CN113104579A - Elasticity quick change suction nozzle mechanism for manipulator - Google Patents
Elasticity quick change suction nozzle mechanism for manipulator Download PDFInfo
- Publication number
- CN113104579A CN113104579A CN202110219070.6A CN202110219070A CN113104579A CN 113104579 A CN113104579 A CN 113104579A CN 202110219070 A CN202110219070 A CN 202110219070A CN 113104579 A CN113104579 A CN 113104579A
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- suction nozzle
- guide
- seat
- cover plate
- assembly
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- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000008859 change Effects 0.000 title claims abstract description 7
- 238000004080 punching Methods 0.000 claims abstract description 29
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 238000003475 lamination Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The utility model provides a machinery manual elasticity quick change suction nozzle mechanism, this suction nozzle mechanism includes: the flange seat is fixed at the lower end of the telescopic sleeve rod; the middle part of the upper end surface of the guide seat is fixedly connected with the flange seat, and the lower end surface of the guide seat is internally and vertically provided with a telescopic guide assembly; the upper end surface of the suction nozzle cover plate is provided with a pipe joint, the pipe joint is used for connecting the air pipe which sequentially penetrates through the flange seat and the guide seat, and a plurality of magnets are embedded and fixed in the lower end surface of the suction nozzle cover plate; a suction nozzle subassembly, the suction nozzle subassembly includes the suction nozzle of inside cavity and lateral wall circumference trompil, the lower terminal surface of suction nozzle centers on absorb the even arch that is provided with more than three at least of hole circumference, every be provided with the through-hole on the arch respectively. The suction nozzle assembly quick replacement device can realize quick replacement of suction nozzle assemblies of different products, improve the utilization rate of equipment and absorb motor punching sheets with small deformation.
Description
Technical Field
The invention belongs to the technical field of motor punching sheet processing equipment, and particularly relates to an elastic quick-change suction nozzle mechanism for a manipulator.
Background
At present, in the torque motor production industry, along with the popularization of mechanical equipment for replacing manual automatic production and intelligent production; the same equipment is required to meet the production and processing requirements of various types of products, in particular to motors in the military industry, aerospace industry and aviation industry, and the motors have the characteristics of multiple batches, small batches and multiple types; therefore, the apparatus is required to be compatible with various products while satisfying automated production. For motor punching sheet stacking equipment in the aerospace industry and the aviation industry, the motor of the type is small in size and small in size, the motor punching sheet is in a round tooth-shaped structure and is very thin, the thickness of the motor punching sheet is about 0.2mm, and the motor punching sheet is very easy to deform. When the motor punching sheet is sucked by automatic production equipment, various models of products are often compatible, but the sizes of different products are greatly different, and the suction nozzle cannot be used for sucking and being compatible with all the products.
For motor punching sheet closed assembly equipment, need consider the utilization rate, the efficiency of equipment on the one hand, need consider quick change suction nozzle, frock etc. when producing different products, the motor punching sheet of the small deformation of on the other hand is many, can not throw away this type of motor punching sheet unnecessary during the automatic lamination of equipment, and the motor punching sheet of small deformation also needs the absorption. Therefore, the problems that the motor punching sheet stacking equipment product compatibility is solved, the equipment efficiency is improved, and the situation that the small deformation motor punching sheet can also absorb the small deformation motor punching sheet is solved; starting with the mechanism, when the suction nozzle mechanism is designed, on one hand, the suction nozzle needs to be ensured to be positioned and replaced quickly, and the equipment utilization rate is improved; on the other hand also need the motor punching sheet that the suction nozzle mechanism is simple and practical and can absorb small deformation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an elastic quick-change suction nozzle mechanism for a manipulator, which has the following specific technical scheme:
the utility model provides a manipulator is with elasticity quick change suction nozzle mechanism, this suction nozzle mechanism is vertical to be set up in the flexible loop bar bottom of manipulator to cooperate with the lamination mould of its below and absorb the closed assembly to the motor core, this suction nozzle mechanism includes:
the flange seat is fixed at the lower end of the telescopic sleeve rod, an air pipe penetrates through the gap in the telescopic sleeve rod, and the air pipe can longitudinally move along the telescopic sleeve rod;
the middle part of the upper end surface of the guide seat is fixedly connected with the flange seat, the lower end surface of the guide seat is internally and vertically provided with a telescopic guide assembly, and the bottom end of the guide assembly extends out of the lower end surface of the guide seat;
the suction nozzle cover plate is fixedly connected with the bottom end of the guide assembly, a pipe joint is arranged on the upper end surface of the suction nozzle cover plate and is used for connecting the air pipe which sequentially penetrates through the flange seat and the guide seat, and a plurality of magnets are embedded and fixed in the lower end surface of the suction nozzle cover plate;
a suction nozzle subassembly, the suction nozzle subassembly includes the suction nozzle of inside cavity and lateral wall circumference trompil, the up end of suction nozzle pass through magnetic component with the magnet adsorbs and is connected, the absorption hole has been seted up at the bottom surface middle part of suction nozzle, the lower terminal surface of suction nozzle centers on absorption hole circumference evenly is provided with the arch more than three at least, every be provided with the through-hole on the arch respectively.
