CN109773561A - A kind of automation loading and unloading manipulator - Google Patents
A kind of automation loading and unloading manipulator Download PDFInfo
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- CN109773561A CN109773561A CN201910171308.5A CN201910171308A CN109773561A CN 109773561 A CN109773561 A CN 109773561A CN 201910171308 A CN201910171308 A CN 201910171308A CN 109773561 A CN109773561 A CN 109773561A
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- 239000000725 suspension Substances 0.000 claims description 14
- 238000010079 rubber tapping Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000003754 machining Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
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Abstract
A kind of automation loading and unloading manipulator, including rack, rack are equipped with Y-axis movement portion, X-axis movement portion, Z axis movement portion, executing agency, machine table, upper magazine and blanking box；Y-axis movement portion is connect with X-axis movement portion, X-axis movement portion is connect with Z axis movement portion, Z axis movement portion includes the first vertical cylinder, second vertical cylinder, Z axis piston rod, sliding connection plate and sliding drive seat, first vertical cylinder is connect with the second vertical cylinder by sliding connection plate, drive seat is slided to be set in sliding connection plate, and it is connect with X-axis movement portion, Z axis piston rod is connect with executing agency, executing agency includes pinboard, oscillating cylinder and absorbent module, the top surface of pinboard is connect with Z axis piston rod, oscillating cylinder is set on the bottom surface of pinboard, and it is connect with absorbent module, upper magazine and blanking box are symmetrically set in the two sides of rack about machine table.The configuration of the present invention is simple, occupy little space, manufacturing cost it is low.
Description
Technical field
The present invention relates to glass processing field, in particular to a kind of automation loading and unloading manipulator.
Background technique
As the production efficiency to machining tool is maximumlly pursued and the raising of cost of labor, automation loading and unloading be plus
The trend that work field continues to develop, and automated handling manipulator is to realize the automation essential part of loading and unloading, at present
On the panel machining tool of single-station or double-station, loading and unloading are generally used and are manually completed, and above and below existing single armed
Expect that manipulator production efficiency is low, structure is complicated for both arms loading and unloading manipulator, occupied space is big, and use cost is high, increases production
Cost be therefore badly in need of that a kind of structure is simple in the market, occupy little space and automation loading and unloading manipulator at low cost.
Summary of the invention
The technical problem to be solved by the present invention is to overcome drawbacks described above of the existing technology, provide a kind of structure letter
It is single, it occupies little space and automation loading and unloading manipulator at low cost.
The technical solution adopted by the present invention to solve the technical problems is a kind of automation loading and unloading manipulator, including machine
Frame, the rack are equipped with Y-axis movement portion, X-axis movement portion, Z axis movement portion, executing agency, machine table, upper magazine and blanking
Box；Y-axis movement portion is connect with X-axis movement portion, and it is driven to move back and forth in the Y-axis direction, X-axis movement portion and Z
The connection of axis movement portion, and it is driven to move back and forth in the X-axis direction, Z axis movement portion is erected including the first vertical cylinder, second
Straight cylinder, Z axis piston rod, sliding connection plate and sliding drive seat, first vertical cylinder and the second vertical cylinder pass through cunning
Dynamic connecting plate connection, the sliding drive seat is set in sliding connection plate, and is connect with X-axis movement portion, the Z axis piston rod and
Executing agency's connection, the executing agency includes pinboard, oscillating cylinder and absorbent module, the top surface of the pinboard and Z axis
Piston rod connection, the oscillating cylinder is set on the bottom surface of pinboard, and is connect with absorbent module, the upper magazine and blanking box
The two sides of rack are symmetrically set in about machine table.
Preferably, the rack is equipped with left support and right support, and Y-axis movement portion includes Y-axis straight line slide unit, Y-axis
Driver, ball-screw and Y-axis guide rod, the Y-axis straight line slide unit are set on left support, and the Y-axis guide rod is set to right branch
On frame, the Y-axis driver is set to one end of the Y direction of Y-axis straight line slide unit, and the ball-screw is connect with Y-axis driver,
The nut of the ball-screw is connect with the one end in X-axis movement portion, the other end in Y-axis guide rod connection X-axis movement portion.
