CN106217361B - The rubber block discharging manipulator of core assembly assemble mechanism - Google Patents
The rubber block discharging manipulator of core assembly assemble mechanism Download PDFInfo
- Publication number
- CN106217361B CN106217361B CN201610760992.7A CN201610760992A CN106217361B CN 106217361 B CN106217361 B CN 106217361B CN 201610760992 A CN201610760992 A CN 201610760992A CN 106217361 B CN106217361 B CN 106217361B
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- CN
- China
- Prior art keywords
- rubber block
- clamping jaw
- feeding
- block
- displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Abstract
The invention discloses a kind of rubber block of core assembly assemble mechanism discharging manipulators, the mechanical hand of rubber block discharging of the core assembly assemble mechanism includes two pieces of displacement backing plates, displacement connecting plate normal thereto is mounted at two ports of plane on two pieces of displacement backing plates, two pieces of displacement connecting plate relative inner faces are equipped with two rubber blocks being parallel to each other by two pairs of guide shaft supports and shift guiding axis, linear bearing is set on two rubber block displacement guiding axis, rubber block is fixed with by cylinder immobilising device on one of displacement connecting plate and shifts cylinder, it is identical with the direction of motion of rubber block displacement guiding axis that rubber block shifts cylinder, the piston rod of rubber block displacement cylinder passes through displacement connecting plate and piston rod end is fixed with rubber block by cylinder immobilising device and shifts bottom plate.By the above-mentioned means, operation of the present invention is convenient, the wear of work will not be made, work efficiency is high.
Description
Technical field
The present invention relates to field of machinery automation, more particularly to a kind of rubber block discharging machine of core assembly assemble mechanism
Tool hand.
Background technique
The trend of mechanical automation at present is increasingly apparent, during production, it usually needs together by component assembling,
Just need to convey material during assembly, traditional discharging step can make machine and workpiece generate frictional impact, cause
The wear of work, but also manual control is needed, inefficiency, in view of this, it is necessary to existing core assembly assemble mechanism
Rubber block discharging manipulator improved.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of rubber block of core assembly assemble mechanism discharge manipulator,
Its structure is simple, easy to operate, and it is convenient to discharge, and workpiece will not be made to cause to wear, and work efficiency is high, the long service life of machine, drop
Low production cost.
In order to solve the above technical problems, one technical scheme adopted by the invention is that：A kind of core assembly assembly machine is provided
The rubber block of structure discharges manipulator, and the rubber block of the core assembly assemble mechanism mechanical hand that discharges includes two pieces of displacement backing plates, and two
It is mounted on displacement connecting plate normal thereto at two ports of plane on block displacement backing plate, two pieces of displacement connecting plates are relatively interior
Side is equipped with two rubber blocks being parallel to each other by two pairs of guide shaft supports and shifts guiding axis, two rubber block displacement guiding
It is set with linear bearing on axis, rubber block is fixed with by cylinder immobilising device on one of displacement connecting plate and shifts gas
The direction of motion of cylinder, rubber block displacement cylinder and rubber block displacement guiding axis is identical, and the piston rod of rubber block displacement cylinder passes through
Displacement connecting plate and piston rod end are fixed with rubber block by cylinder immobilising device and shift bottom plate, and rubber block shifts bottom plate and two
The linear bearing being set on root rubber block displacement guiding axis is fixed, and the middle position that rubber block shifts bottom plate is equipped with a lifting
Mouthful, the two sides that hatchway is located on rubber block displacement bottom plate are mounted on feeding guiding rod bearing, and two feedings are oriented to rod bearing
