CN210023603U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN210023603U CN210023603U CN201920695645.XU CN201920695645U CN210023603U CN 210023603 U CN210023603 U CN 210023603U CN 201920695645 U CN201920695645 U CN 201920695645U CN 210023603 U CN210023603 U CN 210023603U
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- suction
- connecting plate
- cylinder
- adapter
- head
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- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000007599 discharging Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 abstract description 40
- 238000005452 bending Methods 0.000 description 15
- 238000007493 shaping process Methods 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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Abstract
A manipulator comprises a lifting rotating base, a fixed plate and a suction mechanism arranged at the end part of the fixed plate; the fixed plate is of an L-shaped structure formed by connecting a first connecting plate and a second connecting plate, the joint of the first connecting plate and the second connecting plate is arranged on the lifting rotating base, one end of the connecting plate is provided with a first suction mechanism for sucking the reed pipe at the position of the material placing device, and the two ends of the connecting plate are provided with a second suction mechanism for sucking the reshaped reed pipe; the first suction mechanism and the second suction mechanism both comprise suction cylinders, suction heads connected with the end parts of piston rods of the suction cylinders, and adapter heads sleeved outside the piston rods and the suction heads are arranged at the end parts of cylinder barrels of the suction cylinders; the suction head is of a step-shaped structure and comprises a large head part and a small head part connected with the large head part, the large head part end of the suction head is provided with a threaded hole matched and assembled with the piston rod, and the small head part end of the suction head is provided with a magnet; the adapter tip has the constant head tank. The utility model discloses a material of two stations is accomplished to the manipulator shifts, rational in infrastructure, improvement work efficiency.
Description
Technical Field
The utility model relates to a manipulator.
Background
The magnetizable reed overlapped at the end points of the two pieces of the reed pipe is sealed in a glass tube. The reed switch (Reed switch) has the characteristics of good electrical characteristics, small volume, long service life, stable working performance and the like, so that the reed switch is widely applied to the field of automobile sensors. The reed pipe needs to be reshaped according to the operation requirement when using, if the reed pipe is bent, the traditional reed pipe reshaping is to be reshaped by manual equipment, and an operator needs to complete three steps of material discharging, pressing and material taking to produce 1 finished product, so that the problems of low production efficiency, high cost and the like are solved, and the requirement of automatic production is difficult to meet. On the other hand, when the operators discharge and take materials, the glass tube of the reed switch is easy to break, and the reed switch is damaged in a large amount in the shaping process.
Disclosure of Invention
The utility model aims at overcoming the above-mentioned not enough of prior art, and provide a manipulator, accomplish the material transfer of two stations through the manipulator, rational in infrastructure, improve work efficiency, reduce the operation degree of difficulty and product cost.
The technical scheme of the utility model is that: comprises a lifting rotary base, a fixed plate and a suction mechanism arranged at the end part of the fixed plate; the fixed plate is of an L-shaped structure formed by connecting a first connecting plate and a second connecting plate, the joint of the first connecting plate and the second connecting plate is arranged on the lifting rotating base, one end of the first connecting plate is provided with a first suction mechanism for sucking the reed switch at the position of the material placing device, and the two ends of the second connecting plate are provided with second suction mechanisms for sucking the reshaped reed switch; the first suction mechanism and the second suction mechanism both comprise suction cylinders, suction heads connected with the end parts of piston rods of the suction cylinders, and adapter heads sleeved outside the piston rods and the suction heads are arranged at the end parts of cylinder barrels of the suction cylinders; the suction head is of a step-shaped structure and comprises a large head part and a small head part connected with the large head part, the large head part end of the suction head is provided with a threaded hole matched and assembled with the piston rod, and the small head part end of the suction head is provided with a magnet; the adapter is of a stepped sleeve structure and comprises a large sleeve, a middle sleeve and a small sleeve; the adapter inner chamber is the step chamber, including big step, well step, little step, big step have with absorb cylinder end connection's screw thread, the major part of suction head is placed in the well step department of adapter inner chamber, the little head of suction head is placed in the little step department of adapter inner chamber, for the spacing face that is used for the spacing suction head stroke of absorbing the cylinder between well step and the little step, avoids suction head and tongue tube direct contact, damage tongue tube. When the dry reed pipe is sucked, the piston rod extends out, the suction head reaches the position between the middle step and the small step of the adapter, and the dry reed pipe is sucked; when the dry reed pipe is released, the piston rod contracts, the suction head is far away from the dry reed pipe, the dry reed pipe is released, and the end part of the adapter is provided with a positioning groove which is used for positioning the dry reed pipe to be sucked.