Preferably, X-axis movement portion include X-axis lateral cylinder, X-axis piston rod, X-axis straight line slide unit, connection component and
Two first hydraulic bjuffers；The connection component be set to X-axis straight line slide unit both ends, and respectively with the nut of ball-screw and Y
The connection of axis guide rod, the X-axis straight line slide unit are equipped with X-axis lateral cylinder, the X-axis piston rod and cunning of the X-axis lateral cylinder
Dynamic drive seat connection, the sliding connection plate are adapted with the sliding slot on X-axis straight line slide unit, and two first hydraulic bjuffer is set
In the both ends of the sliding slot on X-axis straight line slide unit.
Preferably, the connection component includes suspension strut seat, suspension adapter and lead screw adapter；The lead screw switching
The nut of seat connection ball-screw, the suspension strut seat are connect by hanging adapter with the lower surface of Y-axis guide rod.
Preferably, the both ends connection component of the X-axis straight line slide unit is equipped with height adjusting blocks, and the height adjusting blocks are used
In the height for adjusting suspension adapter and lead screw adapter.
Preferably, the absorbent module includes two sucker disk seats, interconnecting piece, two overturning attachment bases, external tapping and vacuum chuck,
Affixed by interconnecting piece between two sucker disk seat, the two overturnings attachment base is set on interconnecting piece, the two overturnings attachment base
It is pivotally connected with the shaft of oscillating cylinder, the external tapping is set to the top of two sucker disk seats, and the vacuum chuck is set on sucker disk seat.
Preferably, the bottom surface of the pinboard is equipped with overturning limit plate, and the overturning limit plate is equipped with the first overturning
Inductor.
Preferably, the overturning limit plate is equipped with the second hydraulic bjuffer.
Preferably, the top surface of the pinboard is equipped with the second overturning inductor.
Preferably, the top surface of the pinboard is equipped with third hydraulic bjuffer.
Compared with prior art, the beneficial effects of the present invention are:
Upper magazine and blanking box are symmetrically set in rack about machine table, and two vertical cylinders are affixed by sliding connection plate, X
The first vertical cylinder of axis lateral cylinder driving is moved to the top of magazine, and oscillating cylinder driving absorbent module is overturn to vertical shape
State, the first vertical cylinder drive attached component to move down, and draw the panel to be processed being placed in magazine vertically, draw and complete
Afterwards, the first vertical cylinder drives attached component to reset upwards；The second vertical cylinder moves to machine table by sliding connection plate drive at this time
Top, oscillating cylinder driving absorbent module overturn to horizontality, the second vertical cylinder driving absorbent module move down, inhale
The machined panel lain in a horizontal plane in machine table is taken, after the completion of taking, the second vertical cylinder drives attached component to reset upwards；X-axis
Lateral cylinder drives the first vertical cylinder to be moved to the top of machine table, oscillating cylinder drive absorbent module by vertical state to
Panel machining overturning, the first vertical cylinder drive attached component to move down, panel-level to be processed are put into machine table, blowing
After the completion, the first vertical cylinder drives attached component to reset upwards；Second vertical cylinder moves to blanking box by sliding connection plate drive
Top, oscillating cylinder drives absorbent module to overturn the machined panel of horizontality, and the second vertical cylinder drives absorption group
Part moves down, and machined panel is put into blanking box vertically；Screw drive mechanism X-axis straight line slide unit be moved to next piece to
The Y-axis position of panel machining, repeats the above process, it can completes the purpose of panel automatic loading/unloading.Therefore, X-axis transverse direction gas
Cylinder completes primary driving, can realize the panel transfer of three magazine, machine table, blanking box stations, the sucker of absorbent module
Drawing section there are two setting on seat, can once draw two panels, can substantially save the loading and unloading time, promote working efficiency；X-axis, Z
Axis realizes the function of fixed point displacement using cylinder, and structure is simple, the manufacturing cost that occupies little space, can reduce manipulator, is easier to
In popularization.
