CN105619155B - A kind of pneumatic, electrical coordination automatic loading and unloading device - Google Patents

Abstract

The invention discloses a pneumatic and electric automatic loading and unloading device, which is composed of a control system, a workbench, a feeding mechanism and a loading and unloading mechanism; the motor transmits the power to the conveyor belt, and the workpiece to be processed is realized through the joint action of the motor and the feeding cylinder. Reclaimer. The workpiece is pushed to the pneumatic sliding table through the workpiece pushing cylinder, and the pneumatic sliding table cooperates with the swing cylinder to realize the transmission and reversing of the workpiece. The finger-shaped air claw realizes the movement of loading and unloading under the action of the horizontal moving cylinder and the longitudinal telescopic cylinder. The finger-shaped air claw cooperates with the needle-shaped cylinder to realize the clamping, placing and positioning of the workpiece; the longitudinal telescopic cylinder cooperates with the horizontal moving cylinder to realize the horizontal and vertical movement of the loading and unloading mechanism. The control system adopts PLC+ industrial computer control to control the feeding mechanism and the loading and unloading mechanism, and realize the independent work of different mechanisms according to the needs; through the pneumatic and electrical automatic loading and unloading devices, the machine can be quickly loaded and unloaded to improve production efficiency.

Description

A pneumatic, electrical and automatic loading and unloading device

technical field

The invention relates to the field of mechanical design and automatic control, in particular to a pneumatic and electrical automatic loading and unloading device for numerical control machine tools.

Background technique

In the process of machining workpieces by CNC machine tools, it is necessary to load and unload the machine tools, so the workpieces must be clamped multiple times; at present, most of them use manual clamping, but manual clamping accuracy is low, which affects the processing quality, and The processing cost is high, the efficiency is low, and the production cycle is long. The existing automatic manipulator for loading and unloading by the six-coordinate robot is relatively expensive, and the replacement of products needs to be debugged many times, which is relatively cumbersome.

Invention patent 201420286305.9 discloses a manipulator for CNC machine tools. The manipulator includes a bracket, the control cabinet is installed on the bracket, the Y-direction propulsion mechanism is installed on the control counter surface, the vibration feeding mechanism is located on the control counter surface, the feeding mechanism is connected with the fixed bracket and installed on the control cabinet surface, and the discharge mechanism is installed on the control cabinet surface. On the other side of the feeding mechanism on the control counter, the X-direction propulsion mechanism is installed between the feeding mechanism and the discharging mechanism, a display is installed on the bracket, an oil collecting pan is installed at the discharging mechanism, and a vibrating feeding mechanism is installed below The connecting plate of the vibrating table is provided with a numerical control connecting bracket on the outside of the bracket. The manipulator uses a vibrating feeder for feeding, and the position of each feeding cannot be exactly the same, and the accuracy is not high; and the end of this type of manipulator cannot add a 45° direction active force to accurately position the L-shaped workpiece.

Contents of the invention

In order to avoid the shortcomings of the existing technology, the present invention proposes a pneumatic and electrical automatic loading and unloading device, which is an automatic loading and unloading device for CNC machine tools, and has precise clamping and positioning of workpieces, shortens the production cycle, and improves production efficiency.

The technical scheme that the present invention adopts to solve its technical problem is: comprise control system, it is characterized in that also comprising workbench, feeding mechanism, loading and unloading mechanism, described workbench provides support for each parts; Described feeding mechanism comprises motor, synchronous Pulley, synchronous belt, conveyor pulley, roller, conveyor belt, bearing mounting seat, conveyor belt mounting plate, workpiece lateral positioning plate, limit mechanism, cylinder mounting plate, material storage box, cylinder support, feeding cylinder, guide rod, push rod Mounting plate, workpiece push rod, hinge, material storage box cover, the motor is fixed on the workbench, the synchronous pulley is fixedly connected with the output shaft of the motor, the roller is matched with the bearing on the bearing mounting seat, and the conveyor pulley is fixed at the end of the roller , the conveyor pulley and the timing pulley are connected through the timing belt; the conveyor belt is installed on the conveyor belt mounting plate, and is driven with two rollers, the storage box is fixed on the cylinder mounting plate on the side of the conveyor belt, and the feeding cylinder is fixed on the cylinder through the cylinder support The mounting plate is located on the side of the material storage box, the end of the piston rod of the feeding cylinder is fixedly connected with the mounting plate of the push rod, the two guide rods pass through the round holes on the cylinder support and are respectively located on both sides of the end of the feeding cylinder, and one end of the guide rod is connected to the push rod mounting plate. The push rod mounting plate is fixedly connected, and there are many workpiece push rods distributed on the push rod mounting plate. The storage box and the storage box cover are connected by hinges. The workpiece lateral positioning plate is installed on the conveyor belt mounting plate, and the limit mechanism is fixed on the workpiece. Lateral positioning plate;

