CN108705554A - A kind of three station loading and unloading manipulators - Google Patents
A kind of three station loading and unloading manipulators Download PDFInfo
- Publication number
- CN108705554A CN108705554A CN201810878298.4A CN201810878298A CN108705554A CN 108705554 A CN108705554 A CN 108705554A CN 201810878298 A CN201810878298 A CN 201810878298A CN 108705554 A CN108705554 A CN 108705554A
- Authority
- CN
- China
- Prior art keywords
- fixing bracket
- loading
- unloading
- clamping jaw
- present
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
Abstract
The present invention relates to a kind of three station loading and unloading manipulators, including fixing bracket, three sets of grasping mechanisms are fixedly mounted on the fixing bracket, the often set grasping mechanism includes flexible pneumatic clamper, the flexible pneumatic clamper both ends are symmetrical arranged two clamping jaws, the bottom setting support shovel board of each clamping jaw.Loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes material process up and down, avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production efficiency.
Description
Technical field
The present invention relates to manipulator fields, and in particular to a kind of three station loading and unloading manipulators.
Background technology
In the existing numerically controlled lathe course of work, most of loading and unloading are of high cost by the way of artificial loading and unloading, Er Qiejing
Spend relatively low, bigger particularly with which weight, and the workpiece that diameter is thicker, manual operation is very laborious, exists
It is low to work at the same time efficiency for some potential safety problems.
Invention content
The purpose of the present invention is to provide a kind of three station loading and unloading manipulators, to solve it is in the prior art it is artificial on
Blanking work efficiency is low, there are problems that security risk.
The present invention provides a kind of three station loading and unloading manipulators, including fixing bracket, fixed peace on the fixing bracket
Three sets of grasping mechanisms are filled, the often set grasping mechanism includes flexible pneumatic clamper, and the flexible pneumatic clamper both ends are symmetrical arranged two clamping jaws,
The bottom setting support shovel board of each clamping jaw.
Further, the fixing bracket is square structure, and three sets of grasping mechanisms are connected to fixing bracket
Three sides on.
Further, it is set as V-arrangement on the inside of the clamping jaw.
Further, elastomeric pad is respectively provided on the inside of each clamping jaw, the material of the elastomeric pad is polyurethane.
Advantageous effect using aforementioned present invention technical solution is：
Loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes loading and unloading work
Sequence avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production efficiency；Clamping jaw
Inside is respectively provided with polyurethane pad, can prevent from crushing workpiece when gripping workpiece, simultaneously because urethane pad is soft material
Matter can increase contact area, increase frictional force and stability, with the setting support shovel board of clamp base at present, workpiece be avoided to slide
It falls.
Description of the drawings
Fig. 1 is three station loading and unloading manipulator structural schematic diagrams of the invention；
In attached drawing, parts list represented by the reference numerals are as follows：
1- fixing brackets, 2- stretch pneumatic clamper, 3- clamping jaws, 4- elastomeric pads, and 5- supports shovel board.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1, the present invention provides a kind of three station loading and unloading manipulators, including fixing bracket 1, the fixed branch
Three sets of grasping mechanisms are fixedly mounted on frame 1, the often set grasping mechanism includes flexible pneumatic clamper 2, and 2 both ends of flexible pneumatic clamper are symmetrical
Two clamping jaws 3, the bottom setting support shovel board 5 of each clamping jaw 3 are set.The present invention is mounted on machine by fixing bracket 1
In human arm, coordinate robot motion, the gripping and placement of two clamping jaws 3 are realized in pneumatic clamper 2 of stretching action, complete loading and unloading work
Sequence, wherein grasping mechanism stable structure and reasonable design can and diameter range wide workpiece larger with weight capacity, improve
The applicability of fixture, the bottom setting support shovel board 5 of clamping jaw 3, the cross section of shovel board is V-structure, convenient for from workpiece bottom
It penetrates, avoids the landing after workpiece is taken.
Specifically, the fixing bracket 1 is square structure, three sets of grasping mechanisms are connected to fixing bracket 1
Three sides on, three stations work at the same time, improve production efficiency.
Specifically, 3 inside of clamping jaw is set as V-arrangement, convenient for completing the crawl of workpiece.
Specifically, 3 inside of each clamping jaw is respectively provided with elastomeric pad 4, the material of the elastomeric pad 4 is polyurethane,
Urethane pad is soft materials, can increase contact area, workpiece when increasing frictional force and stability, while preventing from gripping workpiece
Damage.
To sum up, loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes
Upper and lower material process avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production effect
Rate；It is respectively provided with polyurethane pad on the inside of clamping jaw, can prevent from crushing workpiece when gripping workpiece, simultaneously because urethane pad is
Soft materials can increase contact area, increase frictional force and stability, with the setting support shovel board of clamp base at present, avoid
Workpiece slides.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (4)
1. a kind of three station loading and unloading manipulators, which is characterized in that including fixing bracket, three are fixedly mounted on the fixing bracket
Grasping mechanism is covered, the often set grasping mechanism includes flexible pneumatic clamper, and the flexible pneumatic clamper both ends are symmetrical arranged two clamping jaws, described
The bottom setting support shovel board of each clamping jaw.
2. three stations loading and unloading manipulator according to claim 1, which is characterized in that the fixing bracket is square knot
Structure, three sets of grasping mechanisms are connected on support bracket fastened three sides.
3. three stations loading and unloading manipulator according to claim 1, which is characterized in that be set as V-arrangement on the inside of the clamping jaw.
4. three stations loading and unloading manipulator according to claim 1, which is characterized in that be respectively provided on the inside of each clamping jaw
The material of elastomeric pad, the elastomeric pad is polyurethane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878298.4A CN108705554A (en) | 2018-08-03 | 2018-08-03 | A kind of three station loading and unloading manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878298.4A CN108705554A (en) | 2018-08-03 | 2018-08-03 | A kind of three station loading and unloading manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108705554A true CN108705554A (en) | 2018-10-26 |
Family
ID=63875522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810878298.4A Pending CN108705554A (en) | 2018-08-03 | 2018-08-03 | A kind of three station loading and unloading manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705554A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110511105A (en) * | 2019-09-27 | 2019-11-29 | 中国兵器装备集团自动化研究所 | The automatic coating unit of powder column for gunpowder |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066861A (en) * | 2000-08-29 | 2002-03-05 | Shinichi Saito | Hand |
| CN203650528U (en) * | 2013-12-23 | 2014-06-18 | 苏州博众精工科技有限公司 | Multifunctional mechanical manipulator gripper mechanism |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN207326545U (en) * | 2017-08-21 | 2018-05-08 | 苏州市海研电子科技有限公司 | A kind of robot charge fixture |
-
2018
- 2018-08-03 CN CN201810878298.4A patent/CN108705554A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066861A (en) * | 2000-08-29 | 2002-03-05 | Shinichi Saito | Hand |
| CN203650528U (en) * | 2013-12-23 | 2014-06-18 | 苏州博众精工科技有限公司 | Multifunctional mechanical manipulator gripper mechanism |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN207326545U (en) * | 2017-08-21 | 2018-05-08 | 苏州市海研电子科技有限公司 | A kind of robot charge fixture |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110511105A (en) * | 2019-09-27 | 2019-11-29 | 中国兵器装备集团自动化研究所 | The automatic coating unit of powder column for gunpowder |
| CN110511105B (en) * | 2019-09-27 | 2021-10-22 | 中国兵器装备集团自动化研究所有限公司 | Automatic gunpowder column coating device for gunpowder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181026 |
|
| WD01 | Invention patent application deemed withdrawn after publication |