Detailed description of the invention
Attached drawing be for provide it is of the invention further understand, and part of specification is constituted, with following specific reality
It applies mode to be used to explain the present invention together, but should not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is the three-dimensional figure structure schematic representation of a wherein embodiment of the invention；
Fig. 2 is the rearview of automatic loading and unloading manipulator shown in FIG. 1；
Fig. 3 is the perspective view of automatic loading and unloading manipulator shown in FIG. 1；
Fig. 4 is the status diagram of executing agency of the invention loading and unloading along the vertical direction；
Fig. 5 is status diagram of the executing agency shown in Fig. 4 along perpendicular horizontal direction loading and unloading.
Description of symbols: 10- rack, 11- left support, 12- right support；20-Y axis movement portion, 21-Y axis straight line slide unit,
22-Y axis driver, 23- ball-screw, 24-Y axis guide rod；30-X axis movement portion, 31-X axis lateral cylinder, 311-X axis piston
Bar, 32-X axis straight line slide unit, 33- connection component, 331- suspension strut seat, 332- suspension adapter, 333- lead screw adapter,
334- height adjusting blocks, the first hydraulic bjuffer of 34-；40-Z axis movement portion, the first vertical cylinder of 41-, 42 second vertical cylinders,
43-Z axis piston rod, 44- sliding connection plate, 45- slide drive seat；50- executing agency, 51- pinboard, 52- oscillating cylinder,
53- absorbent module, 531- sucker disk seat, 532- interconnecting piece, 533- overturn attachment base, 534- external tapping, 535- vacuum chuck, 54-
Limit plate is overturn, 55- first overturns inductor, the second hydraulic bjuffer of 56-, and 57- second overturns inductor, and 58- third is hydraulic
Buffer；60- machine table；The upper magazine of 70-, 71- blanking box.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Technical solution of the present invention is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only of the invention
A part of the embodiment, instead of all the embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Below in conjunction with attached drawing, the technical solution of embodiment that the present invention will be described in detail offer.
Please refer to Fig. 1-Fig. 5, the present embodiment includes rack 10, rack 10 be equipped with Y-axis movement portion 20, X-axis movement portion 30,
Z axis movement portion 40, executing agency 50, machine table 60, upper magazine 70 and blanking box 71；Y-axis movement portion 20 and X-axis movement portion 30 connect
It connects, and it is driven to move back and forth in the Y-axis direction, X-axis movement portion 30 is connect with Z axis movement portion 40, and drives it in X-direction
Upper reciprocating motion, Z axis movement portion 40 is connect with executing agency 50, and it is driven to move back and forth in the Z-axis direction, executing agency 50
Panel transfer in undertaking between magazine 70, machine table 60 and blanking box 71, upper magazine 70 is with blanking box 71 about machine table 60
The two sides of rack 10 are symmetrically set in, to realize the purpose for making full use of board 10, multiple upper magazines 70 are set side by side in Y direction
It sets, for that can carry together by panel to be processed and machined panel, therefore blanking box 71 answers phase with upper 70 quantity of magazine
Together, and position corresponds；Specifically, in the present embodiment, upper magazine 70 is two, and upper magazine 70 can also be three, four
It is a or more, it is not limited to the above examples.