The loading and unloading mechanism includes a pneumatic slide table, a transition plate, a positioning block, a first swing cylinder, a swing cylinder plate, a limit block, a limit block mounting plate, a compression cylinder mounting seat, a workpiece positioning plate, and an air claw clamping head , connection block, second swing cylinder, swing cylinder mounting seat, adapter plate, longitudinal telescopic cylinder, feeding mechanism platform, guide plate, longitudinal cylinder mounting plate, cylinder guide rod, horizontal slide plate, guide rail, guide rod mounting plate, workpiece push Cylinder, push cylinder mounting seat, conveyor belt connecting plate, positioning plate mounting seat, compression cylinder, needle cylinder mounting seat, needle cylinder, sleeve, push rod, pressing block, intermediate connecting plate, finger air claw, lateral movement cylinder, the pneumatic sliding table is fixed on the workbench and located on the side of the end of the bearing mounting seat, the first swing cylinder is installed on the swing cylinder plate, the limit block is installed on the swing cylinder plate through the limit block mounting plate, and the transition plate is located Between the limit block and the conveyor belt, the workpiece positioning plate is welded on the positioning plate mounting seat, the positioning plate mounting seat is installed on the bearing mounting seat, the pressing cylinder is fixed on the positioning plate mounting seat through the mounting plate, and the workpiece pushing cylinder passes through the pushing cylinder The mounting seat is fixed on the top of the conveyor belt connecting plate, and the positioning block is located at the side end of the workpiece positioning plate and is opposite to the limit block; the pneumatic slide table cooperates with the swing cylinder to realize the transmission and reversing of the workpiece; the feeding mechanism platform is fixed on the workbench , the guide rail is installed on the platform of the feeding mechanism, the horizontal slide plate is located on the top of the guide rail, the horizontal slide plate cooperates with the guide rail through the slider, the guide plate is fixed on the horizontal slide plate, the horizontal moving cylinder is connected with the horizontal slide plate, and the longitudinal telescopic cylinder passes through the round hole of the guide plate Installed on the horizontal slide plate, the piston rod of the longitudinal telescopic cylinder is connected with the adapter plate, and the guide rods of the cylinder are respectively located on both sides of the longitudinal telescopic cylinder, one end of the cylinder guide rod is connected with the guide rod mounting plate, and the other end of the cylinder guide rod passes through the guide plate and the The adapter plate is connected, and the cylinder guide rod and the guide plate are in clearance fit; the longitudinal telescopic cylinder cooperates with the lateral movement cylinder to realize the lateral and longitudinal movement of the loading and unloading mechanism; the second swing cylinder is fixedly connected to the swing cylinder mounting seat On the connecting plate, the second swing cylinder is connected with the connecting block, the multi-purpose connecting plate is installed on the connecting block, the finger-shaped air claw and the needle-shaped cylinder mounting seat are connected with the intermediate connecting plate, and the clamping head of the air claw is fixed on the finger-shaped air claw Above; the needle-shaped cylinder is located in the needle-shaped cylinder mounting seat, the sleeve is located at the end of the needle-shaped cylinder mounting seat, the push rod is threaded with the end of the needle-shaped cylinder, the push rod is connected with the pressure block, the needle-shaped cylinder is connected with the finger The air claw cooperates to realize the clamping, placing and positioning of the workpiece.

The control system adopts PLC + industrial computer control to control the feeding mechanism and loading and unloading machine, and realize the independent work of different mechanisms according to the needs.

The guide rod and the circular hole on the cylinder support are clearance fit.

The push rod and the sleeve are clearance fit.