The lifting rotating base comprises an upper air cylinder, a lower air cylinder and a rotating air cylinder arranged on the upper air cylinder and the lower air cylinder, and the joint of the first connecting plate and the second connecting plate is arranged on the rotating air cylinder.
The adapter is arranged at the mounting hole on the fixing plate through a screw I; the suction cylinder is fixed with the adapter through a second screw, so that the suction cylinder is locked with the fixing plate. When the lifting rotating base works, the reed pipe at the material channel of the material placing device is moved to the positioning seat, and the reed pipe is moved out to the material box after shaping.
The utility model discloses utilize magnet absorption tongue tube pin, reduce tongue tube damage volume in the course of working to reduce product cost. The traditional reed switch shaping needs 1 skilled operator, and the productivity per hour is 750 PCS. The utility model discloses can be used to in the automatic streamlined production, accomplish the material transfer of two stations through the manipulator, the productivity is 1500PCS per hour. The utility model discloses a production efficiency improves the one time, reduces personnel's use, reduces the operation degree of difficulty.
Drawings
FIG. 1 is a schematic structural diagram of a reed switch reshaping device;
FIG. 2 is an enlarged view of portion A of FIG. 1;
fig. 3 is a schematic structural diagram of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a schematic view of an exploded assembly of the suction cylinder;
FIG. 6 is a view showing the working state of the suction cylinder with the piston rod extended;
FIG. 7 is a view showing an operation state in which the piston rod of the suction cylinder is retracted;
FIG. 8 is a schematic structural view of a discharging device;
FIG. 9 is a schematic view of the structure of the slide;
fig. 10 is an enlarged view of a portion a of fig. 9.
FIG. 11 is a schematic structural view of the feed chute;
in the figure: 1. the device comprises a material preparing plate, 2, a slideway, 3, a material feeding channel, 4, a clamping cylinder, 5, a material plate, 6, a suction cylinder, 7, a magnetic plate, 8, a reinforcing magnetic block, 9, a guide cylinder, 10, a positioning seat, 11, a bending cylinder, 12, a limiting boss, 101, a fixing part, 102, a positioning table, 13, a working table, 401, a clamping plate, 901, an auxiliary guide rod, 902, a conveying and guide plate, 14, an upper cylinder, a lower cylinder, 15, a rotating cylinder, 16, a fixing plate, 17, an adapter, 18, a surface, 19, a forming surface, 20, a suction head, 21 and an adjusting rod.
Detailed Description
In fig. 1, 2, 3 and 4, the reed pipe shaping device comprises a discharging device, a positioning device, a manipulator for transferring the reed pipe and a shaping device.
The blowing device includes slide 2, be located slide 2 upper end and be equipped with charging tray 1, be located the feeding way 3 of 2 lower extremes of slide, and the feeding is said and is said for the magnetic suspension material, including two fixed flitchs, adsorb in the magnetic sheet 7 in the fixed flitch outside, adsorb in the enhancement magnetic path 8 in the middle part of the magnetic sheet 7 outside.
The positioning device comprises a guide cylinder 9 which is a pneumatic finger, and a positioning seat 10 is arranged between clamping fingers of the guide cylinder 9. The two positioning seats 10 correspond to the two pins of the reed pipe respectively, each positioning seat 10 comprises a fixing portion 101, a positioning table 102 extends from the end portion of each fixing portion 101, a step is formed between the end portion of each fixing portion 101 and the side surface of each positioning table 102, a forming boss 12 is located on the outer side of each positioning table 102, the front end of each clamping plate 401 is located between each positioning table 102 and the forming boss 12, and the upper surface of each positioning table 102 is flush with the upper end face of the piston rod of the corresponding bending cylinder 11. The end part of a clamping finger of the guide cylinder 9 is provided with a horizontal mounting hole and a vertical mounting hole communicated with the horizontal mounting hole, an auxiliary guide rod 901 is inserted in the horizontal mounting hole, a bolt for fastening the auxiliary guide rod 901 is inserted in the vertical mounting hole, the end part of the auxiliary guide rod 901 is provided with an auxiliary guide disc 902 corresponding to two ends of two pins of the reed switch, the surface of the auxiliary guide disc 902 is provided with a gasket, and the guide rod and the guide disc are used for ensuring that the left side and the right side have the same bending distance when bending. The clamping plate 401 comprises a first vertical plate, a second vertical plate and a connecting plate connected between the first vertical plate and the second vertical plate, the front end of the first vertical plate is provided, the tail end of the first vertical plate is contacted with the end part of the piston rod of the clamping cylinder 4, and the tail end of the second vertical plate is connected with the tension spring. The inner side of the first vertical plate is provided with a yielding step for yielding the positioning table at the end part of the fixing part, and the outer side of the first vertical plate is a plane.