Rack 10 is equipped with left support 11 and right support 12, and Y-axis movement portion 20 includes Y-axis straight line slide unit 21, Y-axis driver
22, ball-screw 23 and Y-axis guide rod 24, Y-axis straight line slide unit 21 are set on left support 11, and Y-axis guide rod 24 is set to right support
On 12, Y-axis driver 22 is set to the one end of Y-axis straight line slide unit 21 along the y axis, and ball-screw 23 is connect with Y-axis driver 22,
The nut of ball-screw 23 is connect with the one end in X-axis movement portion 30, and Y-axis guide rod 24 connects the other end in X-axis movement portion 30, Y
Axis driver 22 drives X-axis movement portion 30 on Y-axis straight line slide unit 21 and Y-axis guide rod 24 along Y-axis side by ball-screw 23
To front-rear reciprocation movement is done, the Y-axis in engineering is formed；Y-axis movement portion 20 makes X-axis movement portion by left support 11 and right support 12
30 middle part is suspended on the top of rack 10, and upper magazine 70, machine table 60 and blanking box 71 are set to X-axis movement portion 30 and rack
10, in the space that left support 11 and right support 12 are formed.
X-axis movement portion 30 includes X-axis lateral cylinder 31, X-axis piston rod 311, X-axis straight line slide unit 32,33 and of connection component
Two first hydraulic bjuffers 34；Connection component 33 is set to the both ends of X-axis straight line slide unit 32, and the nut with ball-screw 23 respectively
It is connected with Y-axis guide rod 24, X-axis straight line slide unit 32 is equipped with X-axis lateral cylinder 31, and X-axis movement portion 30 passes through X-axis lateral cylinder
The flexible driving side-to-side movement on X-axis straight line slide unit 32 of Z axis movement portion 40 of 31 piston rod 311, forms the X-axis in engineering；Two
First hydraulic bjuffer 34 is set to the both ends of the sliding slot on X-axis straight line slide unit 32, to prevent from breaking Z axis movement during the motion
Portion 40；Specifically, the both ends of X-axis straight line slide unit 32 are connect with the upper surface in Y-axis movement portion 20 or lower surface, in the present embodiment
In, connection component 33 includes suspension strut seat 331, suspension adapter 332 and lead screw adapter 333；Lead screw adapter 333 connects
The nut of ball-screw 23, suspension strut seat 331 are connect by hanging adapter 332 with the lower surface of Y-axis guide rod 24；More
Body, the both ends of X-axis straight line slide unit 32 and the junction in Y-axis movement portion 20 are equipped with height adjusting blocks 334, height adjusting blocks 334
For adjusting the height of suspension adapter 332 and lead screw adapter 333, to realize that X-axis straight line slide unit is horizontally disposed.
Z axis movement portion 40 includes the first vertical cylinder 41, the second vertical cylinder 42, Z axis piston rod 43, sliding connection plate 44
With sliding drive seat 45, the first vertical cylinder 41 is connect with the second vertical cylinder 42 by sliding connection plate 44, slides drive seat
45 are set in sliding connection plate 44, and connect with the X-axis piston rod 311 of X-axis lateral cylinder 31, and sliding connection plate 44 and X-axis are straight
Sliding slot on line slide unit 32 is adapted, and piston rod 311 is flexible to drive the left and right on X-axis straight line slide unit 32 of sliding connection plate 44 to slide
It is dynamic；In the present embodiment, sliding connection plate 44 uses integrally formed connecting plate, is selected according to the specification of upper magazine 70 difference
The sliding connection plate 44 of different length specification, to guarantee between the length of sliding connection plate 44 and upper magazine 70 and machine table 60
Distance is consistent；Sliding connection plate 44 can also be the expansion plate of adjustable length, be adjusted according to the specification of upper magazine 70 difference
Collapsing length, to guarantee that one end of sliding connection plate 44 corresponds to magazine center, the other end corresponds to the center of machine table；
Z axis piston rod 43 is connect with executing agency 50, and Z axis movement portion 40 is held by flexible drive of Z axis piston rod 43 of two vertical cylinders
Row mechanism 50 moves up and down, and forms the Z axis in engineering.