Further, the guide assembly comprises a stroke block, a linear bearing, a guide rod and a spring, the guide seat is of a cylindrical structure, the upper end surface of the guide seat is provided with four vertical holes which are uniformly distributed in the circumferential direction and penetrate downwards around the flange seat, wherein, a pair of radial symmetrical vertical holes are respectively positioned in grooves which are radially arranged on the side wall of the guide seat, the stroke block is arranged in each groove with a gap, the linear bearings are respectively and fixedly inserted at the bottom of each vertical hole, the guide rod which is connected with the linear bearings in a sliding way is inserted in each linear bearing, the bottom ends of the guide rods are fixedly connected with the suction nozzle cover plate, the guide rods between the suction nozzle cover plate and the linear bearing are sleeved with the springs matched with the guide rods, the top end of the guide rod positioned below the groove is fixedly connected with the corresponding stroke block.
Further, the magnetic assembly comprises a magnetic suction nozzle base plate and a rubber gasket, the rubber gasket is sleeved on the upper portion of the suction nozzle, the rubber gasket is fixedly connected with the magnetic suction nozzle base plate through a bolt, and the magnetic suction nozzle base plate is connected with the magnet in an adsorption mode.
Furthermore, the number of the magnets is four, and each magnet is correspondingly arranged below the guide rod.
Further, the suction nozzle assembly can be telescopically moved for 5 mm in the vertical direction through the matching of the guide assembly and the guide seat.
The invention has the beneficial effects that:
according to the invention, the magnetic component on the upper end surface of the suction nozzle is connected with the magnet on the lower end surface of the suction nozzle cover plate in an adsorption manner, so that the suction nozzle components of different products can be quickly replaced, and the utilization rate of equipment is improved; at least three bulges are uniformly arranged on the lower end surface of the suction nozzle in the circumferential direction around the suction hole, a through hole is formed in each bulge, the suction hole can suck a motor punching sheet with a normal size, and the through holes are matched with the bulges, so that the motor punching sheet with small deformation can be sucked; according to the invention, the telescopic guide assembly is vertically arranged inwards on the lower end surface of the guide seat, so that the suction nozzle can be driven to vertically move, and therefore, when the suction nozzle absorbs the motor punching sheet, the deformed motor punching sheet can be firstly buffered, flattened and shaped, the suction nozzle can better absorb the motor punching sheet at the later stage, and the phenomenon of absorption and falling can not occur.
Drawings
FIG. 1 is a schematic view showing a state of use of a suction nozzle mechanism of the present invention;
FIG. 2 is a front view showing the structure of a suction nozzle mechanism of the present invention;
FIG. 3 shows a structural section view in the direction of section K-K in FIG. 1;
FIG. 4 shows a top view of the nozzle mechanism of the present invention;
FIG. 5 shows a front view of the construction of a nozzle assembly of the present invention;
figure 6 shows a perspective view of a nozzle assembly according to the present invention.
