CN208962031U - Loading and unloading manipulator device - Google Patents
Loading and unloading manipulator device Download PDFInfo
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- CN208962031U CN208962031U CN201821810855.0U CN201821810855U CN208962031U CN 208962031 U CN208962031 U CN 208962031U CN 201821810855 U CN201821810855 U CN 201821810855U CN 208962031 U CN208962031 U CN 208962031U
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Abstract
The utility model relates to a kind of loading and unloading manipulator devices, including rack, feeding manipulator and blanking mechanical hand；Movable through-hole is additionally provided in rack；Feeding manipulator includes feeding mechanism and feeding distribution mechanism, and feeding mechanism is flexibly connected rack, and feeding mechanism is equipped with feeding through-hole；Feeding distribution mechanism includes the material frame and liftout part being installed in rack, and it is installed on suction part and card column on material frame, the upper end of liftout part passes through the upper surface of the prominent rack of movable through-hole, expects that the middle part of frame is equipped with liftout through-hole, suction part and card column are installed on the peripheral position of liftout through-hole；In working condition, the position of liftout through-hole and feeding through-hole is corresponding with the movable position of through-hole, and liftout part is located at the lower section of liftout through-hole；Blanking mechanical hand is installed on material frame, and blanking mechanical hand is located at the top of suction part and card column.Its every time charging can accurate sub-material, i.e. inlet amount is accurate, ensure that being normally carried out for next procedure.
Description
Technical field
The utility model relates to technical field of automation equipment, more particularly to loading and unloading manipulator device.
Background technique
With the development of machine building industry, numerically controlled lathe is increasing, in order to adapt to Multi-varieties and Small-batch Production and mention
The requirement of high productivity is equipped with axial workpiece loading and unloading system on numerically controlled lathe, it is desirable that can convey sheet material, and can unload
The flat parts that size does not wait.But sometimes sheet material is relatively thin, is difficult to control primary inlet amount, occurs primary charging often
The excessive or abnormal problem of charging leads to next section of process error, or is processed without supplied materials, affects the normal of process
It carries out, causes waste of material, reduce production efficiency.
Utility model content
Based on this, it is necessary to which, in view of the above-mentioned problems, providing a kind of loading and unloading manipulator device, charging can accurately divide every time
Material, i.e., inlet amount is accurate, ensure that being normally carried out for next procedure.
A kind of loading and unloading manipulator device, comprising:
Rack is additionally provided with movable through-hole in rack；
Feeding manipulator, feeding manipulator include feeding mechanism and feeding distribution mechanism, and feeding mechanism is flexibly connected rack, feeding
Mechanism is equipped with feeding through-hole；Feeding distribution mechanism includes the material frame and liftout part being installed in rack, and is installed on material frame
Suction part and card column, the upper end of liftout part pass through the upper surface of the prominent rack of movable through-hole, expect that the middle part of frame is logical equipped with liftout
Hole, suction part and card column are installed on the peripheral position of liftout through-hole；In working condition, the position of liftout through-hole and feeding through-hole with
The position of movable through-hole is corresponding, and liftout part is located at the lower section of liftout through-hole；And
Blanking mechanical hand, blanking mechanical hand are installed on material frame, and blanking mechanical hand is located at the top of suction part and card column.
Above-mentioned loading and unloading manipulator device, material Jiang Yiduo to be processed are placed in feeding mechanism, and material covers feeding through-hole,
Material is delivered to the position of material frame by feeding mechanism, and feeding through-hole corresponds to liftout through-hole, and the movement of liftout part will be on feeding mechanism
It is pushed up in all materials, until the position of card column, suction part draws a sheet material, then material is placed in card column, blanking mechanical
Hand grabs material, and material is transferred to the position of next process；Pass through liftout part, the cooperation of card column and suction part, Ke Yizhun
True sub-material guarantees the accurate of inlet amount, is normally carried out process, improves the utilization rate and production efficiency of material.
Card column includes the fixture block of cylinder and elastic connection cylinder in one of the embodiments, and fixture block protrudes the outer of cylinder
Surface, and part triangular shape outstanding；Suction part is electromagnet, and the bottom face of suction part is higher than the upper surface of fixture block.