Beneficial effect

A pneumatic and electric automatic loading and unloading device proposed by the present invention consists of a control system, a workbench, a feeding mechanism, and a loading and unloading mechanism; Need to achieve independent work of different agencies. Driven by the motor, the power is transmitted to the conveyor belt through the synchronous belt. Under the joint action of the feeding cylinder and the motor, the material retrieving process is realized; the workpiece is pushed to the pneumatic sliding table through the workpiece pushing cylinder, and the pneumatic sliding table cooperates with the swing cylinder to realize the conveying and processing of the workpiece. Reversing; the finger-shaped air claw realizes the movement of loading and unloading under the action of the horizontal moving cylinder and the longitudinal telescopic cylinder; the cooperation of the finger-shaped air claw and the needle-shaped air cylinder realizes the clamping, placing and positioning of the workpiece. Through pneumatic, electric and automatic loading and unloading devices, it can realize fast loading and unloading of machine tools, improve clamping accuracy, shorten production cycle, improve efficiency and reduce production costs. At the same time, the finger-shaped air claw can realize the clamping of workpieces of different sizes, especially for the clamping of L-shaped pipe joints. The finger-shaped air claw is made of brass H65 material, which can better protect the surface of the workpiece from being damaged; Cooperating with the automatic loading and unloading device, it can also realize the clamping and processing of hexagonal and cylindrical workpieces within a certain size range.

Description of drawings

A pneumatic, electrical and automatic loading and unloading device of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a schematic diagram of the pneumatic and electric automatic loading and unloading device of the present invention.

FIG. 2 is a partial enlarged view of C in FIG. 1 .

FIG. 3 is a partial enlarged view of D in FIG. 1 .

Fig. 4 is a front view of the pneumatic and electrical automatic loading and unloading device of the present invention.

FIG. 5 is a partially enlarged view of A in FIG. 4 .

FIG. 6 is a partial enlarged view of B in FIG. 4 .

In the picture:

1. Workbench 2. Motor 3. Synchronous pulley 4. Synchronous belt 5. Conveyor pulley 6. Roller 7. Conveyor belt 8. Bearing mounting seat 9. Conveyor belt mounting seat 10. Workpiece lateral positioning plate 11. Limit mechanism 12. Cylinder Mounting plate 13. Material storage box 14. Positioning block 15. Pneumatic sliding table 16. Transition plate 17. First swing cylinder 18. Swing cylinder plate 19. Limit block 20. Limit block mounting plate 21. Compression cylinder mounting seat 22. Workpiece positioning plate 23. Air claw clamping head 24. Connection block 25. Second swing cylinder 26. Swing cylinder mounting seat 27. Adapter plate 28. Longitudinal telescopic cylinder 29. Feeding mechanism platform 30. Guide plate 31. Longitudinal Cylinder mounting plate 32. Cylinder guide rod 33. Transverse slide plate 34. Guide rail 35. Guide rod mounting plate 36. Cylinder support 37. Feeding cylinder 38. Guide rod 39. Push rod mounting plate 40. Work piece push rod 41. Hinge 42 Storage box cover 43. Workpiece push cylinder 44. Push cylinder mounting seat 45. Compression cylinder 46. Conveyor belt connecting plate 47. Positioning plate mounting seat 48. Needle cylinder mounting seat 49. Needle cylinder 50. Sleeve 51. Push rod 52. Press block 53. Intermediate connecting plate 54. Finger-shaped air claw 55. Transversely moving cylinder

detailed description

This embodiment is a pneumatic, electrical and automatic loading and unloading device.

Referring to Figures 1 to 6, the pneumatic and electrical automatic loading and unloading device of this embodiment is composed of a control system, a workbench, a feeding mechanism, and a loading and unloading mechanism; the control system is controlled by PLC + industrial computer, and controls the feeding mechanism and the loading and unloading machine. And realize the independent work of different agencies according to the needs. The table provides support for the components.

In this embodiment, the feeding mechanism includes a motor 2, a synchronous pulley 3, a synchronous belt 4, a conveyor pulley 5, a roller 6, a conveyor belt 7, a bearing mounting seat 8, a conveyor belt mounting plate 9, a workpiece lateral positioning plate 10, and a limit mechanism 11 , cylinder mounting plate 12, material storage box 13, cylinder support 36, feeding cylinder 37, guide rod 38, push rod mounting plate 39, workpiece push rod 40, hinge 41, material storage box cover 42, motor 2 is installed through the motor The board is fixed on the workbench 1, the timing pulley 3 is fixedly connected with the output shaft of the motor, the roller 6 is matched with the bearing on the bearing mounting seat 8, the transmission pulley 5 is installed at the end of the roller 6, the transmission pulley 5 and the timing pulley 3 It is connected through the synchronous belt 4; the conveyor belt 7 is installed on the conveyor belt mounting plate 9, and the conveyor belt 7 and the two rollers 6 cooperate with the transmission to realize the transmission of the workpiece. The material storage box 13 is fixedly welded on the cylinder mounting plate 12 and is located at the side of the conveyor belt 7, and the feeding cylinder 37 is fixed on the cylinder mounting plate 12 through the cylinder support 36 and is located at the side of the material storage box 13; the end of the piston rod of the feeding cylinder 37 is installed with the push rod Plate 39 is fixedly connected, and two guide rods 38 pass the circular hole on the cylinder mounting plate 36 and are respectively positioned at the both sides of feeding cylinder 37 ends, and one end of guide rod 38 is fixedly connected with push rod mounting plate 39, and push rod mounting plate 39 is distributed with A plurality of workpiece push rods 40, the circular hole on the guide rod 38 and the cylinder mounting plate 36 is clearance fit. Material storage box 13 is connected with material storage box cover 42 by hinge 41; Work piece transverse positioning plate 10 is installed on the conveyor belt mounting plate 9, and limit mechanism 11 is installed on the workpiece transverse positioning plate 10 by screw, realizes the material taking process and guarantees The location is accurate.

