CN212372550U

CN212372550U - Manipulator clamping tool

Info

Publication number: CN212372550U
Application number: CN202021320986.8U
Authority: CN
Inventors: 宋建辉; 周佳; 高翔
Original assignee: Chongqing Zhongli Kairui Auto Parts Co ltd
Current assignee: Chongqing Zhongli Kairui Auto Parts Co ltd
Priority date: 2020-07-08
Filing date: 2020-07-08
Publication date: 2021-01-19
Anticipated expiration: 2030-07-08

Abstract

The utility model relates to the technical field of mechanical tools, a manipulator clamping tool is disclosed, including embedding frock, location frock and arm, the location frock is installed on the arm, the embedding frock includes frock body and the drive arrangement who drives the frock body and remove, the frock body includes frock support and the inserts of setting on the frock support place the platform, the inserts is placed and is provided with a plurality of inserts places the position that is used for placing metal inserts on the platform, inserts place the position and be equipped with the inserts setting element that is used for realizing the location to metal inserts; the utility model provides a pair of manipulator centre gripping frock can realize the quick pre-buried to metal insert, and the security that has improved the operation simultaneously can realize taking out to the injection molding greatly, has guaranteed the continuity of production, has improved work efficiency.

Description

Manipulator clamping tool

Technical Field

The utility model relates to a mechanical frock technical field, concretely relates to manipulator centre gripping frock.

Background

At present, the front end frame of the front engine room of the automobile mostly adopts a plastic frame to replace an original metal frame, and a plurality of counter-parts including an air inlet manifold, a washing kettle, a front horn, an anti-collision beam, a bumper, a grille, a cooling module, a front cover lock and the like are required to be carried on the frame, so as to meet the requirement of carrying so many parts, the front end frame is required to be designed with a plurality of mounting points to be matched with the counter-parts, each mounting point is required to embed the corresponding metal insert into the plastic, the traditional method is required to manually place the metal insert into a mold for injection molding, before the product injection molding preparation, a worker needs to walk into injection molding equipment when the mold is opened, then manually place the metal insert into the mold, the production efficiency of manually placing the metal insert is slow, in addition, because the action of the embedded metal insert is directly operated manually, certain personnel safety hidden danger exists during the placement of the metal insert, and traditional injection molding takes out and needs to carry out other operations, wastes time and energy, is difficult to accomplish the continuity that inserts are pre-buried and the injection molding takes out a whole set of production processes, and production efficiency is not high.

SUMMERY OF THE UTILITY MODEL

To the problem that exists among the above-mentioned prior art, the utility model provides a manipulator centre gripping frock can realize the quick pre-buried to metal insert, and the security that has improved the operation greatly can realize simultaneously taking out the injection molding, has guaranteed the continuity of production, has improved work efficiency.

The utility model discloses the technical scheme who adopts does:

a manipulator clamping tool comprises an embedding tool, a positioning tool and a mechanical arm, wherein the positioning tool is installed on the mechanical arm, the embedding tool comprises a tool body and a driving device for driving the tool body to move, the tool body comprises a tool support and an insert placing table arranged on the tool support, a plurality of insert placing positions for placing metal inserts are arranged on the insert placing table, and insert positioning pieces for positioning the metal inserts are arranged at the insert placing positions;

the location frock is including being used for placing the inserts first positioning mechanism that the metal insert of bench took off and the second positioning mechanism who is used for taking out the injection molding, first positioning mechanism includes first supporter and a plurality of inserts remove device of setting on first supporter, the position one-to-one is placed with the inserts to the inserts remove device, second positioning mechanism includes the second supporter and sets up a plurality of setting elements that are used for carrying out the multiple spot location to the injection molding on the second supporter.

The design of embedding frock, it is mainly in order to realize the conveying to metal insert, corresponding, install the location frock on the arm mainly be in order to place the metal insert that the embedding frock was placed to the manual work and move the position that the mould corresponds and with the inserts pre-buried in the mould through the arm after shifting to the location frock on, realize the automatic pre-buried installation to metal insert.