Liftout part includes the top plate of liftout driver and connection liftout driver in one of the embodiments, top plate
Upper end passes through the upper surface of the prominent rack of movable through-hole.
Feeding mechanism includes bottom plate and several feeding columns for being installed on bottom plate in one of the embodiments, and bottom plate is set
There is at least one workspace, feeding through-hole is located at the middle part of workspace, and several feeding columns are set to the peripheral position of feeding through-hole,
All feeding columns positioned at same workspace form a feeding station.
Feeding mechanism further includes the feeding driver of connecting bottom board in one of the embodiments, and it is sliding that bottom plate is equipped with first
Block, rack are equipped with the first track, and the first sliding block is flexibly connected the first track, and feeding driver is for driving bottom plate along first
The extending direction of track moves.
Workspace is multiple in one of the embodiments, and along the direction that bottom plate extends and column distribution；Rack is equipped with
Second track expects that the bottom of frame is equipped with the second sliding block, and the second sliding block is flexibly connected the second track, for frame will to be expected in multiple work
Replace movement between area.
Blanking mechanical hand includes bracket on binder frame, the transverse direction being installed on bracket in one of the embodiments,
Moving assembly, the blanking sliding block for connecting transverse shifting component, the Suction cup assembly for connecting blanking sliding block, transverse shifting component are used for band
Dynamic blanking slide block movement, and then Suction cup assembly movement is driven, carry out blanking.
Transverse shifting component includes traverse driver and the linear mould for connecting traverse driver in one of the embodiments,
Group, blanking sliding block connect linear mould group.
Suction cup assembly includes lift actuator and the connection lifting driving for connecting blanking sliding block in one of the embodiments,
The sucker of device, lift actuator is for driving sucker raising and lowering.
Sucker is vacuum chuck in one of the embodiments, and Suction cup assembly further includes the first control valve of connecting sucker,
First control valve is used to control the starting and closing of sucker.
Detailed description of the invention
Fig. 1 is the schematic diagram of a preferred embodiment of the utility model loading and unloading manipulator device；
Fig. 2 is the schematic diagram of the rack and feeding mechanism in Fig. 1 loading and unloading manipulator device；
Fig. 3 is the schematic diagram of the bottom plate and the first sliding block in Fig. 2 feeding mechanism；
Fig. 4 is the schematic diagram of the suction part and card column in Fig. 1 loading and unloading manipulator device；
Fig. 5 is the schematic diagram of the liftout part in Fig. 1 loading and unloading manipulator device；
Fig. 6 is the schematic diagram of the blanking mechanical hand in Fig. 1 loading and unloading manipulator device.
Specific embodiment
The utility model will be described more fully below for the ease of understanding the utility model,.But this is practical
It is novel to realize in many different forms, however it is not limited to embodiment described herein.On the contrary, providing these implementations
The purpose of example is to make the understanding of the disclosure of the utility model more thorough and comprehensive.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Fig. 1 to Fig. 6 is please referred to, is the loading and unloading manipulator device 100 of one preferred embodiment of the utility model, is mainly used for
Loading and unloading sheet material, can accurate sub-material, it is ensured that inlet amount it is accurate, reduce waste of material, improve production efficiency.Above and below described
Material robot device 100 includes under rack 20, the feeding manipulator 30 being installed in rack 20 and connection feeding manipulator 30
Expect that manipulator 60, feeding manipulator 30 control inlet amount, blanking mechanical hand 60 is for grabbing for conveying material and carrying out sub-material
Material after sub-material.
As shown in Figure 1, movable through-hole (figure is not marked) is additionally provided in rack 20, for providing for the sub-material of feeding manipulator 30
Space.
As shown in Figure 1 to Figure 4, feeding manipulator 30 includes feeding mechanism 40 and feeding distribution mechanism 50, and feeding mechanism 40 is flexibly connected
Rack 20, feeding mechanism 40 are equipped with feeding through-hole 41, and feeding through-hole 41 is used to provide sub-material channel for feeding distribution mechanism 50.Work
In state, the position of feeding distribution mechanism 50 corresponds to sub-material through-hole 41.
Feeding mechanism 40 includes bottom plate 42 and several feeding columns 43 for being installed on bottom plate 42, and bottom plate 42 is equipped at least one
Workspace 44, feeding through-hole 41 are located at the middle part of workspace 44, and part feeding column 43 is set to the peripheral position of feeding through-hole 41.
