CN207711409U - A kind of arm-and-hand system - Google Patents
A kind of arm-and-hand system Download PDFInfo
- Publication number
- CN207711409U CN207711409U CN201820041024.5U CN201820041024U CN207711409U CN 207711409 U CN207711409 U CN 207711409U CN 201820041024 U CN201820041024 U CN 201820041024U CN 207711409 U CN207711409 U CN 207711409U
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- Prior art keywords
- arm
- mounting base
- bowl
- magnetic attracting
- electromagnet
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Abstract
The utility model discloses a kind of arm-and-hand systems, including：Mounting base is connected with mechanical arm；Magnetic attracting device is arranged in mounting base side for adsorbing bowl-shape cap；Vacuum absorption device corresponds with magnetic attracting device and is arranged in side of the mounting base far from magnetic attracting device for adsorbing rubber block；And control element, it is used to control the magnetic size of magnetic attracting device and the gas path on-off of vacuum absorption device.This programme uses new mechanical structure, has the following advantages and effect：Bowl-shape cap and rubber block are shifted by magnetic attracting device and vacuum absorption device batch, improves the production efficiency of this kind of hardware cap finished product.
Description
Technical field
The utility model is related to a kind of automation equipment, more particularly to a kind of arm-and-hand system.
Background technology
As shown in Figure 1, a kind of hardware cap, includes the bowl-shape cap 1 of steel, the cavity of bowl-shape cap 1 is equipped with one and matches
Pouring weight 2 is filled with to improve the stability connected between clump weight 2 and bowl-shape cap 1 between clump weight 2 and bowl-shape cap 1
Rubber layer 3.
Existing processing method is to utilize hot pressing hydraulic cutting presser, the rubber after clump weight is placed into bowl-shape cap by that will melt
Block is pressed into the cavity of the cavity of bowl-shape cap, and rubber layer is formed after rubber solidification.
Existing hot pressing hydraulic cutting presser usually requires to spend the time of 300s or so when casting rubber layer, to improve production efficiency
It usually requires through the bowl-shape cap of hot pressing hydraulic cutting presser batch machining, it is bowl-shape to need one kind that can in batches be piled up on hot pressing hydraulic cutting presser
The equipment of cap and rubber block.
Utility model content
The purpose of this utility model is to provide a kind of arm-and-hand system, can shift bowl-shape cap and rubber block in batches,
To improve the production efficiency of hardware cap finished product.
The above-mentioned technical purpose of the utility model technical scheme is that：A kind of arm-and-hand system,
Including：
Mounting base is connected with mechanical arm；
Magnetic attracting device is arranged in mounting base side for adsorbing bowl-shape cap；
Vacuum absorption device, corresponds and is arranged with magnetic attracting device and be used in side of the mounting base far from magnetic attracting device
Adsorb rubber block；And
Control element is used to control the magnetic size of magnetic attracting device and the gas path on-off of vacuum absorption device.
By using above-mentioned technical proposal, control element manipulation magnetic attracting device adsorbs bowl-shape cap, and mechanical arm drives peace
Seat overturning is filled, control element manipulation vacuum absorption device adsorbs rubber block, drives mounting base to move to heat by mechanical arm
The machining position of hydraulic cutting presser, control element is pressed to control magnetic attracting device magnetism and reduce so that bowl-shape cap is detached from magnetic attracting device and drops to heat
It presses on hydraulic cutting presser, subsequent mechanical arm drives mounting base to overturn again, and control element makes the gas circuit of vacuum absorption device be in communication with the outside,
So that rubber block drops in order to be melted and be pressed into bowl-shape cap by rubber block by hot pressing hydraulic cutting presser on hot pressing hydraulic cutting presser, to
Bowl-shape cap and rubber block are shifted by magnetic attracting device and vacuum absorption device batch, improves this kind of hardware cap finished product
Production efficiency.
Further, the magnetic attracting device is made of electromagnet, and the control element can control circuit on electromagnet
Break-make.
By using above-mentioned technical proposal, the magnetic ability of electromagnet is strong, and is readily able to by the break-make of power supply circuit
The magnetic size for manipulating electromagnet, to the convenient absorption to bowl-shape cap.
Further, the vacuum absorption device includes sucker and air exhauster, and the sucker is equipped with through-hole, the through-hole
It is connected with air exhauster by sealing pipeline.