The manipulator comprises a lifting rotary base, a fixed plate 16 arranged on the lifting rotary base and a suction cylinder 6. The fixed plate 16 is an L-shaped structure formed by connecting a first connecting plate and a second connecting plate, the joint of the first connecting plate and the second connecting plate is arranged on the lifting rotating base, a first suction mechanism for sucking the reed switch at the position of the material placing device is arranged at one end of the connecting plate, and a second suction mechanism for sucking the reshaped reed switch is arranged at the two ends of the connecting plate. The lifting rotary base comprises an upper cylinder 14, a lower cylinder 14 and a rotary cylinder 15 arranged on the upper cylinder 14 and the lower cylinder 14, and a fixed plate 16 is arranged on the rotary cylinder 15. The adapter 17 is screwed to the mounting hole of the fixing plate 16. The end part of the cylinder barrel of the suction cylinder 6 is fixed with the adapter 17 through M10 screws, and then the suction cylinder 6, the adapter 17 and the fixing plate 16 are locked together. When the lifting rotating base works, the reed pipe at the material channel of the material placing device is moved to the positioning seat, and the reed pipe is moved out to the material box after shaping.
The shaping device comprises two clamping cylinders 4 for clamping the reed pipe pins on the positioning seat and two bending cylinders 11 for bending and clamping the reed pipe pins. The platform provided with the clamping cylinder 4 is arranged on a sliding rail which can be adjusted front and back, left and right, and the span can be adjusted by adjusting the distance between the left and right adjusting rods 21, so that different bending sizes can be realized. The bending cylinder 11 is a rotary bending cylinder, the upper end face of a piston rod of the bending cylinder 11 is provided with a forming boss 12, and the forming boss 12 is arranged at a step formed by the end part of the fixing part 101 and the side face of the positioning table 102. The forming boss 12 is of a fan-shaped column structure and comprises a face 18, a forming face 19 and an arc face, the face 18 and the forming face 19 are perpendicular and intersected planes, when the bending cylinder 11 is reset, the plane 18 is parallel to the side face of the positioning seat, and when the bending cylinder 11 rotates, the face 18 is perpendicular to the side face of the positioning seat. The forming surface 19 is used for pushing the reed switch pin to bend when the bending cylinder 11 rotates.
A feeding channel 3 of the feeding device, a lifting rotary base of the manipulator, a guide cylinder 9, a fixing part of the positioning seat, a material box 5 for placing the shaped reed pipe and a slide rail are all arranged on a workbench 13 through bolts.
In fig. 5, 6 and 7, the suction head 20 connected to the end of the piston rod of the suction cylinder 6, and the adapter 17 sleeved outside the piston rod and the suction head 20 are mounted on the end of the cylinder of the suction cylinder 6. The suction head 20 is of a step-shaped structure and comprises a large head part and a small head part connected with the large head part, the large head part end of the suction head 20 is provided with a threaded hole matched and assembled with the piston rod, and the small head part end of the suction head 20 is provided with a magnet. The adapter 17 is of a stepped sleeve structure and comprises a large sleeve, a middle sleeve and a small sleeve; the inner cavity of the adapter 17 is a step cavity and comprises a large step, a middle step and a small step, the large step is provided with a thread connected with the end of a cylinder barrel of the suction cylinder, the large head of the suction head 20 is arranged at the middle step of the inner cavity of the adapter 17, the small head of the suction head 20 is arranged at the small step of the inner cavity of the adapter 17, and a limiting surface for limiting the stroke of the suction head 20 of the suction cylinder is arranged between the middle step and the small step, so that the suction head 20 is prevented from being in direct contact with the reed pipe to damage the reed pipe. When the dry reed pipe is sucked, the piston rod extends out, the suction head 20 reaches the position between the step and the small step in the adapter 17, and the dry reed pipe is sucked; when the dry reed pipe is released, the piston rod contracts, the suction head 20 is far away from the dry reed pipe, the dry reed pipe is released, and the end part of the adapter 17 is provided with a positioning groove which is used for positioning the dry reed pipe to be sucked. When the piston rod of the suction cylinder 6 is extended, the magnet of the small-head end of the suction head 20 is located in the adapter 17.