All feeding columns 43 positioned at same workspace 44 form a feeding station, and the position of the feeding station corresponds to feeding through-hole
41, multiple materials are superimposed along the upright extending direction of feeding column 43 and place, and material are limited in feeding station, and make material
Superposition is placed in the same direction, and it is folded that feeding column 43 mainly plays the role of positioning, guiding and quantitative blowing, material to material
When the height added need to be less than or equal to the height of feeding column 43, it otherwise would be possible to fall.
In one embodiment, rack 20 is equipped with the first track 21, and bottom plate 42 is equipped with the first sliding block 45, and the first sliding block 45 is living
It is right to remove feeding distribution mechanism 50 in this way, bottom plate 42 can be moved along the direction that the first track 21 extends for the first track 21 of dynamic connection
The position answered is to charge, and after charged, then is moved to the corresponding position of feeding distribution mechanism 50, carries out sub-material.At this point, feeder
Structure 40 further includes feeding driver 46,46 connecting bottom board 42 of feeding driver, for driving the movement of bottom plate 42.Feeding driver
46 can be cylinder or oil cylinder, the piston rod connecting bottom board 42 of cylinder or oil cylinder, bottom plate 42 with piston rod stretching and contraction
It is mobile.
In one embodiment, bottom plate 42 is equipped with multiple workspaces 44, and along the direction that bottom plate 42 extends and column distribution, then
Wherein at least one workspace 44 carries out sub-material, other workspaces 44 charge, and the work of sub-material and charging carries out simultaneously, and one
After the physics sub-material of a workspace 44, then to be moved to feeding distribution mechanism 50 right by the workspace 42 equipped with material for movable base plate 42
The position answered saves the production time in this way, charging and sub-material can be carried out continuously, and improves production efficiency.
As shown in Figures 1 to 5, feeding distribution mechanism 50 includes the material frame 51 and liftout part 52, Yi Jian being installed in rack 20
Loaded on the suction part 53 and card column 54 on material frame 51.Liftout part 52 includes liftout driver 55 and the top for connecting liftout driver 55
Plate 56, the upper end of top plate 56 pass through the upper surface of the prominent rack 20 of movable through-hole.Expect that the middle part of frame 51 is equipped with liftout through-hole 57,
Suction part 53 and card column 54 are installed on the position close to the edge of liftout through-hole 57.In working condition, liftout through-hole 57 and wherein
The position of one feeding through-hole 41 is corresponding with the movable position of through-hole, and liftout part 52 is located at the lower section of liftout through-hole 57.
Liftout driver 55 can be cylinder or oil cylinder, the piston rod that top plate 56 connects cylinder or oil cylinder extend and retract and
Movement.
In one embodiment, when bottom plate 42 is equipped with multiple workspaces 44, rack 20 is equipped with the second track 22, expects frame
51 bottom is equipped with the second sliding block (not shown), and the second sliding block is flexibly connected the second track 22, for frame 51 will to be expected in multiple works
Make the movement that replaces between area 44.Liftout part 52 is installed on the position of one workspace 44 of correspondence of rack 20, that is, takes one of them
The position of workspace 44 is as sub-material position, is suspended state when expecting frame 51 far from the sub-material position.More preferably, liftout part
52 can be set in middle part.
In one embodiment, card column 54 includes the fixture block 59 of cylinder 58 and elastic connection cylinder 58, the prominent cylinder of fixture block 59
58 outer surface, and part triangular shape outstanding, the triangle are right angled triangle, and the side of cylinder 58 is right angle three
Angular right-angle side, another right-angle side forms support face, and its end face is higher than the position of bevel edge.
In one embodiment, fixture block 59 connects cylinder 58 by spring, when by external force, spring contraction, and fixture block 59
With the contraction of spring in retraction cylinder 58, material is allow to be drawn the top for rising to support face by suction part 53.Then
Suction part 53 unloads power, and material is placed on fixture block 59, and then blanking mechanical hand 60 takes material away, then blanking.
In one embodiment, suction part 53 is electromagnet, and the bottom face of suction part 53 is higher than the upper surface of fixture block 59, electromagnetism
Iron connects a solenoid valve, to control suction part 53 electromagnetically.