Executing agency 50 includes pinboard 51, oscillating cylinder 52 and absorbent module 53, top surface and the Z axis piston of pinboard 51
Bar 43 is affixed, and oscillating cylinder 52 is set on the bottom surface of pinboard 51, and is connect with absorbent module 53, to drive absorbent module 53 to exist
Horizontal direction and vertical direction realize overturning；Specifically, absorbent module 53 includes two sucker disk seats 531, the overturning of interconnecting piece 532, two
Attachment base 533, external tapping 534 and vacuum chuck 535, more specifically, passing through connection between two sucker disk seats 531 in the present embodiment
Portion 532 is affixed, and two sucker disk seats 531 are in order to corresponding to two panel stacking cavities on upper magazine 70 and blanking box 71, sucker disk seat 531
Quantity can also be for three, four or more, be not limited to the above examples, the panel stacking cavity quantity of corresponding magazine
It should be consistent with the quantity of sucker disk seat 531；Interconnecting piece 532 is equipped with two overturning attachment bases 533, two overturning attachment bases 533 and swing
The shaft of cylinder 52 is pivotally connected, and vacuum chuck 535 is set on sucker disk seat 531, and the inside of sucker disk seat 531 offers progress vacuum and sucks
Vacuum passage, one end of vacuum passage connect with extraneous vacuum generator, the vacuum passage with and extraneous vacuum generator
The other end of the external tapping 534 of connection, vacuum passage is connected to vacuum chuck 535, and multiple vacuum chucks 535 are on sucker disk seat 531
In the arrangement of radiation, effect is preferably sucked to reach.
For the panel for protecting two sucker disk seats 531 to draw and the flip angle for detecting two sucker disk seats 531, the bottom of pinboard 51
Face is equipped with overturning limit plate 54, and overturning limit plate 54 is equipped with the first overturning inductor 55 and the second hydraulic bjuffer 56, turns
The top surface of fishplate bar 51 is equipped with the second overturning inductor 57 and third hydraulic bjuffer 58.
The working principle of the invention:
Y-axis movement portion 20 drives 32 front-rear reciprocation movement of X-axis straight line slide unit by Y-axis driver 22 and screw mechanism 23,
Form the Y-axis in engineering；The first vertical cylinder of flexible driving that X-axis movement portion 30 passes through the piston rod 311 of X-axis lateral cylinder 31
41 side-to-side movements form the X-axis in engineering；Z axis movement portion 40 is stretched by the Z axis piston rod 43 of two vertical cylinders drives execution
Mechanism 50 moves up and down, and forms the Z axis in engineering.
Upper magazine 70 is symmetrically set in rack 10 with blanking box 71 about machine table 60, and two vertical cylinders are by being slidably connected
Plate 44 is affixed, and X-axis lateral cylinder 31 drives the first vertical cylinder 41 to be moved to the top of magazine 70, and oscillating cylinder 52, which drives, to be inhaled
To vertical state, the first vertical cylinder 41 drives attached component 53 to move down, and draws and is placed on feeding vertically for the attached overturning of component 53
Panel to be processed in box 70, after the completion of absorption, the first vertical cylinder 41 drives attached component 53 to reset upwards；Second is vertical at this time
Cylinder 42 is driven the top for moving to machine table 60 by sliding connection plate 44, and oscillating cylinder 52 drives the overturning of absorbent module 53 to level
State, the second vertical cylinder 42 driving absorbent module 53 move down, and draw the machined surface lain in a horizontal plane in machine table 60
Plate, after the completion of taking, the second vertical cylinder 42 drives attached component 53 to reset upwards.
X-axis lateral cylinder 31 drives the first vertical cylinder 41 to be moved to the top of machine table 60, and oscillating cylinder 52, which drives, to be inhaled
Attached component 53 overturns the panel to be processed of vertical state, and the first vertical cylinder 41 drives attached component 53 to move down, will be to be added
Work panel-level is put into machine table 60, and after the completion of blowing, the first vertical cylinder 41 drives attached component 53 to reset upwards；Second is perpendicular
Straight cylinder 42 is driven the top for moving to blanking box 71 by sliding connection plate 44, and oscillating cylinder 52 drives absorbent module 53 will be horizontal
The machined panel of state is overturn, and the second vertical cylinder 42 driving absorbent module 53 moves down, and machined panel is put into vertically
In blanking box 71.