It is inside respectively provided with slidable rubber block feeding guide rod, the upper end of two rubber block feeding guide rods is fixed with rubber block feeding
Clamping jaw unit；
Preferably, the rubber block feeding clamping jaw unit includes being fixed on two rubber block feedings by two mounting bases
The rubber block feeding mounting base of guide rod upper end, the lower end surface of rubber block feeding mounting base are equipped with clamping jaw folding guiding gas
Cylinder, clamping jaw folding guide cylinder are located in the hatchway on rubber block displacement bottom plate, and clamping jaw opens and closes the tailpiece of the piston rod of guide cylinder
Head is fixed with clamping jaw by cylinder connector and opens and closes guide pad, and the opposite exterior lateral sides face of clamping jaw folding guide pad is equipped with slope surface, rubber
The surrounding for being located at clamping jaw folding guide cylinder on blob of viscose feeding mounting base is equipped with clamping jaw by fixed pillar and opens and closes mounting plate,
Clamping jaw opens and closes mounting plate and is equipped with opposite opening sliding slot, and clamping jaw opens and closes at two ports of opening sliding slot opposite on mounting plate
It is mounted on guide rod fixed block normal thereto, a pair of slidable clamping jaw folding is respectively arranged on two pieces of guide rod fixed blocks and is led
To bar, the outside that two pieces of guide rod fixed blocks are located on two pairs of clamping jaw folding guide rods is set with nut, two pairs of clamping jaws
The end of folding guide rod, which is located on the inside of two pieces of guide rod fixed blocks, is respectively and fixedly provided with fixture block fixed block, and two pieces of fixture blocks are fixed
Block respectively between corresponding guide rod fixed block each pair of clamping jaw folding guide rod on be set with spring, two pieces of fixture blocks
The opposite end face of fixed block is equipped with inclined surface corresponding with the slope surface on clamping jaw folding guide pad, two pieces of fixture block fixed block phases
Guide slide is equipped with to lateral surface, the rubber block feeding clamping jaw unit further includes being fixed on plane on clamping jaw folding mounting plate
Two opposite clamping jaws open and close guide plates, the side of two clamping jaws folding guide plates is mounted on gib block normal thereto,
Two gib blocks, which can be respectively embedded on corresponding two pieces of fixture block fixed blocks, to be located in ipsilateral guide slide, two pieces of fixture blocks
The lower end surface of fixed block is mounted on the first rubber block feeding fixture block, and the relative inner face of two the first rubber block feeding fixture blocks is equal
Equipped with feeding clip slot, two the first rubber block feeding fixture blocks both pass through the opening sliding slot on clamping jaw folding mounting plate, clamping jaw folding
The lower end surface installation of mounting plate also is provided with feeding on two the second rubber block feeding fixture blocks there are two the second rubber block feeding fixture block
Clip slot, two the second rubber block feeding fixture blocks and two the first rubber block feeding fixture blocks form two rubber block feeding clamping jaws；
Preferably, the rubber block discharging manipulator of the core assembly assemble mechanism further includes being separately mounted to rubber block
Two rubber block feeding lifting cylinders at plane both ends, two rubber block feeding lifting cylinders both pass through rubber on feeding mounting base
Blob of viscose feeding mounting base and lower end pass through cylinder connector and the upper surface of rubber block displacement bottom plate is fixed.
The beneficial effects of the invention are as follows：A kind of rubber block discharging manipulator of core assembly assemble mechanism of the present invention, knot
Structure is simple, easy to operate, and it is convenient to discharge, and workpiece will not be made to cause to wear, work efficiency is high, and the long service life of machine reduces
Production cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the rubber block discharging manipulator of core assembly assemble mechanism of the present invention；
Fig. 2 is the partial structure diagram of the rubber block discharging manipulator of core assembly assemble mechanism of the present invention.