Specifically, the tool body can move under the drive of the driving device, the moving path comprises two positioning points of an insert mounting station and an insert conveying station, when the tool body moves to the insert mounting station, a worker mounts the metal insert at the corresponding insert placing position, the insert is positioned and mounted through the corresponding insert positioning piece, after all inserts are mounted, the driving device drives the tool body to move to the insert conveying station, at the moment, the tool body is far away from the worker, then the mechanical arm is matched with the positioning tool to take the metal insert at the corresponding position on the insert placing table, the mechanical arm drives the positioning tool to move to the corresponding position of the mold, the positioning tool places the taken metal insert into the mold, the positioning tool is mainly used for taking the metal insert on the insert placing table and moving the taken metal insert to the pre-embedding position of the mold through the mechanical arm, therefore, automatic pre-embedding installation of the metal insert is realized.

Specifically, first positioning mechanism is used for placing the metal insert of bench with the inserts and takes off, and second positioning mechanism is used for taking out the injection molding, because the position one-to-one is placed to inserts remove device and inserts, can realize the accurate transfer to metal insert, because still be equipped with a plurality of setting elements on the second supporter, after mould injection moulding, then can lead to a plurality of setting elements and carry out the multiple spot location to the injection molding, then the arm realizes the transfer to the injection molding, convenient operation is swift.

To sum up, this manipulator centre gripping frock can realize the quick pre-buried to metal insert, has improved the security of operation greatly and can realize taking out injection molding simultaneously, has guaranteed the continuity of production, has improved work efficiency.

Furthermore, because the traditional placing mode easily takes place to leak, misplace, the position department is placed to the inserts is equipped with respectively and is used for detecting the metal inductor that corresponds metal insert and whether place to target in place, and the setting of metal inductor can effectively reduce the emergence number of times that metal insert neglected loading, misloading.

Furthermore, in order to realize the installation of various inserts and the transfer of the inserts in a matching manner, the insert placing positions comprise a bush placing position, a projection welding bolt placing position and an embedded nut placing position, and the insert positioning piece comprises a bush positioning piece, a projection welding bolt positioning piece and an embedded nut positioning piece; the insert taking-out device comprises a bush taking-out device, a projection welding bolt taking-out device and an embedded nut taking-out device.

Furthermore, in order to provide more positioning modes for the metal insert, the bushing positioning piece is a bushing positioning column or a bushing positioning clamp, the embedded nut positioning piece is an embedded nut positioning column or an embedded nut positioning clamp, and the projection welding bolt positioning piece comprises a positioning hole and two positioning columns symmetrically arranged at two sides of the positioning hole; the bush taking-out device comprises a clamping device for clamping the bush, the nut-embedded taking-out device comprises a clamping device for clamping an embedded nut, and the projection welding bolt taking-out device comprises a first sucker for adsorbing the projection welding bolt and two positioning pins symmetrically arranged on two sides of the first sucker.

Wherein, the clamping device of bush remove device realizes placing the clamp of bench bush to the inserts and gets, and the clamping device of embedded nut remove device realizes placing bench embedded nut's clamp to the inserts and gets, and first suction disc can place the inserts on the bench projection welding bolt adsorb the location frock on, and the whole cooperation of inserts remove device and arm realizes placing bench metal insert's the transfer to the inserts.

Further, in order to conveniently realize the clamping of the bushing or the embedded nut, the clamping device is a pneumatic clamping jaw arranged on the first support body.

Furthermore, in order to better realize the multi-point positioning of the injection molding part, the positioning part is a second suction cup.

Furthermore, in order to better realize the clamping and positioning of the bushing and the embedded nut, the bushing positioning clamp and the embedded nut positioning clamp respectively comprise two V-shaped claws which are symmetrically arranged, a positioning space is formed in an area between the two V-shaped claws, and the size of the positioning space is adapted to the size of the corresponding bushing or embedded nut.

Furthermore, in order to achieve a better positioning effect and avoid falling off in the process of transferring the metal insert, a magnetic part for adsorbing the bushing or embedding the nut is arranged at the position between the clamping jaws of the clamping device on the first supporting body, and the magnetic part is arranged at the middle position between the clamping jaws of the clamping device.

It should be noted that this magnetic part only is used for the absorption of these two kinds of metal inserts of bush and embedded nut, because the shape of bush and embedded nut all is the annular, consequently, the magnetic part adopts cylindric magnet, when the platform is placed to the inserts when location frock is close to, under the effect of magnetic force, the bush can be adsorbed on the cylindric magnet that corresponds with embedded nut, cooperate clamping device to the clamp of bush and embedded nut simultaneously, reach the effect of dual location, consequently, bush and embedded nut can not drop at the in-process of transporting, the reliability that this design has improved the location frock greatly and has transported metal insert.