Shown in the figure: 1. a lamination die; 2. punching a motor sheet; 3. a manipulator; 31. a telescopic loop bar; 32. an air tube; 4. a suction nozzle mechanism; 41. a flange seat; 42. a guide seat; 421. vertical holes; 422. a groove; 43. a stroke block; 44. a linear bearing; 45. a guide bar; 46. a spring; 47. a suction nozzle cover plate; 48. a magnet; 49. a pipe joint; 410. a suction nozzle assembly; 4101. a magnetic suction nozzle backing plate; 4102. a rubber gasket; 4103. a suction nozzle; 4104. a suction hole; 4105. a protrusion; 4106. and a through hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-3, an elasticity quick change suction nozzle mechanism for manipulator, this suction nozzle mechanism 4 are vertical to be set up in the flexible loop bar 31 bottom of manipulator 3 to cooperate with lamination mould 1 below it and absorb the closed assembly to motor punching 2, this suction nozzle mechanism 4 includes:
the flange seat 41 is fixed at the lower end of the telescopic loop bar 31, an air pipe 32 penetrates through the gap in the telescopic loop bar 31, and the air pipe 32 can longitudinally move along the telescopic loop bar 31;
the middle part of the upper end surface of the guide seat 42 is fixedly connected with the flange seat 41, a telescopic guide assembly is vertically arranged inwards on the lower end surface of the guide seat 42, and the bottom end of the guide assembly extends out of the lower end surface of the guide seat 42;
a suction nozzle cover plate 47, the suction nozzle cover plate 47 is fixedly connected with the bottom end of the guide assembly, a pipe joint 49 is arranged on the upper end surface of the suction nozzle cover plate 47, the pipe joint 49 is used for connecting the air pipe 32 which sequentially passes through the flange seat 41 and the guide seat 42, and a plurality of magnets 48 are embedded and fixed in the lower end surface of the suction nozzle cover plate 47;
a suction nozzle assembly 410, wherein the suction nozzle assembly 410 comprises a suction nozzle 4103 which is hollow inside and has a circumferential opening on the side wall, the upper end surface of the suction nozzle 4103 is connected with the magnet 48 by a magnetic assembly in an adsorption manner, a suction hole 4104 is arranged in the middle of the bottom surface of the suction nozzle 4103, at least three protrusions 4105 are uniformly arranged on the lower end surface of the suction nozzle 4103 around the circumference of the suction hole 4104, and each protrusion 4105 is provided with a through hole 4106.
Through the technical scheme, the magnetic component on the upper end face of the suction nozzle 4103 is in adsorption connection with the magnet 48 on the lower end face of the suction nozzle cover plate 47, so that the suction nozzle components 410 of different products can be quickly replaced, and the utilization rate of equipment is improved; at least more than three protrusions 4015 are uniformly arranged on the lower end face of the suction nozzle 4103 in the circumferential direction around the suction hole 4104, each protrusion 4105 is provided with a through hole 4106, the suction hole 4104 can suck the motor punching sheet 2 with normal size, and the through holes 4106 are matched with the protrusions 4105, so that the motor punching sheet 2 with micro deformation can be sucked; the telescopic guide assembly is vertically arranged inwards through the lower end face of the guide seat 42, the suction nozzle 4103 can be driven to vertically move, so that the suction nozzle 4103 can firstly buffer and flatten and shape the deformed motor punching sheet 2 when absorbing the motor punching sheet 2, the later-stage suction nozzle 4103 can better adsorb, and the phenomenon of adsorption and falling can not occur.
As shown in fig. 3 and 4, the guide assembly includes a stroke block 43, a linear bearing 44, a guide rod 45 and a spring 46, the guide seat 42 is a cylindrical structure, the upper end surface of the guide seat 42 is provided with four vertical holes 421 uniformly distributed in the circumferential direction downward around the flange seat 41, wherein a pair of the vertical holes 421 symmetrical in the radial direction are respectively located in grooves 422 radially provided on the side wall edge of the guide seat 42, the stroke block 43 is provided in each groove 422 at a gap, the linear bearing 44 is fixedly inserted at the bottom of each vertical hole 421, the guide rod 45 slidably connected with each linear bearing 44 is inserted in each linear bearing 44, the bottom end of each guide rod 45 is fixedly connected with the suction nozzle cover plate 47, the guide rod 45 between the suction nozzle cover plate 47 and the linear bearing 44 is sleeved with the spring 46 matched with the guide rod 45, wherein, the top end of the guide rod 45 positioned below the groove 422 is fixedly connected with the corresponding stroke block 43.