Screw mechanism 23 drives X-axis straight line slide unit 32 to be moved to the Y-axis position of next piece of panel to be processed, repeats above-mentioned mistake
Journey, it can complete the purpose of panel automatic loading/unloading.Therefore, X-axis lateral cylinder completes primary driving, can realize feeding
The panel transfer of box, three machine table, blanking box stations, sets that there are two drawing sections on the sucker disk seat of absorbent module, can once inhale
Two panels are taken, can substantially be saved the loading and unloading time, working efficiency is promoted；X-axis, Z axis realize the function of fixed point displacement using cylinder
Can, structure is simple, the manufacturing cost that occupies little space, can reduce manipulator, it is easier to promote.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of automation loading and unloading manipulator, including rack (10), it is characterised in that: the rack (10) is transported equipped with Y-axis
Dynamic portion (20), X-axis movement portion (30), Z axis movement portion (40), executing agency (50), machine table (60), upper magazine (70) and blanking
Box (71)；Y-axis movement portion (20) is connect with X-axis movement portion (30), and it is driven to move back and forth in the Y-axis direction, the X
Axis movement portion (30) is connect with Z axis movement portion (40), and it is driven to move back and forth in the X-axis direction, Z axis movement portion (40)
Including the first vertical cylinder (41), the second vertical cylinder (42), Z axis piston rod (43), sliding connection plate (44) and sliding driving
Seat (45), first vertical cylinder (41) are connect with the second vertical cylinder (42) by sliding connection plate (44), the sliding
Drive seat (45) is set on sliding connection plate (44), and is connect with X-axis movement portion (30), the Z axis piston rod (43) and execution
Mechanism (50) connection, the executing agency (50) includes pinboard (51), oscillating cylinder (52) and absorbent module (53), and described turn
The top surface of fishplate bar (51) is connect with Z axis piston rod (43), and the oscillating cylinder (52) is set on the bottom surface of pinboard (51), and with
Absorbent module (53) connection, the upper magazine (70) are symmetrically set in the two of rack (10) about machine table (60) with blanking box (71)
Side.
2. automation loading and unloading manipulator according to claim 1, it is characterised in that: the rack (10) is equipped with left branch
Frame (11) and right support (12), Y-axis movement portion (20) include Y-axis straight line slide unit (21), Y-axis driver (22), ball wire
Thick stick (23) and Y-axis guide rod (24), the Y-axis straight line slide unit (21) are set on left support (11), and the Y-axis guide rod (24) sets
In on right support (12), the Y-axis driver (22) is set to one end of the Y direction of Y-axis straight line slide unit (21), the ball wire
Thick stick (23) is connect with Y-axis driver (22), and the nut of the ball-screw (23) is connect with the one end in X-axis movement portion (30), institute
State the other end of Y-axis guide rod (24) connection X-axis movement portion (30).
3. automation loading and unloading manipulator according to claim 2, it is characterised in that: X-axis movement portion (30) includes X
Axis lateral cylinder (31), X-axis piston rod (311), X-axis straight line slide unit (32), connection component (33) and two first hydraulic bjuffers
(34)；The connection component (33) is set to the both ends of X-axis straight line slide unit (32), and the nut and Y with ball-screw (23) respectively
Axis guide rod (24) connection, the X-axis straight line slide unit (32) are equipped with X-axis lateral cylinder (31), the X-axis lateral cylinder (31)
X-axis piston rod (311) connect with sliding drive seat (45), on the sliding connection plate (44) and X-axis straight line slide unit (32)
Sliding slot is adapted, and two first hydraulic bjuffer (34) is set to the both ends of the sliding slot on X-axis straight line slide unit (32).