Further, for convenience, when pre-burying metal insert in the mould, reduce the magnetic force of magnetic part to metal insert, be equipped with the actuating cylinder that drives that is used for driving the magnetic part removal on the first supporter, it is concrete, the magnetic part is installed on actuating cylinder's piston rod, thereby realizes the adjustment to the magnetic part position through the flexible realization that drives actuating cylinder piston rod.

After this location frock moves the mould under the drive of robotic arm and corresponds the position, drive actuating cylinder and drive magnetic part and retreat, and magnetic part weakens metal insert's magnetism, consequently, after clamping device loosens, metal insert can be adsorbed the pre-buried position that corresponds by the magnet of pre-installation on the mould to accomplish metal insert's mould is pre-buried.

Furthermore, in order to realize the matching of the placement position of the metal insert and the corresponding embedded position in the mold, the insert placement table comprises a left side positioning area, a right side positioning area and an upper end positioning area, the left side positioning area and the right side positioning area are both provided with a lining positioning piece and a projection welding bolt positioning piece, and the embedded nut positioning piece is arranged in the upper end positioning area; first supporter includes left side operation portion, right side operation portion and upper end operation portion, all be equipped with bush remove device and projection welding bolt remove device on left side operation portion and the right side operation portion, inlay nut remove device and set up on upper end operation portion.

For the convenient whole installation that realizes bush setting element and projection welding bolt setting element, left side positioning area and right side positioning area all are equipped with the mount table, be equipped with four bush setting elements and a projection welding bolt setting element on the mount table. In order to realize the matching of the positioning positions of the lining and the projection welding bolt and the corresponding embedded positions in the die, four lining positioning mechanisms and a projection welding bolt positioning mechanism are arranged on the left operating part and the right operating part.

In order to realize the matching of the placing position of the embedded nut and the corresponding embedded position in the die, the embedded nut positioning pieces are two and are symmetrically arranged in the upper end positioning area. In order to realize the matching of the positioning position of the embedded nut and the corresponding embedded position in the die, the two embedded nut positioning mechanisms are symmetrically arranged on the upper end operation part.

It should be noted that the driving device drives the tool body to move along the sliding platform, and the driving device includes a screw rod driving mechanism arranged on the sliding platform.

The tool comprises a tool body, a tool support, a tool body, a slide rail, a lead screw driving mechanism, a slide rail and a tool support, wherein the tool body is arranged on the slide rail, the slide rail is arranged on the slide platform, the lead screw driving mechanism comprises a driving motor, the lead screw and the slide rail which are arranged on the slide platform, the slide rail is symmetrically arranged on two sides of the lead screw, the driving motor drives the lead screw to rotate, a slide block which is in sliding fit with the slide rail is arranged at the bottom of the tool support, and the tool body is moved along the.

The angle between first supporter and the second supporter is the right angle and is equipped with the supporting seat between the two, the tip and the supporting seat fixed connection of arm.

Specifically, the second support body is a rectangular frame body structure, and four corner positions of the rectangular frame body structure are respectively provided with a second sucker.

In order to reduce the weight of the tool, the insert placing table and the first supporting body are provided with a plurality of weight reducing small holes.

This equipment control is controlled by PLC electronic control program, and arm equipment compiles the removal procedure, and the cooperation will be installed the accurate pre-buried position of aligning mould of location frock on the arm, realizes the pre-buried operation to the metal insert who takes off from the embedding frock, and whole pre-buried operation degree of automation is high, controls safe and reliable, has guaranteed the continuity of production, has improved the production efficiency of product.

The utility model has the advantages that: the design of embedding frock, it is mainly in order to realize the conveying to metal insert, corresponding, install the location frock on the arm mainly be in order to place the metal insert that the embedding frock was placed to the manual work and move the position that the mould corresponds and with the inserts pre-buried in the mould through the arm after shifting to the location frock on, realize the automatic pre-buried installation to metal insert.