Through the technical scheme, four guide rods 45 with springs 46 and uniformly distributed in the circumferential direction and arranged in the guide seat 42 are matched with the linear bearings 44, so that the adsorption cover plate 47 can be horizontally and uniformly connected in a telescopic manner, and the flatness and the vertical telescopic capacity of the suction nozzle 4103 when the motor punching sheet 2 is sucked are ensured; the stroke blocks 43 arranged in the grooves 422 of the guide seat 42 with radial symmetry can ensure that the guide rod 45 does not depart from the guide seat 42.
As shown in fig. 5 and 6, the magnetic assembly includes a magnetic nozzle plate 4101 and a rubber gasket 4102, the rubber gasket 4102 is fitted on the upper portion of the nozzle 4103, the magnetic nozzle plate 4101 is fixedly connected to the rubber gasket 4102 by bolts, and the magnetic nozzle plate 4101 is attached to the magnet 48.
Through the technical scheme, the magnetic suction nozzle base plate 410 can be conveniently adsorbed and butted with the magnet 48, and is also convenient to detach and replace.
As shown in fig. 3, four magnets 48 are provided, and each magnet 48 is correspondingly provided below the guide bar 45.
By the above technical scheme, the distribution uniformity of the magnets 48 can be ensured, thereby better adsorbing the magnetic suction nozzle pad 4101.
As shown in fig. 2, the suction nozzle assembly 410 can be telescopically moved in the vertical direction by 5 mm through the cooperation of the guide assembly and the guide seat 42.
Through the technical scheme, the motor punching sheet 2 can be better buffered, flattened and shaped by the telescopic moving distance of 5 millimeters.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides an elasticity quick change suction nozzle mechanism for manipulator, this suction nozzle mechanism (4) are vertical to be set up in flexible loop bar (31) bottom of manipulator (3) to cooperate with lamination mould (1) of its below and absorb the closed assembly to motor punching sheet (2), its characterized in that, this suction nozzle mechanism (4) include:
the flange seat (41) is fixed at the lower end of the telescopic loop bar (31), an air pipe (32) penetrates through the inner gap of the telescopic loop bar (31), and the air pipe (32) can longitudinally move along the telescopic loop bar (31);
the middle part of the upper end face of the guide seat (42) is fixedly connected with the flange seat (41), a telescopic guide assembly is vertically arranged inwards on the lower end face of the guide seat (42), and the bottom end of the guide assembly extends out of the lower end face of the guide seat (42);
the suction nozzle cover plate (47) is fixedly connected with the bottom end of the guide assembly, a pipe joint (49) is arranged on the upper end face of the suction nozzle cover plate (47), the pipe joint (49) is used for connecting the air pipe (32) which sequentially penetrates through the flange seat (41) and the guide seat (42), and a plurality of magnets (48) are embedded and fixed in the lower end face of the suction nozzle cover plate (47);
the suction nozzle component (410) comprises a suction nozzle (4103) which is hollow inside and is provided with a circumferential hole on the side wall, the upper end surface of the suction nozzle (4103) is connected with the magnet (48) in an adsorption way through a magnetic component, the middle part of the bottom surface of the suction nozzle (4103) is provided with a suction hole (4104), the lower end surface of the suction nozzle (4103) is uniformly provided with at least three bulges (4105) around the circumferential direction of the suction hole (4104), and each bulge (4105) is respectively provided with a through hole (4106).