Specific embodiment
Present pre-ferred embodiments are described in detail with reference to the accompanying drawing, so as to can be easier to the advantages of invention with feature
In being readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Fig. 1 and Fig. 2 are please referred to, the embodiment of the present invention includes：
A kind of rubber block discharging manipulator of core assembly assemble mechanism, the rubber block discharging of the core assembly assemble mechanism
Manipulator includes two pieces of displacement backing plates 44171, is mounted at two ports of plane on two pieces of displacement backing plates 44171 and hangs down therewith
Straight displacement connecting plate 44172, two pieces of 44172 relative inner faces of displacement connecting plate are equipped with two by two pairs of guide shaft supports
The rubber block displacement guiding axis 44173 being parallel to each other, two rubber blocks shift and are set with linear bearing on guiding axis 44173,
Rubber block is fixed with by cylinder immobilising device on one of displacement connecting plate 44172 and shifts cylinder 44175, rubber block displacement
Cylinder 44175 is identical with the direction of motion of rubber block displacement guiding axis 44173, and the piston rod of rubber block displacement cylinder 44175 is worn
It crosses displacement connecting plate 44172 and piston rod end is fixed with rubber block by cylinder immobilising device and shifts bottom plate 44174, rubber block
The linear bearing being set on displacement bottom plate 44174 and two rubber block displacement guiding axis 44173 is fixed, and rubber block shifts bottom plate
44174 middle position is equipped with a hatchway, and the two sides that hatchway is located on rubber block displacement bottom plate 44174, which are mounted on, to be taken
Material guiding rod bearing, two feedings, which are oriented in rod bearings, is respectively provided with slidable rubber block feeding guide rod 44176, two rubbers
The upper end of blob of viscose feeding guide rod 44176 is fixed with rubber block feeding clamping jaw unit 44177；
The rubber block feeding clamping jaw unit 44177 includes that two rubber block feeding guiding are fixed on by two mounting bases
The rubber block feeding mounting base 441771 of bar upper end, the lower end surface of rubber block feeding mounting base 441771 are equipped with clamping jaw and open
Guide cylinder 441772 is closed, clamping jaw folding guide cylinder 441772 is located in the hatchway on rubber block displacement bottom plate 44174, folder
The piston rod end of pawl folding guide cylinder 441772 is fixed with clamping jaw by cylinder connector and opens and closes guide pad 441773, clamping jaw
The opposite exterior lateral sides face of folding guide pad 441773 is equipped with slope surface, is located at clamping jaw on rubber block feeding mounting base 441771 and opens and closes
The surrounding of guide cylinder 441772 is equipped with clamping jaw by fixed pillar and opens and closes mounting plate 441774, and clamping jaw opens and closes mounting plate
441774 are equipped with opposite opening sliding slot, and clamping jaw opens and closes equal at two ports of opening sliding slot opposite on mounting plate 441774
Guide rod fixed block 441775 normal thereto is installed, is respectively arranged on two pieces of guide rod fixed blocks 441775 a pair of slidable
Clamping jaw opens and closes guide rod 441776, is located at two pieces of guide rod fixed blocks 441775 on two pairs of clamping jaw folding guide rods 441776
Outside be set with nut, the end of two pairs of clamping jaws folding guide rods 441776 is located at two pieces of guide rod fixed blocks
441775 inside is respectively and fixedly provided with fixture block fixed block 441777, two pieces of fixture block fixed blocks 441777 respectively with corresponding guiding
Spring, two pieces of fixture block fixed blocks are set on each pair of clamping jaw folding guide rod 441776 between bar fixed block 441775
441777 opposite end faces are equipped with inclined surface corresponding with the slope surface on clamping jaw folding guide pad 441773, and two pieces of fixture blocks are solid
Determine 441777 opposite exterior lateral sides face of block and be equipped with guide slide, the rubber block feeding clamping jaw unit 44177 further includes being fixed on folder
Two opposite clamping jaws that pawl opens and closes plane on mounting plate 441774 open and close guide plate 441778, and two clamping jaws open and close guide plate
441778 side is mounted on gib block 441779 normal thereto, and it is right therewith that two gib blocks 441779 can be respectively embedded in
It is located in ipsilateral guide slide on the two pieces of fixture block fixed blocks 441777 answered, the lower end surface of two pieces of fixture block fixed blocks 441777 is equal
First rubber block feeding fixture block 4417710 is installed, the relative inner face of two the first rubber block feeding fixture blocks 4417710 is all provided with
There is feeding clip slot, the opening that two the first rubber block feeding fixture blocks 4417710 both pass through on clamping jaw folding mounting plate 441774 is sliding
Slot, there are two the second rubber block feeding fixture block 4417711, two the second rubbers for the lower end surface installation of clamping jaw folding mounting plate 441774
Feeding clip slot, two the second rubber block feeding fixture blocks 4417711 and two the first rubbers also are provided on blob of viscose feeding fixture block 4417711
Blob of viscose feeding fixture block 4417710 forms two rubber block feeding clamping jaws；
The rubber block discharging manipulator of the core assembly assemble mechanism further includes being separately mounted to the installation of rubber block feeding
Two rubber block feeding lifting cylinders 44178 at plane both ends, two rubber block feeding lifting cylinders 44178 on bottom plate 441771
It both passes through rubber block feeding mounting base 441771 and lower end passes through cylinder connector and shifts the upper of bottom plate 44174 with rubber block
End face is fixed.