Drawings

FIG. 1 is a schematic structural view of an embedded tool of the present invention;

fig. 2 is a schematic structural view of another insert placement table according to the present invention;

FIG. 3 is an enlarged view at A in FIG. 1;

FIG. 4 is an enlarged view at B in FIG. 2;

FIG. 5 is a schematic structural view of the embedded tool of the present invention in a working state;

fig. 6 is a schematic structural diagram of a first viewing angle of the middle positioning tool according to the present invention;

fig. 7 is a schematic structural diagram of a second viewing angle of the middle positioning tool of the present invention;

FIG. 8 is an enlarged view at C in FIG. 7;

fig. 9 is a front view of the middle positioning tool of the present invention;

fig. 10 is a schematic structural diagram of the working state of the present invention.

In the figure: embedding a tool 1; positioning the tool 2; a mechanical arm 3; a tool support 4; an insert placing table 5; a left positioning area 5.1; a right positioning area 5.2; an upper end positioning area 5.3; a first positioning mechanism 6; a second positioning mechanism 7; a first support 8; a left operating part 8.1; a right-side operation section 8.2; an upper end operating part 8.3; an insert take-out device 9; a liner take-out device 9.1; projection welding bolt take-out device 9.2; a nut-embedded taking-out device 9.3; an insert placement position 10; a second support 11; a bushing keeper 12; a bushing locator post 12.1; a liner positioning clip 12.2; projection welding bolt positioning piece 13; positioning holes 13.1; a positioning column 13.2; a nut-fitting positioning member 14; a nut-embedded positioning column 14.1; a nut-embedded positioning clamp 14.2; a first suction pad 15; a positioning pin 16; a pneumatic jaw 17; a second suction cup 18; a V-shaped jaw 19; a positioning space 20; a magnetic member 21; a drive cylinder 22; a slide platform 23; a screw rod 24; a slide rail 25; a slider 26; a support base 27; a weight-reducing eyelet 28; a mold 29.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Example 1:

as shown in fig. 1 to 10, the present embodiment provides a manipulator clamping tool, which includes an embedding tool 1, a positioning tool 2 and a mechanical arm 3, wherein the positioning tool 2 is installed on the mechanical arm 3, the embedding tool 1 includes a tool body and a driving device for driving the tool body to move, the tool body includes a tool holder 4 and an insert placing table 5 disposed on the tool holder 4, a plurality of insert placing positions 10 for placing metal inserts are disposed on the insert placing table 5, and an insert positioning element for positioning the metal inserts is disposed at the insert placing positions 10;

the positioning tool 2 comprises a first positioning mechanism 6 and a second positioning mechanism 7, the first positioning mechanism 6 is used for placing the insert on the insert placing table 5, the second positioning mechanism 7 is used for taking out the injection molding piece, the first positioning mechanism 6 comprises a first support body 8 and a plurality of insert taking-out devices 9 arranged on the first support body 8, the insert taking-out devices 9 correspond to the insert placing positions 10 in a one-to-one mode, and the second positioning mechanism 7 comprises a second support body 11 and a plurality of positioning pieces arranged on the second support body 11 and used for carrying out multi-point positioning on the injection molding piece.

The design of embedding frock 1 is mainly in order to realize the conveying to metal insert, and is corresponding, installs location frock 2 on arm 3 and mainly is in order to place the metal insert that the manual work put on embedding frock 1 and move to the position that mould 29 corresponds and with the inserts pre-buried in mould 29 through arm 3 after on locating frock 2, realizes the automatic pre-buried installation to metal insert.

Specifically, the tool body can move under the drive of the driving device, the moving path comprises two positioning points of an insert mounting station and an insert conveying station, when the tool body moves to the insert mounting station, a worker mounts the metal insert at the corresponding insert placing position 10, the insert is positioned and mounted through the corresponding insert positioning piece, after all the inserts are mounted, the driving device drives the tool body to move to the insert conveying station, at the moment, the tool body is far away from the worker, then the mechanical arm 3 is matched with the positioning tool 2 to take off the metal insert at the corresponding position on the insert placing table 5, the mechanical arm 3 drives the positioning tool 2 to move to the corresponding position of the mold 29, the positioning tool 2 places the taken-off metal insert into the mold 29, the positioning tool 2 is mainly used for taking off the metal insert on the insert placing table 5 and moving the taken-off metal insert to the pre-embedding position of the mold 29 through the mechanical arm 3, therefore, automatic pre-embedding installation of the metal insert is realized.