In fig. 8, 9, 10 and 11, the emptying device comprises a slide 2, a material preparation tray 1 located at the upper end of the slide 2, and a material feeding channel 3 located at the lower end of the slide 2, wherein the material feeding channel is a magnetic suspension material channel, the material feeding channel comprises two fixed material plates, a magnetic plate 7 adsorbed on the outer sides of the fixed material plates, and a reinforcing magnetic block 8 adsorbed on the middle part of the outer side of the magnetic plate 7. The size of the magnetic plate is 100 × 50 × 5mm, and the size of the reinforcing magnetic block is 15mm in diameter and 3mm in thickness. The distance between the two fixed material plates is 45mm, and the distance between the two fixed material plates is 2-5mm longer than the length of the reed pipe. The lower part of the stock preparation disc 1 is provided with a bracket, and the lower end of the bracket is provided with a pulley. The support includes a central support column, three struts 205 connected to the lower portion of the central support column, and an auxiliary strut 206 connected between each strut 205 and the central support column 204. The slideway 2 comprises a sliding plate 201 which is obliquely arranged and material baffle plates 202 which are vertically arranged on two sides of the sliding plate, the tail end of the sliding plate 201 is provided with an auxiliary sliding plate 203 which is convenient for a reed pipe to enter a material channel, the auxiliary sliding plate 203 is horizontally arranged, the two sides of the auxiliary sliding plate 203 are vertically provided with auxiliary material baffle plates 208, and the auxiliary sliding plate 203 corresponds to the material inlet channel 3. The middle part of supplementary slide 203 and pan feeding 3 is corresponding, and supplementary slide 203 is unanimous with the material of slide 201, all is SUS304 stainless steel, and supplementary slide 203 and slide 201 welded fastening have a plurality of protruding muscle 207 that set up and be parallel to each other along the smooth material direction on supplementary slide 203 surface, and protruding muscle 207 is the guide.
The utility model discloses an use step as follows:
1. and (5) discharging. A plurality of reed switches stacked in the material preparation disc 1 are randomly selected and pushed to the slide way 2 in batches, the reed switches enter a material preparation area filled with a magnetic field along the slide way 2 through the auxiliary slide plate, and under the action of an external magnetic field, the reed switches automatically and orderly suspend in the material inlet channel 3, so that manual placement action is omitted. Because the reinforcing magnetic block 8 is added to the middle section of the feeding channel 3, the magnetic field intensity of the middle section is higher than that of other parts, and then the reed pipes of the middle section are denser than those of other parts. After the middle section part of the reed pipe is sucked, the reed pipe in the weaker magnetic field area can be sucked to the middle section, so that the manual placing process is omitted. Finally, the circulation of the whole mechanical action is ensured. The distance between 2 fixed material plates of the feeding channel 3 is slightly larger than the length of the reed pipe, so that the reed pipe is not stressed.
2. And (5) sucking the reed pipe. The upper and lower cylinders work and descend to a specified height, and the front suction cylinder sucks the reed pipe. The magnet is arranged at the end part of the suction head connected with the end parts of the piston rods of the front and rear suction cylinders, and the metal parts at the two ends of the reed pipe are stressed to avoid damaging the glass part. The adapter 17 is fixed with the front and rear suction cylinders through M10 screws, and the suction head is fixed with the piston rods of the front and rear suction cylinders through M5 screws. When the reed pipe is sucked, the front and rear sucking cylinders work, the adapter 17 extends out, the magnet part is close to the reed pipe, and the reed pipe is sucked up; when resetting, the adapter 17 contracts, the magnet is far away from the reed pipe, and the reed pipe is released into the shaping area. The model of the front and rear suction cylinders is CDJ2KB 10-15.
3. The reed switch is placed in the shaping area. The upper and lower cylinders 14 are reset to the initial height. Then the rotary cylinder 15 works, rotates 90 degrees anticlockwise, finally the upper cylinder 14 and the lower cylinder work, and descends to the position of the shaping area, and the front suction cylinder places the reed pipe in the shaping area.