As shown in Figure 1 and Figure 6, blanking mechanical hand 60 be installed on material frame 51 on, blanking mechanical hand 60 be located at suction part 53 and
The top of card column 54.
Blanking mechanical hand 60 include binder frame 51 on bracket 61, be installed on bracket 61 transverse shifting component (figure
Do not mark), connection transverse shifting component blanking sliding block 62, connect blanking sliding block 62 Suction cup assembly 63, transverse shifting component use
In driving the movement of blanking sliding block 62, and then the drive movement of Suction cup assembly 63, blanking is carried out.
In one embodiment, transverse shifting component includes traverse driver 64 and the linear mould group for connecting traverse driver 64
65, blanking sliding block 62 connects linear mould group 65.Linear mould group 65 is equipped with slide unit and line slide rail, and slide unit can be transported along line slide rail
Dynamic, blanking sliding block 62 connects slide unit, moves with the movement of slide unit.Linear mould group 65 can for the linear mould group of synchronous belt type or
The linear mould group of ball bearing screw type, more preferably, linear mould group 65 are selected as the linear mould group of synchronous belt type.
In one embodiment, Suction cup assembly 63 includes lift actuator 66 and the connection lifting driving of connection blanking sliding block 62
The sucker 67 of device 66, lift actuator 66 is for driving 67 raising and lowering of sucker.Lift actuator 66 can be cylinder or oil
Cylinder, more preferably, lift actuator 66 be dual-rod hydraulic cylinder, i.e., lift actuator 66 tool there are two piston rod can connecting sucker 67,
Keep active force uniform, and power is steady.
In one embodiment, sucker 67 is vacuum chuck, and the air-negative-pressure absorption generated by sucker 67 is placed in card column 54
On material, so the crawl of sucker 67 does not exceed a piece of, accomplish since negative-pressure adsorption only works to the surface of top
Further inlet amount control.
In one embodiment, Suction cup assembly 63 further includes the first control valve 68 of connecting sucker 67, the first control valve of connection
68 vacuum valve 69 and the second control valve 71 for connecting lift actuator 64, vacuum valve 69 is by pipeline connection sucker 67, and first
Control valve 68 is for controlling vacuum valve 69, controlling the starting of sucker 67 and closing vacuum suction, and the second control valve 71 is for controlling
The opening and closing of lift actuator 64.In one embodiment, the first control valve 68 and the second control valve 71 are solenoid valve, can be led to
Spend the opportunity that starting and closing are controlled whether control is powered.
Above-mentioned loading and unloading manipulator device 100, material Jiang Yiduo to be processed is placed in feeding mechanism 30, and material covering is sent
Material through hole 41, then material is delivered to the position of material frame 51 by feeding mechanism 30, then the corresponding liftout through-hole 57 of feeding through-hole 41, top
The position of materials and parts 52 corresponds to the position of feeding through-hole 41 and liftout through-hole 57, and liftout part 52 acts, by the institute on feeding mechanism 30
Have and pushed up on material, until the position of card column 54, suction part 53 draws a sheet material, then material is placed in card column 54, blanking
Manipulator 60 grabs material, and material is transferred to the position of next process.Pass through liftout part 52, card column 54 and suction part 53
Cooperation, can accurate sub-material, guarantee the accurate of inlet amount, be normally carried out process, improve material utilization rate and production effect
Rate.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
A kind of embodiment of the utility model above described embodiment only expresses, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of loading and unloading manipulator device is used for loading and unloading sheet material characterized by comprising
Rack is additionally provided with movable through-hole in the rack；
Feeding manipulator, the feeding manipulator include feeding mechanism and feeding distribution mechanism, described in the feeding mechanism is flexibly connected
Rack, the feeding mechanism are equipped with feeding through-hole；The feeding distribution mechanism includes the material frame and liftout being installed in the rack
Part, and the suction part and card column that are installed on the material frame, it is prominent that the upper end of the liftout part passes through the movable through-hole
The upper surface of the rack, the middle part of the material frame are equipped with liftout through-hole, and it is logical that the suction part and card column are installed on the liftout
The peripheral position in hole；In working condition, the position of the liftout through-hole and feeding through-hole is corresponding with the movable position of through-hole,
The liftout part is located at the lower section of the liftout through-hole；And
Blanking mechanical hand, the blanking mechanical hand are installed on the material frame, the blanking mechanical hand be located at the suction part and
The top of card column.