Specifically, first positioning mechanism 6 is used for placing the metal insert on the platform 5 with the inserts and takes off, second positioning mechanism 7 is used for taking out the injection molding, because the position 10 one-to-one is placed to inserts remove device 9 and inserts, can realize the accurate transfer to metal insert, because still be equipped with a plurality of setting elements on the second supporter 11, after 29 injection moulding of mould, then can lead to a plurality of setting elements and carry out the multiple spot location to the injection molding, then arm 3 realizes the transfer to the injection molding, convenient operation is swift.

Example 2:

this embodiment is defined by optimization based on embodiment 1 described above.

Because traditional mode of placing takes place easily and leaks to put, misplaces, and whether inserts place position 10 punishment do not is equipped with the metal inductor that is used for detecting corresponding metal insert and places the target in place, and the setting of metal inductor can effectively reduce the metal insert neglected loading, the emergence number of times of misloading.

Example 3:

In order to realize the installation of various inserts and the transfer of the inserts in a matching way, the insert placing position 10 comprises a bush placing position, a projection welding bolt placing position and an embedded nut placing position, and the insert positioning part comprises a bush positioning part 12, a projection welding bolt positioning part 13 and an embedded nut positioning part 14; the insert removal device 9 comprises a bush removal device 9.1, a projection welding bolt removal device 9.2 and a nut removal device 9.3.

Example 4:

this embodiment is defined by optimizing the above embodiment 3.

In order to provide more positioning modes for the metal insert, the bush positioning piece 12 is a bush positioning column 12.1 or a bush positioning clamp 12.2, the embedded nut positioning piece 14 is an embedded nut positioning column 14.1 or an embedded nut positioning clamp 14.2, and the projection welding bolt positioning piece 13 comprises a positioning hole 13.1 and two positioning columns 13.2 symmetrically arranged at two sides of the positioning hole 13.1; the bush take-out device 9.1 comprises a clamping device for clamping the bush, the embedded nut take-out device 9.3 comprises a clamping device for clamping the embedded nut, and the projection welding bolt take-out device 9.2 comprises a first suction cup 15 for adsorbing the projection welding bolt and two positioning pins 16 symmetrically arranged on two sides of the first suction cup 15.

Wherein, the clamping device of bush remove device 9.1 realizes placing the clamp of the bush on the platform 5 to the inserts and gets, and the clamping device of embedded nut remove device 9.3 realizes placing the clamp of the embedded nut on the platform 5 to the inserts and gets, and first sucking disc 15 can place the inserts on the projection welding bolt of platform 5 adsorbs location frock 2, and the whole cooperation of insert remove device 9 and arm 3 realizes placing the transfer of the metal insert on the platform 5 to the inserts.

Example 5:

this embodiment is defined by optimization based on embodiment 4 above.

In order to facilitate the clamping of the bushing or the insert nut, the clamping means are pneumatic clamping jaws 17 arranged on the first support body 8.

Example 6:

In order to better achieve a multi-point positioning of the injection-molded part, the positioning element is a second suction cup 18.

Example 7:

this embodiment is defined by optimization based on embodiment 4 above.

In order to better realize the clamping and positioning of the bush and the embedded nut, the bush positioning clamp 12.2 and the embedded nut positioning clamp 14.2 respectively comprise two V-shaped claws 19 which are symmetrically arranged, a positioning space 20 is formed in the area between the two V-shaped claws 19, and the size of the positioning space 20 is matched with that of the corresponding bush or embedded nut.

Example 8:

this embodiment is defined by optimization based on embodiment 4 above.

In order to achieve a better positioning effect and avoid falling off in the process of transferring the metal insert, a magnetic part 21 for adsorbing a bushing or an embedded nut is arranged at the position, between the clamping jaws of the clamping device, on the first supporting body 8, and the magnetic part 21 is arranged at the middle position between the clamping jaws of the clamping device.

It should be noted that this magnetic part 21 only is used for the absorption of these two kinds of metal inserts of bush and embedded nut, because the shape of bush and embedded nut all is the annular, consequently, magnetic part 21 adopts cylindric magnet, when location frock 2 is close to the inserts and places platform 5, under the effect of magnetic force, the bush can be adsorbed on the cylindric magnet that corresponds with embedded nut, cooperate clamping device to the clamp of bush and embedded nut simultaneously, reach the effect of dual localization, consequently, the bush can not drop with embedded nut in the in-process of transporting, the reliability of location frock 2 to the metal insert transportation has been improved greatly in this design.

Example 9:

this embodiment is defined by optimization based on embodiment 8 above.