4. automation loading and unloading manipulator according to claim 3, it is characterised in that: the connection component (33) includes outstanding
Hang support base (331), suspension adapter (332) and lead screw adapter (333)；The lead screw adapter (333) connects ball wire
The nut of thick stick (23), the suspension strut seat (331) are connected by the lower surface of suspension adapter (332) and Y-axis guide rod (24)
It connects.
5. automation loading and unloading manipulator according to claim 4, it is characterised in that: the X-axis straight line slide unit (32)
Both ends connection component (33) is equipped with height adjusting blocks (334), and the height adjusting blocks (334) are for adjusting suspension adapter
(332) and the height of lead screw adapter (333).
6. automation loading and unloading manipulator according to claim 1, it is characterised in that: the absorbent module (53) includes two
Sucker disk seat (531), interconnecting piece (532), two overturnings attachment base (533), external tapping (534) and vacuum chuck (535), described two inhale
Affixed by interconnecting piece (532) between disk seat (531), two overturning attachment base (533) is set on interconnecting piece (532), described
The shaft of two overturnings attachment base (533) and oscillating cylinder (52) is pivotally connected, and the external tapping (534) is set to two sucker disk seats (531)
Top, the vacuum chuck (535) are set on sucker disk seat (531).
7. automation loading and unloading manipulator according to claim 1, it is characterised in that: on the bottom surface of the pinboard (51)
Equipped with overturning limit plate (54), the overturning limit plate (54) is equipped with the first overturning inductor (55).
8. automation loading and unloading manipulator according to claim 7, it is characterised in that: set on the overturning limit plate (54)
There are the second hydraulic bjuffer (56).
9. automation loading and unloading manipulator according to claim 1, it is characterised in that: on the top surface of the pinboard (51)
Equipped with the second overturning inductor (57).
10. automation loading and unloading manipulator according to claim 9, it is characterised in that: the top surface of the pinboard (51)
It is equipped with third hydraulic bjuffer (58).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910171308.5A CN109773561A (en) | 2019-03-07 | 2019-03-07 | A kind of automation loading and unloading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910171308.5A CN109773561A (en) | 2019-03-07 | 2019-03-07 | A kind of automation loading and unloading manipulator |
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| CN109773561A true CN109773561A (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910171308.5A Pending CN109773561A (en) | 2019-03-07 | 2019-03-07 | A kind of automation loading and unloading manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112810725A (en) * | 2021-02-04 | 2021-05-18 | 逸美德科技股份有限公司 | Positioning and supporting mechanism for mobile unit and fixing method |
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| CN209632617U (en) * | 2019-03-07 | 2019-11-15 | 宇晶机器（长沙）有限公司 | Automate loading and unloading manipulator |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2914352A1 (en) * | 1979-03-01 | 1980-09-18 | Meyer Ag Maschf | LOADING DEVICE FOR A MACHINING MACHINE |
| CN104526442A (en) * | 2014-12-22 | 2015-04-22 | 苏州恒远精密数控设备有限公司 | Automatic panel taking, transferring and machining numerical control equipment |
| CN105965100A (en) * | 2016-07-26 | 2016-09-28 | 东莞市晋诚机械有限公司 | Full-automatic chamfering machine |
| CN107225427A (en) * | 2017-06-21 | 2017-10-03 | 北京精雕科技集团有限公司 | A kind of basket automatic loading/unloading lathe of the material of machine outside fix |
| CN209632617U (en) * | 2019-03-07 | 2019-11-15 | 宇晶机器（长沙）有限公司 | Automate loading and unloading manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112810725A (en) * | 2021-02-04 | 2021-05-18 | 逸美德科技股份有限公司 | Positioning and supporting mechanism for mobile unit and fixing method |
| CN112810725B (en) * | 2021-02-04 | 2024-01-23 | 逸美德科技股份有限公司 | Positioning and bearing mechanism for mobile unit and fixing method |
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