The loading and unloading mechanism includes a pneumatic slide table 15, a transition plate 16, a positioning block 14, a first swing cylinder 17, a swing cylinder plate 18, a limit block 19, a limit block mounting plate 20, a compression cylinder mounting seat 21, and a workpiece positioning plate 22. Positioning plate mounting seat 47, air claw clamping head 23, connecting block 24, second swing cylinder 25, swing cylinder mounting seat 26, adapter plate 27, longitudinal telescopic cylinder 28, feeding mechanism platform 29, guide plate 30, Vertical cylinder mounting plate 31, cylinder guide rod 32, horizontal slide plate 33, guide rail 34, guide rod mounting plate 35, workpiece pushing cylinder 43, pushing cylinder mounting seat 44, conveyor belt connecting plate 46, pressing cylinder 45, needle cylinder mounting seat 48. Needle-shaped cylinder 49, sleeve 50, push rod 51, pressure block 52, intermediate connecting plate 53, finger-shaped air claw 54, and lateral movement cylinder 55; the pneumatic slide table 15 is fixed on the workbench 1 and is located at the end of the conveyor belt 7 Side, the first swing cylinder 17 is installed on the swing cylinder plate 18, and the stop block 19 is installed on the swing cylinder plate 18 by the stop block mounting plate 20, and adjusts the position with the stop block 19 screws. The transition plate 16 is installed between the limit block 19 and the conveyor belt 7, the workpiece positioning plate 22 is welded on the positioning plate mounting seat 47, the positioning plate mounting seat 47 is installed on the bearing mounting seat 8, and the pressing cylinder 45 is fixed on the On the positioning plate mounting seat 47, the workpiece pushing cylinder 43 is fixed on the upper part of the conveyor belt connecting plate 46 through the pushing cylinder mounting seat 44, and the positioning block 14 is installed on the side end of the workpiece positioning plate 22 and is opposite to the limit block 19; the pneumatic slide table is matched with the swing cylinder , to realize the transmission and reversing of the workpiece. The feeding mechanism platform 29 is fixed on the workbench, the guide rail 34 is installed on the feeding mechanism platform 29 by screws, the slide block is installed on the guide rail 34, the transverse slide plate 33 cooperates with the guide rail 34 through the slide block, and the transverse movement cylinder 55 and the transverse slide plate 33 Connection, the longitudinal telescopic cylinder 28 is installed on the horizontal slide plate 33 through the guide plate 30, the longitudinal telescopic cylinder 28 is connected with the adapter plate 27, the end of the cylinder guide rod 32 is connected with the guide rod mounting plate 35, and the guide plate 30 is fixed on the horizontal slide plate 33 , Cylinder guide bar 32 and guide plate 30 clearance fits, and vertical telescoping cylinder cooperates with lateral movement cylinder 55, realizes the horizontal and vertical movement of loading and unloading mechanism. The second swing cylinder 25 is fixedly connected with the swing cylinder mounting base 26 and installed on the adapter plate 27, the second swing cylinder 25 is connected with the connection block 24, the multipurpose connection plate is installed on the connection block 24, and the finger claw 54 and the needle Shaped air cylinder mounting seat 48 is connected with connecting block 24, and air claw clamping head 23 is fixed on the finger-shaped air claw 54. The needle cylinder 49 is installed in the needle cylinder mount 48, the sleeve 50 is fixed on the end of the needle cylinder mount 48, the end of the needle cylinder is threadedly connected with the push rod and the end of the needle cylinder, and the push rod 51 is connected to the sleeve 50 is a clearance fit; the push rod 51 is connected with the briquetting block 52, and the needle-shaped cylinder cooperates with the finger-shaped air claw to realize the clamping, placement and positioning of the workpiece.