In order to reduce the magnetic force of the magnetic member 21 on the metal insert when the metal insert is embedded into the mold 29, a driving cylinder 22 for driving the magnetic member 21 to move is arranged on the first support 8, specifically, the magnetic member 21 is installed on a piston rod of the driving cylinder 22, and the position of the magnetic member 21 is adjusted by extending and retracting the piston rod of the driving cylinder 22.

After this location frock 2 moves mould 29 corresponding position under the drive of robotic arm 3, drives actuating cylinder 22 and drives magnetic part 21 and retreat, and magnetic part 21 weakens metal insert's magnetism, consequently, after clamping device loosens, metal insert can be adsorbed to corresponding pre-buried position by the magnet of pre-assembling on the mould 29 to accomplish metal insert's mould 29 pre-burying.

Example 10:

this embodiment is defined by optimizing the above embodiment 3.

In order to realize the matching of the placing position of the metal insert and the corresponding embedded position in the die 29, the insert placing table 5 comprises a left side positioning area 5.1, a right side positioning area 5.2 and an upper end positioning area 5.3, the left side positioning area 5.1 and the right side positioning area 5.2 are both provided with a lining positioning piece 12 and a projection welding bolt positioning piece 13, and an embedded nut positioning piece 14 is arranged in the upper end positioning area 5.3; first supporter 8 includes left side operation portion 8.1, right side operation portion 8.2 and upper end operation portion 8.3, all is equipped with bush remove device 9.1 and projection welding bolt remove device 9.2 on left side operation portion 8.1 and the right side operation portion 8.2, inlays nut remove device 9.3 and sets up on upper end operation portion 8.3.

In order to facilitate the integral installation of the bushing positioning piece 12 and the projection welding bolt positioning piece 13, the left positioning area 5.1 and the right positioning area 5.2 are provided with installation tables, and the installation tables are provided with four bushing positioning pieces 12 and one projection welding bolt positioning piece 13. In order to realize the matching of the positioning positions of the bush and the projection welding bolt with the corresponding embedded positions in the die 29, four bush positioning mechanisms and a projection welding bolt positioning mechanism are respectively arranged on the left operating part 8.1 and the right operating part 8.2.

In order to realize the matching of the placing position of the embedded nut and the corresponding embedded position in the die 29, two embedded nut positioning pieces 14 are symmetrically arranged in the upper end positioning area 5.3. In order to realize the matching of the positioning position of the embedded nut and the corresponding embedded position in the die 29, two embedded nut positioning mechanisms are symmetrically arranged on the upper end operation part 8.3.

Example 11:

this embodiment is defined by optimization based on embodiment 2 described above.

It should be noted that the driving device drives the tool body to move along the sliding platform 23, and the driving device includes a screw rod 24 driving mechanism arranged on the sliding platform 23.

Specifically, lead screw 24 actuating mechanism is including installing the driving motor on sliding platform 23, lead screw 24 and slide rail 25, slide rail 25 has two and symmetry to set up in the both sides of lead screw 24, driving motor drive lead screw 24 rotates, the bottom of frock support 4 is equipped with slide rail 25 sliding fit's slider 26, driving motor starts then to realize the frock body and removes along sliding platform 23, thereby realize the reciprocal switching at two setpoint of inserts installation station and inserts conveying station, thereby realize continuous operation, and the production efficiency is improved.

The included angle between the first supporting body 8 and the second supporting body 11 is a right angle, a supporting seat 27 is arranged between the first supporting body and the second supporting body, and the end part of the mechanical arm 3 is fixedly connected with the supporting seat 27.

Specifically, the second supporting body 11 is a rectangular frame structure, and four corner positions of the rectangular frame structure are respectively provided with a second suction cup 18.

When 3 drive location frocks 2 of arm and the butt joint of embedding frock 1, second positioning mechanism 7 can not influence the work of first positioning mechanism 6, after first positioning mechanism 6 takes off all inserts from the inserts place the

platform

5, 3 actions of arm will fix a position frock 2 and remove mould 29 corresponding position, first positioning mechanism 6 begins the pre-buried action to the inserts, arm 3 waits for after the injection molding shaping, through the angle of adjustment location frocks 2, make second positioning mechanism 7 just to the injection molding, a plurality of second sucking discs 18 cooperate, the pulling injection molding, realize taking out of injection molding, later place the assigned position with the injection molding through arm 3.