2. loading and unloading manipulator device according to claim 1, which is characterized in that the card column includes that cylinder and elasticity connect
Connect the fixture block of the cylinder, the outer surface of the prominent cylinder of the fixture block, and part triangular shape outstanding；The suction
Part is electromagnet, and the bottom face of the suction part is higher than the upper surface of the fixture block.
3. loading and unloading manipulator device according to claim 2, which is characterized in that the liftout part includes liftout driver
And the top plate of the connection liftout driver, the upper end of the top plate pass through the upper end of the prominent rack of movable through-hole
Face.
4. loading and unloading manipulator device according to claim 1, which is characterized in that the feeding mechanism includes bottom plate and peace
Several feeding columns loaded on the bottom plate, the bottom plate are equipped at least one workspace, and the feeding through-hole is located at the work
Make the middle part in area, several feeding columns are set to the peripheral position of the feeding through-hole, the institute positioned at the same workspace
There is the feeding column to form a feeding station.
5. loading and unloading manipulator device according to claim 4, which is characterized in that the feeding mechanism further includes connection institute
The feeding driver of bottom plate is stated, the bottom plate is equipped with the first sliding block, and the rack is equipped with the first track, and first sliding block is living
Dynamic connection first track, the feeding driver are used to that the bottom plate to be driven to transport along the extending direction of first track
It is dynamic.
6. loading and unloading manipulator device according to claim 4, which is characterized in that the workspace is multiple, and along institute
State the direction of bottom plate extension and column distribution；The rack is equipped with the second track, and the bottom of the material frame is equipped with the second sliding block, institute
It states the second sliding block and is flexibly connected second track, for movement that the material frame replaces between multiple workspaces.
7. loading and unloading manipulator device according to claim 1, which is characterized in that the blanking mechanical hand includes connection institute
State the bracket on material frame, the transverse shifting component being installed on the bracket, the connection transverse shifting component blanking sliding block,
The Suction cup assembly of the blanking sliding block is connected, the transverse shifting component drives for driving the blanking slide block movement
The Suction cup assembly movement, carries out blanking.
8. loading and unloading manipulator device according to claim 7, which is characterized in that the transverse shifting component includes laterally
The linear mould group of driver and the connection traverse driver, the blanking sliding block connect the linear mould group.
9. loading and unloading manipulator device according to claim 7, which is characterized in that the Suction cup assembly includes described in connection
The lift actuator of blanking sliding block and the sucker of the connection lift actuator, the lift actuator is for driving sucker to rise
And decline.
10. loading and unloading manipulator device according to claim 9, which is characterized in that the sucker is vacuum chuck, described
Suction cup assembly further includes the first control valve for connecting the sucker, first control valve be used to control the sucker starting and
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821810855.0U CN208962031U (en) | 2018-11-05 | 2018-11-05 | Loading and unloading manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821810855.0U CN208962031U (en) | 2018-11-05 | 2018-11-05 | Loading and unloading manipulator device |
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| Publication Number | Publication Date |
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| CN208962031U true CN208962031U (en) | 2019-06-11 |
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ID=66760204
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821810855.0U Active CN208962031U (en) | 2018-11-05 | 2018-11-05 | Loading and unloading manipulator device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510396A (en) * | 2019-09-22 | 2019-11-29 | 陈烁 | Handware automatic loading/unloading equipment |
| CN112475672A (en) * | 2020-10-27 | 2021-03-12 | 武汉东焊汽车装备有限公司 | Automatic feeding equipment for small parts in automobile spare and accessory part production line |
-
2018
- 2018-11-05 CN CN201821810855.0U patent/CN208962031U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510396A (en) * | 2019-09-22 | 2019-11-29 | 陈烁 | Handware automatic loading/unloading equipment |
| CN112475672A (en) * | 2020-10-27 | 2021-03-12 | 武汉东焊汽车装备有限公司 | Automatic feeding equipment for small parts in automobile spare and accessory part production line |
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