By using above-mentioned technical proposal, when sucker and rubber block contradict, by air exhauster detach sealing pipeline and
Air in sucker so that suction cup interior vacuumizes, to facilitate sucker suction rubber block.
Further, the control element is made of PLC controller, when magnetic attracting device captures bowl-shape cap, the PLC
Controller controls power supply and powers to electromagnet, when bowl-shape cap is transferred on hot pressing hydraulic cutting presser by mechanical arm, the PLC controls
Device control power supply processed is disconnected with electromagnet, and when vacuum absorption device captures rubber block, the PLC controller controls air exhauster work
In negative pressure inside sealing pipeline when making that sucker is made to resist rubber block, when rubber block is transferred on hot pressing hydraulic cutting presser by mechanical arm,
The PLC controller control air exhauster stops.
It by using above-mentioned technical proposal, is easily programmed by the control element that PLC is constituted, so as to easily according to machine
When tool arm and mounting base are in different conditions, change the state of magnetic attracting device and vacuum absorption device.
Further, be arranged in a one-to-one correspondence range sensor on the electromagnet with detect electromagnet whether adsorb it is bowl-shape
Cap.
By using above-mentioned technical proposal, after electromagnet adsorbs bowl-shape cap, range sensor can receive induction letter
Number, when PLC controller control electromagnet weakens magnetism so that bowl-shape cap falls off, bowl-shape cap is detected by range sensor
Whether completely fall off, in order to which mechanical arm drive installation seat carries out the next step.
Further, the clamping device for solidification rubber leftover pieces to be clamped is additionally provided in the mounting base.
It can be produced by using above-mentioned technical proposal when hot pressing hydraulic cutting presser enters rubber block die casting in the cavity of bowl-shape cap
The leftover pieces for condensing into rubber film layer, for ease of removing rubber film layer, the leftover pieces can be clamped by being arranged in mounting base
Clamping device, consequently facilitating clearing up hot pressing hydraulic cutting presser, so that the smooth die casting of hardware cap of next round.
Further, the clamping device is made of by two groups the cylinder clamping jaw of PLC controller manipulation.
By using above-mentioned technical proposal, cylinder clamping jaw, which has the advantages that be quick on the draw, to be easily manipulated so that clamping device
Can when mechanical arm changes state under the manipulation of PLC controller promptly switching state.
Further, it is spaced apart in the mounting base and is equipped with lightening hole.
By using above-mentioned technical proposal, since mechanical arm is needed with doing the movements such as mounting base overturning, translation, lifting,
The weight of mounting base can be mitigated by opening up lightening hole in mounting base, to reduce the inertia force of mounting base during exercise.
In conclusion the utility model has the advantages that：
1. the setting of electromagnet and range sensor, when bowl-shape cap is transferred on hot pressing hydraulic cutting presser by mechanical arm
It waits, PLC controller controls power supply and disconnected with electromagnet, so that bowl-shape cap falls off, bowl-shape cap is detected by range sensor
Whether completely fall off, in order to which mechanical arm drive installation seat carries out the next step；
2. the setting of sucker and air exhauster so that can change sucker and rubber by the working condition of punching air exhauster
Pressure between block, to facilitate crawl rubber block.
Description of the drawings
Fig. 1 (a), (b) are the structural schematic diagrams of hardware cap；
Fig. 2 is the mounting structure schematic diagram of mechanical arm and hot pressing hydraulic cutting presser in the present embodiment；
Fig. 3 is the general assembly structural schematic diagram of mechanical arm and mounting base in the present embodiment；
Fig. 4 is the general assembly structural schematic diagram of mounting base in the present embodiment.
Reference numeral：1, bowl-shape cap；2, clump weight；3, rubber layer；4, mechanical arm；5, mounting base；6, control element；7、
Vacuum absorption device；71, sucker；72, air exhauster；8, magnetic attracting device；9, range sensor；10, sealing pipeline；11, through-hole；
12, lightening hole；13, clamping device；14, hot pressing hydraulic cutting presser.
Specific implementation mode
The utility model is described in further detail below in conjunction with attached drawing.
With reference to shown in Fig. 2 and Fig. 3, a kind of arm-and-hand system, including mechanical arm 4 and mounting base 5, it is arranged in manipulator side
It is useful for the control element 6 that manipulation mechanical arm 4 moves, control element 6 is made of PLC controller so that the PLC controls being easily programmed
Device processed can control machinery arm 4 manipulate mounting base 5 travel to and fro between hot pressing hydraulic cutting presser 14 and parts diversion box.In mounting base 5
Side is disposed with magnetic attracting device 8, and 5 other side of mounting base is provided with vacuum absorption device 7, vacuum absorption device 7 and magnetic
It inhales device 8 to correspond, wherein magnetic attracting device 8 is for shifting bowl-shape cap 1, and vacuum absorption device 7 is for shifting rubber block.