In order to reduce the weight of the tool, the insert placing table 5 and the first support body 8 are provided with a plurality of lightening small holes 28.

In this embodiment, the arm is six arms, and the product takes out convenient and fast.

This equipment control is controlled by PLC electronic control program, and 3 equipment of arm are worked out and are removed the procedure, and the cooperation will be installed the accurate pre-buried position of 29 moulds of alignment of location frock 2 on arm 3, realize the pre-buried operation to the metal insert who takes off from embedding frock 1, and whole pre-buried operation degree of automation is high, controls safe and reliable, has guaranteed the continuity of production, has improved the production efficiency of product.

It should be noted that, the purpose of the design of the embedding tool 1 is mainly to facilitate the transmission of the metal insert, so as to achieve the purpose of ensuring safe production, and the specific installation position and installation manner of the metal insert can be adaptively adjusted according to production needs, which are not limited to the specific installation position and specific installation manner of the insert shown in the embodiment.

It should be noted that the purpose of the design of the positioning tool 2 is mainly to facilitate the transfer of the insert, so as to achieve the purpose of ensuring safe production, and the specific taking-out position and the taking-out mode of the insert can be adaptively adjusted according to production needs, and are not limited to the specific taking-out position and the specific taking-out mode of the insert shown in this embodiment.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. The utility model provides a manipulator centre gripping frock which characterized in that: the metal insert positioning device comprises an embedding tool, a positioning tool and an mechanical arm, wherein the positioning tool is installed on the mechanical arm, the embedding tool comprises a tool body and a driving device for driving the tool body to move, the tool body comprises a tool support and an insert placing table arranged on the tool support, a plurality of insert placing positions for placing metal inserts are arranged on the insert placing table, and insert positioning pieces for positioning the metal inserts are arranged at the insert placing positions;

2. The manipulator clamping tool of claim 1, wherein: and metal inductors for detecting whether the corresponding metal inserts are placed in place are respectively arranged at the insert placing positions.

3. The manipulator clamping tool of claim 1, wherein: the insert placing position comprises a bush placing position, a projection welding bolt placing position and an embedded nut placing position, and the insert positioning piece comprises a bush positioning piece, a projection welding bolt positioning piece and an embedded nut positioning piece; the insert taking-out device comprises a bush taking-out device, a projection welding bolt taking-out device and an embedded nut taking-out device.

4. The manipulator clamping tool according to claim 3, characterized in that: the bushing positioning piece is a bushing positioning column or a bushing positioning clamp, the embedded nut positioning piece is an embedded nut positioning column or an embedded nut positioning clamp, and the projection welding bolt positioning piece comprises a positioning hole and two positioning columns symmetrically arranged at two sides of the positioning hole; the bush taking-out device comprises a clamping device for clamping the bush, the nut-embedded taking-out device comprises a clamping device for clamping an embedded nut, and the projection welding bolt taking-out device comprises a first sucker for adsorbing the projection welding bolt and two positioning pins symmetrically arranged on two sides of the first sucker.

5. The manipulator clamping tool according to claim 4, wherein: the clamping device is a pneumatic clamping jaw arranged on the first supporting body.

6. The manipulator clamping tool of claim 1, wherein: the positioning piece is a second sucker.

7. The manipulator clamping tool according to claim 4, wherein: the bushing positioning clamp and the embedded nut positioning clamp respectively comprise two V-shaped claws which are symmetrically arranged, a positioning space is formed in an area between the two V-shaped claws, and the size of the positioning space is matched with that of a corresponding bushing or embedded nut.

8. The manipulator clamping tool according to claim 4, wherein: and a magnetic part for adsorbing the bushing or the embedded nut is arranged at a position between the clamping jaws of the clamping device on the first support body.

9. The manipulator clamping tool of claim 8, wherein: and a driving cylinder for driving the magnetic part to move is arranged on the first supporting body.

10. The manipulator clamping tool according to claim 3, characterized in that: the insert placing table comprises a left side positioning area, a right side positioning area and an upper end positioning area, wherein both the left side positioning area and the right side positioning area are provided with a lining positioning piece and a projection welding bolt positioning piece, and the embedded nut positioning piece is arranged in the upper end positioning area; first supporter includes left side operation portion, right side operation portion and upper end operation portion, all be equipped with bush remove device and projection welding bolt remove device on left side operation portion and the right side operation portion, inlay nut remove device and set up on upper end operation portion.