2. The elastic quick-change suction nozzle mechanism for the manipulator according to claim 1, wherein: the guide assembly comprises a stroke block (43), a linear bearing (44), guide rods (45) and a spring (46), the guide seat (42) is of a cylindrical structure, the upper end face of the guide seat (42) surrounds the flange seat (41) and downwards penetrates through four vertical holes (421) which are uniformly distributed in the circumferential direction, wherein a pair of radial symmetry is formed in the vertical holes (421) respectively located in grooves (422) radially formed in the side wall edge of the guide seat (42), each stroke block (43) is arranged in each groove (422) at equal intervals, each linear bearing (44) is fixedly inserted at the bottom of each vertical hole (421), each linear bearing (44) is internally provided with the guide rod (45) in a sliding connection mode, the bottom end of each guide rod (45) is fixedly connected with the suction nozzle cover plate (47), the suction nozzle cover plate (47) and the guide rod (45) between the linear bearings (44) are sleeved with the guide rod (45) in a mode, and the guide rod (45) is fixedly connected with the suction nozzle cover plate (47) The top end of the guide rod (45) positioned below the groove (422) is fixedly connected with the corresponding stroke block (43).
3. The elastic quick-change suction nozzle mechanism for the manipulator according to claim 2, wherein: the magnetic component comprises a magnetic suction nozzle base plate (4101) and a rubber gasket (4102), the rubber gasket (4102) is sleeved on the upper part of the suction nozzle (4103), the magnetic suction nozzle base plate (4101) is fixedly connected to the rubber gasket (4102) through bolts, and the magnetic suction nozzle base plate (4101) is connected with the magnet (48) in an adsorption mode.
4. The elastic quick-change suction nozzle mechanism for the manipulator according to claim 3, wherein: the number of the magnets (48) is four, and each magnet (48) is correspondingly arranged below the guide rod (45).
5. The elastic quick-change suction nozzle mechanism for the manipulator according to claim 2, wherein: the suction nozzle assembly (410) can move telescopically in the vertical direction by 5 mm through the matching of the guide assembly and the guide seat (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110219070.6A CN113104579A (en) | 2021-02-26 | 2021-02-26 | Elasticity quick change suction nozzle mechanism for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110219070.6A CN113104579A (en) | 2021-02-26 | 2021-02-26 | Elasticity quick change suction nozzle mechanism for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113104579A true CN113104579A (en) | 2021-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110219070.6A Pending CN113104579A (en) | 2021-02-26 | 2021-02-26 | Elasticity quick change suction nozzle mechanism for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113104579A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003142566A (en) * | 2001-11-07 | 2003-05-16 | New Creation Co Ltd | Vacuum sucker and its manufacturing method |
| CN107009298A (en) * | 2017-04-26 | 2017-08-04 | 深圳市明信测试设备有限公司 | A kind of vacuum slot quick change construction |
| CN206961809U (en) * | 2017-07-17 | 2018-02-02 | 侯盈甫 | Fast disassembly type nozzle unit |
| CN110394624A (en) * | 2019-08-19 | 2019-11-01 | 浙江舜宇光学有限公司 | Component suction nozzle |
| CN211168878U (en) * | 2019-10-22 | 2020-08-04 | 陆个顺(上海)科技有限公司 | Cover type label suction nozzle |
| CN111993011A (en) * | 2020-07-31 | 2020-11-27 | 苏州领裕电子科技有限公司 | Built-in buffering adsorption module |
-
2021
- 2021-02-26 CN CN202110219070.6A patent/CN113104579A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003142566A (en) * | 2001-11-07 | 2003-05-16 | New Creation Co Ltd | Vacuum sucker and its manufacturing method |
| CN107009298A (en) * | 2017-04-26 | 2017-08-04 | 深圳市明信测试设备有限公司 | A kind of vacuum slot quick change construction |
| CN206961809U (en) * | 2017-07-17 | 2018-02-02 | 侯盈甫 | Fast disassembly type nozzle unit |
| CN110394624A (en) * | 2019-08-19 | 2019-11-01 | 浙江舜宇光学有限公司 | Component suction nozzle |
| CN211168878U (en) * | 2019-10-22 | 2020-08-04 | 陆个顺(上海)科技有限公司 | Cover type label suction nozzle |
| CN111993011A (en) * | 2020-07-31 | 2020-11-27 | 苏州领裕电子科技有限公司 | Built-in buffering adsorption module |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |
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| RJ01 | Rejection of invention patent application after publication |