When the rubber block discharging robot work of core assembly assemble mechanism of the present invention, rubber block feeding lifting cylinder
The up and down motion of 44178 piston rods drives two the first rubber block feeding fixture blocks in rubber block feeding clamping jaw unit 44177
4417710 and second the two pairs of rubber block feeding clamping jaws being formed of rubber block feeding fixture block 4417711 be moved to the position of feeding, folder
Pawl opens and closes guide cylinder 441772 and moves up and down so that clamping jaw folding guide pad 441773 drives two pieces of fixture block fixed blocks 441777
On two the first rubber block feeding fixture blocks 4417710 it is mobile so that two rubber blocks are clamped, rubber block shifts cylinder
44175 horizontal movements make rubber block feeding clamping jaw unit 44177 be moved to the position for placing rubber block, and machine repeats the above work
Make step.
The rubber block discharging manipulator of core assembly assemble mechanism of the present invention, structure is simple, and easy to operate, it is convenient to discharge,
Workpiece will not be made to cause to wear, work efficiency is high, and the long service life of machine reduces production cost.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (2)
- The manipulator 1. a kind of rubber block of core assembly assemble mechanism discharges, it is characterised in that：The core assembly assemble mechanism The mechanical hand of rubber block discharging includes two pieces of displacement backing plates, is mounted at two ports of plane on two pieces of displacement backing plates and hangs down therewith Straight displacement connecting plate, two pieces of displacement connecting plate relative inner faces are equipped with two by two pairs of guide shaft supports and are parallel to each other Rubber block shifts guiding axis, and two rubber blocks shift and are set with linear bearing on guiding axis, on one of displacement connecting plate Rubber block is fixed with by cylinder immobilising device and shifts cylinder, and rubber block shifts the movement side of cylinder and rubber block displacement guiding axis To identical, the piston rod of rubber block displacement cylinder passes through displacement connecting plate and piston rod end is fixed with by cylinder immobilising device Rubber block shifts bottom plate, and rubber block shifts the linear bearing being set on bottom plate and two rubber block displacement guiding axis and fixes, rubber The middle position that block shifts bottom plate is equipped with a hatchway, and the two sides that hatchway is located on rubber block displacement bottom plate, which are mounted on, to be taken Material guiding rod bearing, two feedings, which are oriented in rod bearings, is respectively provided with slidable rubber block feeding guide rod, two rubber blocks The upper end of feeding guide rod is fixed with rubber block feeding clamping jaw unit；The rubber block feeding clamping jaw unit includes by two peaces Dress seat is fixed on the rubber block feeding mounting bases of two rubber block feeding guide rod upper ends, under rubber block feeding mounting base End face is equipped with clamping jaw folding guide cylinder, and clamping jaw folding guide cylinder is located in the hatchway on rubber block displacement bottom plate, folder The piston rod end of pawl folding guide cylinder is fixed with clamping jaw by cylinder connector and opens and closes guide pad, and clamping jaw opens and closes guide pad Opposite exterior lateral sides face is equipped with slope surface, and the surrounding that clamping jaw folding guide cylinder is located on rubber block feeding mounting base passes through fixed branch Column is equipped with clamping jaw folding mounting plate, and clamping jaw opens and closes mounting plate and is equipped with opposite opening sliding slot, and clamping jaw opens and closes phase on mounting plate Pair opening sliding slot two ports at be mounted on guide rod fixed block normal thereto, filled on two pieces of guide rod fixed blocks There is a pair of slidable clamping jaw folding guide rod, is located at the outer of two pieces of guide rod fixed blocks on two pairs of clamping jaw folding guide rods Side is set with nut, and the end of two pairs of clamping jaw folding guide rods, which is located on the inside of two pieces of guide rod fixed blocks, to be respectively and fixedly provided with Fixture block fixed block, each pair of clamping jaw between corresponding guide rod fixed block opens and closes guide rod to two pieces of fixture block fixed blocks respectively On be set with spring, two pieces of opposite end faces of fixture block fixed block are equipped with corresponding with the slope surface on clamping jaw folding guide pad Inclined surface, two pieces of fixture block fixed block opposite exterior lateral sides faces are equipped with guide slide, and the rubber block feeding clamping jaw unit further includes solid Two opposite clamping jaw folding guide plates of plane on clamping jaw folding mounting plate are scheduled on, the side of two clamping jaw folding guide plates is equal Gib block normal thereto is installed, two gib blocks, which can be respectively embedded on corresponding two pieces of fixture block fixed blocks, to be located at together In the guide slide of side, the lower end surface of two pieces of fixture block fixed blocks is mounted on the first rubber block feeding fixture block, two the first rubber The relative inner face of block feeding fixture block is equipped with feeding clip slot, and two the first rubber block feeding fixture blocks both pass through clamping jaw folding installation Opening sliding slot on plate, there are two the second rubber block feeding fixture block, two the second rubbers for the lower end surface installation of clamping jaw folding mounting plate Feeding clip slot, two the second rubber block feeding fixture blocks and two the first rubber block feeding fixture block shapes also are provided on blob of viscose feeding fixture block At two rubber block feeding clamping jaws.