work process

Step 1. During operation, the material storage box 13 is equipped with workpieces to be processed, and the feeding cylinder 37 acts, and the piston rod of the feeding cylinder 37 drives the guide rod and the push rod to move forward. The six push rods are divided into two groups, and three workpieces to be processed are pushed out at a time. Push the workpiece to the limit plate, and compress the spring behind the limit plate. When the piston rod of the feeding cylinder 37 retracts, the workpiece is positioned in the groove on the conveyor belt 7. At this time, the motor 2 is started, and the motor 2 drives the synchronous belt transmission. The power is transmitted to the drum 6, and the drum 6 drives the conveyor belt 7 to move, and the workpiece is transferred to the workpiece positioning plate 22. When the proximity switch at the workpiece positioning plate 22 detects the workpiece to be processed, the motor 2 stops running.

Step 2, the workpiece positioning plate 22 is equipped with the piston end of the workpiece pushing cylinder 43, and the workpiece pushing cylinder 43 moves, and the workpiece positioning plate 22 positions the workpiece, and pushes it to the limit block mounting plate 20, and is connected with the limit block 19 and the pressing plate. When the clamping cylinder mounting seat 21 contacts, the clamping cylinder 45 acts to compress the parts to be processed; the workpiece push cylinder 43 retracts, the pneumatic slide table 15 moves, and the workpiece is transferred to the finger-shaped air claw 54 to pick up the material. The first swing cylinder 17 rotates 180°, the second swing cylinder 25 acts, rotates 90°, the horizontal movement cylinder 55 acts, the finger-shaped air claw 54 moves to the retrieving position and waits, the second swing cylinder 25 acts, reversely rotates 90°, and returns to normal .

Step 3: The vertically telescopic cylinder 28 moves, and the gripping head 23 of the finger-shaped air claw grabs the parts and sends them to the machine tool to prepare for loading. The air claw 54 is loosened, the needle-shaped cylinder 49 moves, the pressing block 52 presses the part downward at 45°, and is clamped by the chuck, the needle-shaped cylinder 49 is released, the lateral movement cylinder 55 moves, and the finger-shaped air claw 54 leaves the chuck. Disc gets back to original position, vertical telescopic cylinder 28 moves, and finger-shaped air claw 54 withdraws from machine tool processing place, and machine tool baffle plate is closed, and starts machine tool processing.

Step 4: After the machining of the machine tool is completed, the loading and unloading mechanism takes out the semi-finished product, the second swing cylinder 25 acts, rotates 90°, and the lateral movement cylinder 55 acts to send the workpiece to the lower side of the compression cylinder 45, passing through the limit block 19 and The compression cylinder mounting seat 21 contacts, the compression cylinder 45 compresses, the air claw is released, the lateral movement cylinder 55 acts, the finger-shaped air claw 54 moves to the waiting position, the first swing cylinder 17 rotates 90°, and the lateral movement cylinder 55 action, the finger-shaped air gripper 54 moves to the material picking position, grabs the semi-finished product, and then sends it to the machine tool for processing according to the same method.

Step 5. After the processing is completed, the vertical telescopic cylinder 28 moves to make the air claws enter the machine tool, and then moves the horizontal cylinder 55 to make the workpiece enter the clamping range of the air claws. The finger-shaped air claws 54 move, the chuck is released, and the longitudinal stretch The air cylinder 28 and the lateral movement cylinder 55 act respectively to take out the finished product, then, the finger-shaped air claw 54 is released, and the finished product is put into the storage area.

Claims (4)