4. And (5) guiding by a reed switch. The guide cylinder 9 works, the reed pipe is placed at the central position of the shaping area, and then the guide cylinder 9 resets and returns to the initial position.
5. The reed pipe is bent. Firstly, the clamping cylinder 4 works to clamp the reed pipe, then the upper cylinder and the lower cylinder reset to return to the initial height, finally the left-right bending cylinder 11 rotates for 90 degrees at the same time to shape the reed pipe, and meanwhile, the rotating cylinder 15 resets to return to the initial position. The front clamping cylinder is located right above the feeding channel 3, and the rear clamping cylinder is located right above the shaping area.
6. The back clamping cylinder absorbs the reed pipe. The upper and lower cylinders 14 work firstly, the lower cylinder descends to a shaping area, then the left and right bending cylinders 11 reset and return to the initial position, the clamping cylinder 4 resets and returns to the initial position, and finally the rear suction cylinder sucks up the reed pipe.
7. And (5) feeding. The upper cylinder and the lower cylinder reset to return to the initial height, the rotating cylinder 15 rotates 90 degrees anticlockwise, and the rear suction cylinder releases the reed pipe on the material tray 5.
Claims (3)
1. A manipulator, its characterized in that: comprises a lifting rotary base, a fixed plate (16) and a suction mechanism arranged at the end part of the fixed plate (16); the fixed plate (16) is of an L-shaped structure formed by connecting a first connecting plate and a second connecting plate, the joint of the first connecting plate and the second connecting plate is arranged on the lifting rotating base, one end of the first connecting plate is provided with a first suction mechanism for sucking the reed pipe at the discharging device, and the two ends of the second connecting plate are provided with a second suction mechanism for sucking the reshaped reed pipe; the first suction mechanism and the second suction mechanism both comprise suction cylinders (6), suction heads (20) connected with the end parts of piston rods of the suction cylinders (6), and adapters (17) sleeved outside the piston rods and the suction heads (20) are arranged at the end parts of cylinder barrels of the suction cylinders (6); the suction head (20) is of a step-shaped structure and comprises a large head part and a small head part connected with the large head part, the large head part end of the suction head (20) is provided with a threaded hole matched and assembled with the piston rod, and the small head part end of the suction head (20) is provided with a magnet; the adapter (17) is of a stepped sleeve structure and comprises a large sleeve, a middle sleeve and a small sleeve; the inner cavity of the adapter (17) is a step cavity and comprises a large step, a middle step and a small step, the large step is provided with a thread connected with the end of a cylinder barrel of the suction cylinder, the large head part of the suction head (20) is arranged at the middle step of the inner cavity of the adapter (17), the small head part of the suction head (20) is arranged at the small step of the inner cavity of the adapter (17), and a limiting surface used for limiting the stroke of the suction head (20) of the suction cylinder is arranged between the middle step and the small step.
2. The robot hand according to claim 1, wherein: the lifting rotating base comprises an upper air cylinder (14), a lower air cylinder (14) and a rotating air cylinder (15) arranged on the upper air cylinder (14) and the lower air cylinder (14), and the joint of the first connecting plate and the second connecting plate is arranged on the rotating air cylinder (15).
3. The robot hand according to claim 1, wherein: the adapter (17) is arranged at the mounting hole on the fixing plate (16) through a screw I; the suction cylinder (6) is fixed with the adapter (17) through a second screw.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201920695645.XU CN210023603U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201920695645.XU CN210023603U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm |
Publications (1)
Publication Number | Publication Date |
---|---|
CN210023603U true CN210023603U (en) | 2020-02-07 |
Family
ID=69365611
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201920695645.XU Active CN210023603U (en) | 2019-05-15 | 2019-05-15 | Mechanical arm |
Country Status (1)
Country | Link |
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CN (1) | CN210023603U (en) |
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2019
- 2019-05-15 CN CN201920695645.XU patent/CN210023603U/en active Active
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: 441000 No.85 Airport Road, high tech Zone, Xiangyang City, Hubei Province Patentee after: Xiangyang Donghe Electronic Technology Co.,Ltd. Country or region after: China Address before: 441000 No.85 Airport Road, high tech Zone, Xiangyang City, Hubei Province Patentee before: XIANGYANG DONGHE ELECTRONIC TECHNOLOGY Co.,Ltd. Country or region before: China |