- The manipulator 2. rubber block of core assembly assemble mechanism according to claim 1 discharges, it is characterised in that：The iron The rubber block discharging manipulator of core assembly assemble mechanism further includes being separately mounted to plane both ends on rubber block feeding mounting base Two rubber block feeding lifting cylinders, two rubber block feeding lifting cylinders both pass through rubber block feeding mounting base and lower end Fixed by the upper surface that cylinder connector shifts bottom plate with rubber block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760992.7A CN106217361B (en) | 2016-08-30 | 2016-08-30 | The rubber block discharging manipulator of core assembly assemble mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760992.7A CN106217361B (en) | 2016-08-30 | 2016-08-30 | The rubber block discharging manipulator of core assembly assemble mechanism |
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| Publication Number | Publication Date |
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| CN106217361A CN106217361A (en) | 2016-12-14 |
| CN106217361B true CN106217361B (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610760992.7A Active CN106217361B (en) | 2016-08-30 | 2016-08-30 | The rubber block discharging manipulator of core assembly assemble mechanism |
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| CN (1) | CN106217361B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108723865A (en) * | 2018-07-09 | 2018-11-02 | 中国石油大学胜利学院 | Lifting gear and plate automatic loading and unloading device |
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| CN105881520A (en) * | 2016-05-20 | 2016-08-24 | 苏州经贸职业技术学院 | Multi-station clamping feed mechanism |
| CN206011072U (en) * | 2016-08-30 | 2017-03-15 | 吴中区横泾嘉运模具厂 | The block rubber discharging mechanical hand of core assembly assemble mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20160023213A1 (en) * | 2014-07-24 | 2016-01-28 | Accel Biotech, Inc. | Multi-channel pipette tools |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61116964A (en) * | 1984-11-09 | 1986-06-04 | Toshiba Corp | Drive device |
| CN102050329A (en) * | 2010-12-15 | 2011-05-11 | 无锡市博阳精密机械制造有限公司 | Automatic loading and unloading device for corrugated tube |
| CN202862216U (en) * | 2012-10-25 | 2013-04-10 | 成都市新筑路桥机械股份有限公司 | Manipulator used for assembling and disassembling disc-shaped or cylinder-shaped workpiece |
| CN203697002U (en) * | 2014-01-09 | 2014-07-09 | 合肥长城制冷科技有限公司 | Manipulator device capable of achieving three-dimensional motion |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN105881520A (en) * | 2016-05-20 | 2016-08-24 | 苏州经贸职业技术学院 | Multi-station clamping feed mechanism |
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| CN206011072U (en) * | 2016-08-30 | 2017-03-15 | 吴中区横泾嘉运模具厂 | The block rubber discharging mechanical hand of core assembly assemble mechanism |
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| CN106217361A (en) | 2016-12-14 |
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Effective date of registration: 20181009 Address after: 312352 9 Tonghe Road, Cao E Street, Shangyu District, Shaoxing, Zhejiang Applicant after: Zhejiang Meiqi Plastic Co. Ltd Address before: 215103 2 group of Ma Jia Cun, Heng Jing Town, Wuzhong District, Suzhou, Jiangsu Applicant before: Heng Jingjiayun mould factory, Wuzhong District |
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