With reference to shown in Fig. 3 and Fig. 4, magnetic attracting device 8 is made of electromagnet, and PLC controller can control circuit on electromagnet
Break-make, consequently facilitating manipulation the ferromagnetic size of electromagnetism, range sensor 9 has been arranged in a one-to-one correspondence on electromagnet, has worked as magnetic
When suction device 8 captures bowl-shape cap 1, PLC controller controls power supply and powers to electromagnet, when mechanical arm 4 shifts bowl-shape cap 1
When on to hot pressing hydraulic cutting presser 14, PLC controller controls power supply and is disconnected with electromagnet, so that bowl-shape cap 1 falls off, passes through distance
Sensor 9 detects whether bowl-shape cap 1 completely falls off, in order to which 4 drive installation seat 5 of mechanical arm carries out the next step.
With reference to shown in Fig. 3 and Fig. 4, vacuum absorption device 7 includes sucker 71 and air exhauster 72, is offered on sucker 71 logical
Hole 11, through-hole 11 are connected by sealing pipeline 10 with air exhauster 72, when vacuum absorption device 7 captures rubber block, PLC controller
Control air exhauster 72 work so that sucker 71 when resisting rubber block 10 inside of sealing pipeline be in negative pressure, when mechanical arm 4 is by rubber block
When being transferred on hot pressing hydraulic cutting presser 14, PLC controller control air exhauster 72 is stopped, and the inner cavity of sucker 71 is made to be in communication with the outside,
Rubber block is enable to be detached from sucker 71 under the effect of gravity.To reduce the inertia force of mounting base 5 during exercise, in mounting base 5
Upper be spaced apart is equipped with lightening hole 12.
In conjunction with shown in Fig. 1, Fig. 2 and Fig. 4, when rubber block die casting being entered due to hot pressing hydraulic cutting presser 14 in the cavity of bowl-shape cap 1,
The leftover pieces for condensing into rubber film layer can be produced, for ease of removing rubber film layer, the corner can be clamped by being arranged in mounting base 5
The clamping device 13 of material, clamping device 13 is made of by two groups the cylinder clamping jaw of PLC controller manipulation, to pass through cylinder clamping jaw
Rubber film layer is torn to clear up hot pressing hydraulic cutting presser 14, so that the smooth die casting of hardware cap of next round.
The course of work is summarized：When processing hardware cap, the magnetic attracting device 8 in mounting base 5 is manipulated by mechanical arm 4 first
Bowl-shape cap 1 is adsorbed, PLC controller control power supply is powered to electromagnet at this time, and mechanical arm 4 drives mounting base 5 to overturn, PLC controls
Device manipulation vacuum absorption device 7 processed adsorbs rubber block, drives mounting base 5 to move to hot pressing hydraulic cutting presser 14 by mechanical arm 4
Machining position, PLC controller control the magnetic reduction of magnetic attracting device 8 so that bowl-shape cap 1 is detached from magnetic attracting device 8 and drops to hot pressing beer
On machine 14, subsequent mechanical arm 4 drives mounting base 5 to overturn again, and PLC controller makes the gas circuit of vacuum absorption device 7 connect with extraneous
It is logical so that rubber block drops on hot pressing hydraulic cutting presser 14, in order to be melted rubber block by hot pressing hydraulic cutting presser 14 and be pressed into bowl-shape cap
In part 1, to realize that batch shifts bowl-shape cap 1 and rubber block by magnetic attracting device 8 and vacuum absorption device 7.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can as needed make the present embodiment the modification of not creative contribution after reading this specification, but
As long as all being protected by Patent Law in the right of the utility model.
Claims (8)
1. a kind of arm-and-hand system, which is characterized in that including：
Mounting base (5) is connected with mechanical arm (4)；
Magnetic attracting device (8) is arranged in mounting base (5) side for adsorbing bowl-shape cap (1)；
Vacuum absorption device (7) corresponds with magnetic attracting device (8) and is arranged in the separate magnetic attracting device (8) of mounting base (5)
Side is for adsorbing rubber block；And
Control element（6）, it is used to control the magnetic size of magnetic attracting device (8) and the gas path on-off of vacuum absorption device (7).