1. a kind of pneumatic, electrical coordination automatic loading and unloading device, including control system, it is characterised in that:Also include workbench, send Expect mechanism, charging and discharging mechanism, the workbench provides support for each part；The feed mechanism includes motor, synchronous pulley, same Step band, transmission belt wheel, roller, conveyer belt, bearing mounting base, conveyer belt installing plate, workpiece located lateral plate, position-limit mechanism, gas Cylinder installing plate, material-storing box, cylinder saddle, feeding cylinder, guide rod, push rod installing plate, workpiece push rod, hinge, storing lid, electricity Machine is fixed on the table, and synchronous pulley is connected with motor output shaft, roller and the bearing fit on bearing mounting base, conveyer belt Wheel is fixed on the end of roller, and transmission belt wheel is connected with synchronous pulley by timing belt；Conveyer belt is arranged on conveyer belt installing plate On, and coordinating transmission with two rollers, material-storing box, which is fixed on cylinder mounting plate, is located at conveyer belt side, and feeding cylinder passes through gas Cylinder bearing, which is fixed on cylinder mounting plate, is located at material-storing box side, and feeding cylinder piston rod end is connected with push rod installing plate, and two Root guide rod is located at feeding cylinder end both sides, and guide rod one end and push rod installing plate respectively through the circular hole on cylinder saddle It is connected, many workpiece push rods is distributed with push rod installing plate, material-storing box passes through gemel connection, workpiece located lateral with storing lid Plate is arranged on above conveyer belt installing plate, and position-limit mechanism is fixed on workpiece located lateral plate；

The charging and discharging mechanism includes Pneumatic slid platform, transition flat board, locating piece, the first oscillating cylinder, oscillating cylinder flat board, spacing Block, limited block installing plate, compression cylinder mounting seat, workpiece location-plate, jaw clamping head, contiguous block, the second oscillating cylinder, swing Cylinder mounting seat, pinboard, longitudinal extension cylinder, feed mechanism platform, guide plate, longitudinal cylinder mounting plate, cylinder guidance bar, Cross slide, guide rail, guide rod installing plate, workpiece push cylinder, push cylinder mounting seat, transmission strip connecting plate, location-plate peace Fill seat, compression cylinder, aciculiform cylinder mounting seat, aciculiform cylinder, sleeve, push rod, briquetting, middle connecting plate, finger-type jaw, transverse direction Mobile cylinder, the Pneumatic slid platform, which is fixed on workbench, is located at bearing mounting base end sides, and the first oscillating cylinder is arranged on On oscillating cylinder flat board, limited block is arranged on oscillating cylinder flat board by limited block installing plate, and transition flat board is located at limited block Between conveyer belt, workpiece location-plate is welded in location-plate mounting seat, and location-plate mounting seat is arranged on bearing mounting base, pressure Tight cylinder is fixed in location-plate mounting seat by installing plate, and workpiece push cylinder is fixed on transmission by push cylinder mounting seat Strip connecting plate top, locating piece is located at workpiece location-plate side and relative with limited block；Pneumatic slid platform coordinates with oscillating cylinder, real The transmission and commutation of existing workpiece；The feed mechanism platform is fixed on the table, and guide rail is arranged on feed mechanism platform, horizontal It is located to slide plate above guide rail, cross slide is coordinated by sliding block and guide rail, and guide plate is fixed on cross slide, is laterally moved Cylinder of taking offence is connected with cross slide, and longitudinal extension cylinder is arranged on cross slide through guide plate circular hole, longitudinal extension cylinder Piston rod is connected with pinboard, and cylinder guidance bar is located at the both sides of longitudinal extension cylinder respectively, and cylinder guidance bar one end is with being oriented to Bar installing plate is connected, and the cylinder guidance bar other end is connected through guide plate with pinboard, and cylinder guidance bar is gap with guide plate Coordinate；Longitudinal extension cylinder coordinates with transverse shifting cylinder, realizes the horizontal and vertical movement of charging and discharging mechanism；Second pendulum Cylinder of taking offence is connected with oscillating cylinder mounting seat to be arranged on pinboard, and the second oscillating cylinder is connected with contiguous block, multipurpose connection Plate is arranged on contiguous block, and finger-type jaw and aciculiform cylinder mounting seat are connected with middle connecting plate, and jaw clamping head is fixed on finger In shape jaw；The aciculiform cylinder is located in aciculiform cylinder mounting seat, and sleeve is located at aciculiform cylinder mounting seat end, push rod and pin Shape cylinder head portions are threadedly coupled, and push rod is connected with briquetting, and aciculiform cylinder coordinates with finger-type jaw, realized the gripping of workpiece, are placed And positioning.

2. pneumatic, electrical coordination automatic loading and unloading device according to claim 1, it is characterised in that:The control system Controlled, feed mechanism, charging ＆ discharging machine are manipulated, and realize the independent work of different institutions as needed using PLC+ industrial computers Make.

3. pneumatic, electrical coordination automatic loading and unloading device according to claim 1, it is characterised in that:The guide rod with Circular hole on cylinder saddle coordinates for gap.

4. pneumatic, electrical coordination automatic loading and unloading device according to claim 1, it is characterised in that:The push rod and set Cylinder coordinates for gap.