arranged vertically downward and connected to the hollow rotary platform C3, the middle part of the hollow rotary platform C3 is fixedly installed in the groove opened by the horizontally arranged device fixing plate C4, the device fixing plate C4 is fixedly connected to the column mounting assembly A0 through the shielding assembly E0 arranged on its edge, and the lower side of the rotatable output end located at the bottom of the hollow rotary platform C3 is fixedly connected to the spline sleeve fixing seat C10, the spline sleeve fixing seat C10 is fixedly provided with a spline sleeve C6, and the spline inside the spline sleeve C6 is connected to the spline shaft C5, forming a ball spline pair;

[0037] The top end of the spline shaft C5 is fixedly inserted into the second bearing box C1, and the second bearing box C1 is fixedly installed on the rising adapter plate B7 of the lifting assembly B0. The bottom end of the spline shaft C5 is successively passed through the device fixing plate C4, the output end of the hollow rotating platform C3, the spline sleeve C6 and the sensor support seat C9, and then fixedly connected to the manipulator air claw assembly D0. The device fixing plate C4, the output end of the hollow rotating platform C3 and the sensor support seat C9 are not in contact with the spline shaft C5.

[0038] The sensor support seat C9 and the device fixing plate C4 are fixed by multiple mounting columns C7 arranged on the top surface of the sensor support seat C9. The rotary servo motor C2 drives the hollow rotating platform C3 to rotate, driving the spline sleeve fixing seat C10 and the spline sleeve C6 to rotate together, and then drives the spline shaft C5 to rotate and drives the robot air claw assembly D0 to rotate.

[0039] The manipulator air gripper assembly D0 includes a fixing ring D1, an air gripper fixing plate D2, an air gripper D3 and a claw clamp assembly D4; the fixing ring D1 is fixedly sleeved on the bottom end of the spline shaft C5, the lower part of the fixing ring D1 is fixedly connected to the air gripper fixing plate D2, the air grippers D3 are arranged at intervals in the circumferential direction of the air gripper fixing plate D2, and a claw clamp assembly D4 for carrying products is installed at the bottom of the air gripper D3.

[0040] The shielding assembly E0 is a U-shaped structure composed of two support plates E2 respectively fixedly connected to the front shield E1. The two support plates E2 are symmetrically arranged at the two side edges of the device fixing plate C4. The top and bottom surfaces of the support plates are respectively fixed to the bottom surface of the upper fixing plate A3 and the top surface of the device fixing plate C4. The front shield E1 is arranged between the fixing plate A3 and the device fixing plate C4, and forms a semi-enclosed structure with the two support plates E2 to play a protective role. A vertical positioning sensor E3 for detecting the vertical movement of the robot arm air gripper assembly D0 is provided on one of the support plates.

[0041] The working process of this device is as follows:

[0042] T1: The vertical servo motor B1 drives the ascending adapter plate B7 through the screw nut pair composed of the vertical screw B4 and the vertical nut B6, and then the ascending adapter plate B7 drives the second bearing box C1, and then finally drives the manipulator air claw assembly D0 to move vertically downward through the ball spline pair. When it descends to a certain height, the vertical in-position sensor E3 detects that it is in position and enters step T2;

[0043] T2: The air gripper D3 drives the claw assembly D4 to grab the product. After the magnetic switch detects that the air gripper D3 is closed and the product is grabbed successfully, it goes to step T3;

[0044] T3: The vertical servo motor B1 drives the robot air gripper assembly D0 to rise vertically through the screw nut pair and the rising adapter plate B7. After the vertical in-position sensor E3 detects that it is in position, it enters step T4;

[0045] T4: The rotary servo motor C2 drives the ball spline pair to rotate through the hollow rotary platform C3, and then drives the robot gripper assembly D0 to rotate counterclockwise. After the rotation position sensor C8 detects that it is in position, it enters step T5;

[0046] T5: The vertical servo motor B1 is driven, and then the same action as step T1 is performed to make the robot gripper assembly D0 vertically descend. After the vertical in-position sensor E3 detects that it is in position, it enters step T6;

[0047] T6: The air gripper D3 drives the air gripper assembly D4 to release the product, completing the transportation and entering T7;

[0048] T7: The vertical servo motor B1 is driven to perform the same action, causing the air gripper component D0 to rise vertically. After the vertical in-position sensor E3 detects that it is in position, the process goes to step T8;

[0049] T8: The rotary servo motor C2 drives the ball spline pair to rotate through the hollow rotary platform C3, and then drives the robot air gripper assembly D0 to rotate clockwise. After the rotation sensor C8 detects that it is in place, it returns to the initial state of T1.

[0050] The above steps are repeated in a counterclockwise manner to move the product between various workstations inside the equipment.

Claims

1. A manipulator device for a fully automatic balancing machine, characterized in that: It is mainly composed of column mounting assembly (A0), lifting assembly (B0), rotating assembly (C0) and manipulator air gripper assembly (D0); The lifting component (B0) is liftably arranged on the column mounting component (A0), the rotating component (C0) is rotatably arranged below the column mounting component (A0), the rotating component (C0) is connected to the lifting component (B0) and is driven by the lifting component (B0) to achieve up and down lifting, and the bottom of the rotating component (C0) is fixedly connected to a manipulator air gripper component (D0).

2. The manipulator device for a fully automatic balancing machine according to claim 1, characterized in that: The column mounting assembly (A0) is an inverted U-shaped structure as a whole, and is composed of a horizontally arranged mounting base plate (A2) and two support rods (A1) respectively arranged at the bottom of both sides of the mounting base plate (A2). An upper fixed plate (A3) is installed on the bottom surface of the mounting base plate (A2). The output end of the lifting assembly (B0) is sequentially arranged through the mounting base plate (A2) and the fixed plate (A3) in the vertical downward direction, and the rotating assembly (C0) is arranged below the fixed plate (A3).

3. The manipulator device for a fully automatic balancing machine according to claim 2, characterized in that: The lifting assembly (B0) comprises a vertical servo motor (B1), a coupling (B2), a first bearing box (B3), a vertical screw (B4), a screw support (B5), a rising adapter plate (B7) and a screw support bottom plate (B8); The vertical servo motor (B1) is inserted into the middle of the column mounting assembly (A0) of the inverted U-shaped structure. The output end of the vertical servo motor (B1) is arranged vertically downward and connected to the vertical screw (B4) through a coupling (B2). The vertical screw (B4) is arranged through the top surface of the screw support (B5) of the inverted U-shaped structure. The top and bottom ends of the vertical screw (B4) are respectively connected to a first bearing box (B3) and a screw support bottom plate (B8). The position where the first bearing box (B3) is rotatably connected to the top of the vertical screw (B4) is located on the top surface of the screw support (B5). The lower part of the vertical screw (B4) is fixedly sleeved with a vertical nut (B6) to form a screw nut pair. The outer periphery of the vertical nut (B6) is fixedly sleeved with a rising adapter plate (B7). The rising adapter plate (B7) is fixedly connected to the rotating assembly (C0).

4. The manipulator device for a fully automatic balancing machine according to claim 3, characterized in that: The rotating assembly (C0) comprises a second bearing box (C1), a rotating servo motor (C2), a hollow rotating platform (C3), a device fixing plate (C4), a spline shaft (C5), a spline sleeve (C6), a mounting column (C7), a rotation position sensor (C8), a sensor support seat (C9), a spline sleeve fixing seat (C10) and a sensor detection part (C11); The rotary servo motor (C2) is arranged below the column mounting assembly (A0); the output end of the rotary servo motor (C2) is arranged vertically downward and connected to a hollow rotary platform (C3); the middle part of the hollow rotary platform (C3) is fixedly mounted in a groove opened in a horizontally arranged device fixing plate (C4); the device fixing plate (C4) is fixedly connected to the column mounting assembly (A0) via a shielding assembly (E0) arranged at its edge; a spline sleeve fixing seat (C10) is fixedly connected to the lower side of the output end at the bottom of the hollow rotary platform (C3); a spline sleeve (C6) is fixedly mounted inside the spline sleeve fixing seat (C10); and a spline shaft (C5) is splined inside the spline sleeve (C6); The top end of the spline shaft (C5) is fixedly inserted into the second bearing box (C1), and the second bearing box (C1) is fixedly installed on the rising adapter plate (B7) of the lifting assembly (B0). The bottom end of the spline shaft (C5) is successively passed through the device fixing plate (C4), the output end of the hollow rotating platform (C3), the spline sleeve (C6) and the sensor support seat (C9), and then fixedly connected to the manipulator air claw assembly (D0). The device fixing plate (C4), the output end of the hollow rotating platform (C3) and the sensor support seat (C9) are not in contact with the spline shaft (C5); The sensor support seat (C9) and the device fixing plate (C4) are fixed via a plurality of mounting columns (C7) arranged on the top surface of the sensor support seat (C9).

5. The manipulator device for a fully automatic balancing machine according to claim 4, characterized in that: The sensor support seat (C9) and the spline sleeve fixing seat (C10) are respectively provided with a rotation position sensor (C8) and a sensor detection part (C11) for cooperating to detect the overall movement of the rotating component (C0).

6. The manipulator device for a fully automatic balancing machine according to claim 4, characterized in that: The manipulator air gripper assembly (D0) comprises a fixing ring (D1), an air gripper fixing plate (D2), an air gripper (D3) and a gripper clamp assembly (D4); the fixing ring (D1) is fixedly sleeved on the bottom end of the spline shaft (C5); the lower part of the fixing ring (D1) is fixedly connected to the air gripper fixing plate (D2); the air grippers (D3) are arranged at intervals in the circumferential direction of the air gripper fixing plate (D2); and the bottom of the air gripper (D3) is provided with a gripper clamp assembly (D4) for carrying products.

7. The manipulator device for a fully automatic balancing machine according to claim 4, characterized in that: The shielding assembly (E0) is a U-shaped structure composed of two support plates respectively fixedly connected to the front shield (E1), the two support plates are symmetrically arranged at the two side edges of the device fixing plate (C4), the top surface and the bottom surface of the support plates are respectively fixed to the bottom surface of the upper fixing plate (A3) and the top surface of the device fixing plate (C4), the front shield (E1) is arranged between the fixing plate (A3) and the device fixing plate (C4), and is surrounded by the two support plates to form a semi-enclosed structure, and a vertical position sensor (E3) is provided on one of the support plates.

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