2. a kind of arm-and-hand system according to claim 1, which is characterized in that the magnetic attracting device (8) is by electromagnet structure
At the control element（6）The break-make of circuit on electromagnet can be controlled.
3. a kind of arm-and-hand system according to claim 2, which is characterized in that the vacuum absorption device (7) includes inhaling
Disk (71) and air exhauster (72), the sucker (71) be equipped with through-hole (11), the through-hole (11) by sealing pipeline (10) with
Air exhauster (72) is connected.
4. a kind of arm-and-hand system according to claim 3, which is characterized in that the control element（6）By PLC controller
It constitutes, when magnetic attracting device (8) captures bowl-shape cap (1), the PLC controller control power supply is powered to electromagnet, works as machinery
When bowl-shape cap (1) is transferred on hot pressing hydraulic cutting presser (14) by arm (4), the PLC controller control power supply and electromagnet are disconnected
It opens, when vacuum absorption device (7) captures rubber block, the PLC controller control air exhauster (72) works so that sucker (71)
In negative pressure inside sealing pipeline (10) when resisting rubber block, when rubber block is transferred on hot pressing hydraulic cutting presser (14) by mechanical arm (4),
The PLC controller control air exhauster (72) stops.
5. a kind of arm-and-hand system according to claim 4, which is characterized in that be arranged in a one-to-one correspondence on the electromagnet
Range sensor (9) is to detect whether electromagnet adsorbs bowl-shape cap (1).
6. a kind of arm-and-hand system according to claim 1, which is characterized in that be additionally provided with use on the mounting base (5)
In the clamping device (13) of clamping solidification rubber leftover pieces.
7. a kind of arm-and-hand system according to claim 6, which is characterized in that the clamping device (13) by two groups by
The cylinder clamping jaw of PLC controller manipulation is constituted.
8. a kind of arm-and-hand system according to claim 1, which is characterized in that be spaced apart and be equipped on the mounting base (5)
Lightening hole (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820041024.5U CN207711409U (en) | 2018-01-10 | 2018-01-10 | A kind of arm-and-hand system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820041024.5U CN207711409U (en) | 2018-01-10 | 2018-01-10 | A kind of arm-and-hand system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207711409U true CN207711409U (en) | 2018-08-10 |
Family
ID=63055350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820041024.5U Expired - Fee Related CN207711409U (en) | 2018-01-10 | 2018-01-10 | A kind of arm-and-hand system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207711409U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248060A (en) * | 2018-01-10 | 2018-07-06 | 茂联橡胶制品（深圳）有限公司 | A kind of arm-and-hand system and the hardware cap production line with the system |
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
| CN109728338A (en) * | 2019-02-01 | 2019-05-07 | 广州小鹏汽车科技有限公司 | A kind of clamping device |
| CN110229751A (en) * | 2019-07-17 | 2019-09-13 | 中国人民解放军军事科学院军事医学研究院 | MRNA preparation system and preparation method |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN114274522A (en) * | 2021-12-03 | 2022-04-05 | 深圳市富创橡塑五金制品有限公司 | Foot pad hot press forming feeding equipment |
| CN114345761A (en) * | 2022-01-06 | 2022-04-15 | 上海交通大学 | Material arranging equipment for plate parts |
-
2018
- 2018-01-10 CN CN201820041024.5U patent/CN207711409U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248060A (en) * | 2018-01-10 | 2018-07-06 | 茂联橡胶制品（深圳）有限公司 | A kind of arm-and-hand system and the hardware cap production line with the system |
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
| CN109728338A (en) * | 2019-02-01 | 2019-05-07 | 广州小鹏汽车科技有限公司 | A kind of clamping device |
| CN110229751A (en) * | 2019-07-17 | 2019-09-13 | 中国人民解放军军事科学院军事医学研究院 | MRNA preparation system and preparation method |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN114274522A (en) * | 2021-12-03 | 2022-04-05 | 深圳市富创橡塑五金制品有限公司 | Foot pad hot press forming feeding equipment |
| CN114274522B (en) * | 2021-12-03 | 2024-01-19 | 深圳市富创橡塑五金制品有限公司 | Hot-press forming feeding equipment for foot pads |
| CN114345761A (en) * | 2022-01-06 | 2022-04-15 | 上海交通大学 | Material arranging equipment for plate parts |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180810 Termination date: 20210110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |