CN109774058A - A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit - Google Patents
A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit Download PDFInfo
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- CN109774058A CN109774058A CN201910181617.0A CN201910181617A CN109774058A CN 109774058 A CN109774058 A CN 109774058A CN 201910181617 A CN201910181617 A CN 201910181617A CN 109774058 A CN109774058 A CN 109774058A
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Abstract
The present invention discloses a kind of pick-and-place insert device based on electromagnet and pneumatic fit and picks and places method, the device includes six-joint robot, assembly fixture, six-joint robot includes that six-joint robot includes first axle, second axis, third axis and rotary part, the free end of rotary part is equipped with clamping part, clamping part is used for fixing assembling jig, assembly fixture includes frame, first side of frame is provided with air-actuated jaw, electromagnet and close switch, two electromagnet are located at the two sides of air-actuated jaw and for cooperating air-actuated jaw to be fixed metal inserted piece, second side of frame is provided with vacuum chuck fitting.Pick-and-place method of the invention is picked and placed using above-mentioned pick-and-place insert device.Pick-and-place insert device of the invention is cooperated using electromagnetism ferromagnetism and pneumatic element, is reduced the quantity that pneumatic-finger uses, is alleviated the weight of entire jig, while can reduce six-joint robot cost.
Description
[technical field]
The present invention relates to technical field of automation equipment, more particularly, to a kind of pick-and-place based on electromagnet and pneumatic fit
Insert device and pick-and-place method.
[background technique]
Shooting Technique is a kind of selection process for being able to satisfy various nonstandard shaped piece processings, cut compared to tradition,
Milling Machining operation mode is rushed, with one-pass molding, the significant advantage being produced on a large scale, currently, in Injection Industry, in injection mould
It is very more to place the product that metalwork is molded, it is most of that metalwork is placed in existing injection mould is put by artificial
It sets, to take out the inlaid piece of mould in mold especially to place handware, then the inlaid piece of mould for placing handware is put again
It returns in mold and is molded, this process is entirely to complete by artificial, and working efficiency is low, needs to expend a large amount of labour
Power.
However, can inevitably encounter other places in mold, regular causes during manually picking and placing inlaid piece of mould
Inlaid piece of mould or mold impingement damage.
[summary of the invention]
The main object of the present invention be to provide it is a kind of cooperated using electromagnetism ferromagnetism and pneumatic element, reduce pneumatic-finger
The quantity used alleviates the weight of entire jig, at the same can reduce six-joint robot cost based on electromagnet and pneumatic
The pick-and-place insert device of cooperation.
Cooperated it is a further object of the present invention to provide a kind of using electromagnetism ferromagnetism and pneumatic element, reduces pneumatic-finger
The quantity used alleviates the weight of entire jig, at the same can reduce six-joint robot cost based on electromagnet and pneumatic
The pick-and-place method of the pick-and-place insert device of cooperation.
In order to realize above-mentioned main purpose, a kind of pick-and-place mold insert based on electromagnet and pneumatic fit provided by the invention
Device includes six-joint robot, and six-joint robot includes first axle, the second axis, third axis and is installed on third axis free end
Rotary part, the free end of rotary part is equipped with clamping part, the first cursor, the second axis is equipped between first axle and the second axis
The second cursor is equipped between third axis, picking and placing insert device further includes assembly fixture, and clamping part is used for fixing assembling jig,
Assembly fixture includes frame, and the first side of frame is provided with air-actuated jaw, electromagnet and close to switch, and two electromagnet distinguish position
In air-actuated jaw two sides and for cooperating air-actuated jaw to be fixed metal inserted piece, when air-actuated jaw grabs metal inserted piece
Afterwards, close to the signal in place switched for detecting metal inserted piece, second side of frame is provided with vacuum chuck fitting, vacuum chuck
Fitting is used for fixed-type good mold.
Further embodiment is that magnetic switch is equipped on air-actuated jaw, and magnetic switch is used to incude the fortune of air-actuated jaw
Dynamic position.
Further embodiment is that vacuum induction switch is equipped on vacuum chuck fitting, and vacuum induction is switched for detecting
Whether the mold on vacuum chuck fitting is completely removed.
Further scheme is that assembly fixture further includes vacuum generator, and vacuum generator is arranged in frame.
Further scheme is, frame includes two pieces of first panels, two pieces of second panels and third panel, frame by
Two pieces of first panels, two pieces of second panels and third panel are surrounded and are formed.
It can be seen that air-actuated jaw is used to grab mounted metal edge on the metal inserted piece and mounting platform in mold
Part, electromagnet are used to that air-actuated jaw to be cooperated to draw mounted metal edge in metal inserted piece and suck up outside equipment in mold
Part, vacuum chuck fitting are used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting and inhales
Modulus tool, and the signal detection of various detection switch, position deviation caused by can preventing mold insert from shifting during the motion,
Jig grasping mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, may be implemented entirely to pick and place metal
Continuity, safety and the precise positioning of mold insert movement.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
In order to realize above-mentioned another object, a kind of pick-and-place mold insert based on electromagnet and pneumatic fit provided by the invention
The pick-and-place method of device is the following steps are included: the clamping part of six-joint robot drives assembly fixture to be moved to above mounting platform
Afterwards, air-actuated jaw grabs mounted metal inserted piece and is fixed by electromagnetic actuation；Clamping part drives assembly fixture mobile
Above to injection machine mould, vacuum chuck fitting draws the mold of forming, and air-actuated jaw grabs the metal inserted piece in mold simultaneously
And it is fixed by electromagnetic actuation；Assembly fixture places mounted metal inserted piece to injection molding machine, and by close to switch detection
Whether mounted metal inserted piece is put in place completely, if so, then assembly fixture is moved to above mounting platform and judgement is
The no signal in place for receiving mounting platform, if so, then placing on the metal inserted piece to mounting platform in mold.
Further embodiment is after determining that mounted metal inserted piece is put in place completely, and assembly fixture is also by six axis machines
Device people control is moved to product rest area, and the mold of forming is placed to product rest area.
Further scheme is that magnetic switch is equipped on air-actuated jaw, and magnetic switch is for incuding air-actuated jaw
Movement position.
Further scheme is that vacuum induction switch is equipped on vacuum chuck fitting, and vacuum induction is switched for examining
Whether the mold surveyed on vacuum chuck fitting is completely removed.
Further scheme is that vacuum generator is provided in frame, and vacuum generator is arranged in frame, vacuum hair
Raw device is for generating vacuum condition.
It can be seen that air-actuated jaw is used to grab mounted metal edge on the metal inserted piece and mounting platform in mold
Part, electromagnet are used to that air-actuated jaw to be cooperated to draw mounted metal edge in metal inserted piece and suck up outside equipment in mold
Part, vacuum chuck fitting are used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting and inhales
Modulus tool, and the signal detection of various detection switch, position deviation caused by can preventing mold insert from shifting during the motion,
Jig grasping mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, may be implemented entirely to pick and place metal
Continuity, safety and the precise positioning of mold insert movement.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
[Detailed description of the invention]
Fig. 1 is six-joint robot in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the present invention
Structural schematic diagram.
Fig. 2 is assembly fixture and gold in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the present invention
Belong to the structural schematic diagram of mold insert, mold.
Fig. 3 is a kind of knot for picking and placing assembly fixture in insert device embodiment based on electromagnet and pneumatic fit of the present invention
Structure schematic diagram.
Fig. 4 is that assembly fixture is another in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the present invention
The structural schematic diagram of a angle.
Fig. 5 is the vertical of assembly fixture in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the present invention
Body exploded view.
[specific embodiment]
In order to which the objects, technical solutions and advantages of invention are more clearly understood, with reference to the accompanying drawings and embodiments, to this
Invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
It limits the use of in the present invention.
A kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit:
Referring to Fig. 1, a kind of pick-and-place insert device based on electromagnet and pneumatic fit of the invention include six-joint robot,
Assembly fixture and chassis, six-joint robot include pedestal 10, first axle 11, the second axis 12, third axis 13 and are installed on
Rotary part 20 on three axis, 13 free end, the first servo motor 19 on pedestal 100, the second servo motor 16, third
Servo motor 17, the 4th servo motor 18 and heavy-duty connector 21, rotary part 20 do axial turn relative to third shaft 13
Dynamic, the free end of rotary part 20 is equipped with clamping part 22, is equipped with the first cursor 14 between first axle 11 and the second axis 12, and second
The second cursor 15 is equipped between axis 12 and third axis 13.
In the present embodiment, the clamping part 22 of six-joint robot is used for fixing assembling jig, utilizes the more of six-joint robot
Axis linkage function and multi-functional control run to control assembly fixture.
Referring to fig. 2 with Fig. 5, assembly fixture includes frame, and the first side of frame is provided with air-actuated jaw 31,32 and of electromagnet
Close to switch 33, two electromagnet 32 are located at the two sides of air-actuated jaw 31 and for cooperating air-actuated jaw 31 to be fixed
Metal inserted piece 4 is used to detect the letter in place of metal inserted piece 4 after air-actuated jaw 31 grabs metal inserted piece 4 close to switch 33
Number, second side of frame is provided with vacuum chuck fitting 34, and vacuum chuck fitting 34 is used for fixed-type good mold 5.Wherein,
The present embodiment close to switch 33 be a kind of without carrying out mechanically direct contact and manipulable position switch with moving component,
When metal inserted piece 4 is close to the sensitive surface of the switch to operating distance, not needing Mechanical Contact and any pressure of application can make
Switch motion.
Wherein, magnetic switch (not shown) is installed, magnetic switch is for incuding air-actuated jaw 31 on air-actuated jaw 31
Movement position.
Further, assembly fixture further includes vacuum generator (not shown), and vacuum generator is arranged in frame, and
For generating vacuum to cooperate vacuum chuck fitting 34 to draw mold 5.
In the present embodiment, frame include two pieces of first panels, 1, two piece of second panel 2 and third panel 3, frame by
Two pieces of first panels, 1, two piece of second panel 2 and third panel 3 are around formation, wherein above-mentioned panel is aluminium product part, aluminium
Material workpiece is used as the frame structure of entire jig, installs relevant each accessory.Air-actuated jaw 31, electromagnet 32 and close to opening
33 are closed to be located in first panel 1, vacuum chuck fitting 34 is located on third panel 3, specifically, first piece of first panel 1
Two air-actuated jaws 31 and four electromagnet 32 are respectively equipped with second piece of first panel 1, third panel 3 is equipped with multiple and mould
Have the corresponding vacuum chuck fitting 34 of shape of product, is provided in first panel 1 corresponding with the clamping end of air-actuated jaw 31
First through hole, the clamping end of air-actuated jaw 31 is through first through hole and extends outwardly, and is additionally provided on third panel 3 and vacuum
Corresponding second through-hole in the free end of sucker fitting 34, the free end of vacuum chuck fitting 34 is through the second through-hole and to extension
It stretches, the middle part of second panel 2 is equipped with third through-hole 102 corresponding with the clamping part 22 of six-joint robot, and clamping part 22 passes through
The through-hole grips assembly fixture.
Preferably, vacuum induction switch (not shown) is installed, vacuum induction is switched for examining on vacuum chuck fitting 34
Whether the mold 5 surveyed on vacuum chuck fitting 34 is completely removed.Vacuum induction switch is a kind of opening for detection vacuum ranges
It closes, also known as low-vacuum load-tripping device.Its effect is: when vacuum degree generated in real work reaches prescribed requirement, automatic shutter
Control circuit issues electric signal, instruction vacuum adsorption mechanism regular event.
It can be seen that air-actuated jaw 31 is used to grab mounted mold insert on the mold insert and mounting platform in mold, electromagnetism
Iron 32 is used to that air-actuated jaw 31 to be cooperated to draw mounted mold insert in mold insert and suck up outside equipment in mold, vacuum chuck gold
Tool 34 is used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting 34 and draws mold, adds
The signal detection of upper various detection switch, position deviation caused by can preventing mold insert from shifting during the motion, jig crawl
Mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, and may be implemented entirely to pick and place metal inserted piece movement
Continuity, safety and precise positioning.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
A kind of pick-and-place embodiment of the method for the pick-and-place insert device based on electromagnet and pneumatic fit:
The pick-and-place method of the present embodiment includes: that the clamping part 22 of six-joint robot drives assembly fixture to be moved to mounting platform
Behind top, air-actuated jaw 31 grabs mounted metal inserted piece 4 and is fixed by electromagnet 32；Clamping part 22 drives dress
It is moved to above injection machine mould with jig, vacuum chuck fitting 34 draws the mold 5 of forming, and air-actuated jaw 31 grabs mold
It interior mold insert and is fixed by electromagnet 32；Assembly fixture places mounted metal inserted piece 4 to injection molding machine, and passes through
Detect whether mounted metal inserted piece 4 is put in place completely close to switch 33, if so, then assembly fixture is moved to mounting platform
Top and the signal in place for judging whether to receive mounting platform, if so, the metal inserted piece 4 then placed in mold is flat to installation
On platform.
Wherein it is determined that assembly fixture is also controlled by six-joint robot and is moved after mounted metal inserted piece 4 is put in place completely
It moves to product rest area, and the mold of forming 5 is placed to product rest area.
Wherein, mounting platform is handware mounting platform, is the platform that a worker installs that handware uses on mold insert,
Sliding rail is installed on mounting platform, make assembly fixture pick and place mold insert when with manually separate, safeguard protection can be improved, separately
Outside, the receiving and transmitting signal on handware mounting platform is connect with the receiving and transmitting signal of six-joint robot and assembly fixture, can effectively be prevented
Only assembly fixture and handware mounting platform generate interference.
In a particular application, six-joint robot drives assembly fixture to be moved to above mounting platform and waits, receive in confirmation
To after the signal in place of mounting platform, six-joint robot, which drives assembly fixture to shift and passes through air-actuated jaw 31, grabs mounting platform
Upper mounted mold insert, then, the position of readiness that six-joint robot drives assembly fixture to be displaced to injection molding machine wait injection molding machine letter
Number, after determination receives the signal in place of injection molding machine, six-joint robot drives assembly fixture to be displaced to above injection machine mould,
The mold 5 of forming is drawn by vacuum chuck fitting 34, then, assembly fixture rotates 120 °, and grabs by air-actuated jaw 31
Metal inserted piece 4 in modulus tool, then, assembly fixture rotates 120 ° again, then, is moved by six-joint robot control assembly fixture
Mounted metal inserted piece 4 is placed in position, and at this moment, assembly fixture displacement does pressing action to confirm whether metal inserted piece 4 is put completely
It is put into position, wherein can be by detecting whether mounted metal inserted piece 4 is put in place completely close to switch 33.
After confirming that metal inserted piece 4 is fully seated to position, mold actions region is removed by six-joint robot control assembly fixture
And allow mold actions, then, assembly fixture is moved to product rest area by six-joint robot control, by the mold 5 of forming
It places to product rest area, assembly fixture is displaced to the signal in place that mounting platform is waited above mounting platform, connects in confirmation
After the signal in place for receiving mounting platform, assembly fixture displacement is placed on metal inserted piece 4 to the mounting platform taken out in mold, this
When, assembly fixture shifts again takes out mounted metal inserted piece 4 on mounting platform, to continue next loop cycle.
Further, magnetic switch is installed, magnetic switch is used to incude the movement of air-actuated jaw 31 on air-actuated jaw 31
Position.
Further, vacuum induction switch is installed, vacuum induction is switched for detecting vacuum on vacuum chuck fitting 34
Whether the mold 5 on sucker fitting 34 is completely removed.
Further, vacuum generator is provided in frame, vacuum generator is arranged in frame, and vacuum generator is used for
Generate vacuum condition.
It can be seen that air-actuated jaw 31 is used to grab mounted mold insert on the mold insert and mounting platform in mold, electromagnetism
Iron 32 is used to that air-actuated jaw 31 to be cooperated to draw mounted mold insert in mold insert and suck up outside equipment in mold, vacuum chuck gold
Tool 34 is used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting 34 and draws mold, adds
The signal detection of upper various detection switch, position deviation caused by can preventing mold insert from shifting during the motion, jig crawl
Mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, and may be implemented entirely to pick and place metal inserted piece movement
Continuity, safety and precise positioning.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
It should be noted that the above is only a preferred embodiment of the present invention, but the design concept invented is not limited thereto,
All insubstantial modifications made using this design to the present invention, are also fallen within the scope of protection of the present invention.
Claims (10)
1. a kind of pick-and-place insert device based on electromagnet and pneumatic fit, including six-joint robot, the six-joint robot packet
Include first axle, the second axis, third axis and the rotary part being installed on third axis free end, the rotary part from
Clamping part is equipped with by end, the first cursor, second axis and the third are equipped between the first axle and second axis
The second cursor is equipped between axis, it is characterised in that:
The pick-and-place insert device further includes assembly fixture, and the clamping part for fixing the assembly fixture, control by the assembly
Tool includes frame, and the first side of the frame is provided with air-actuated jaw, electromagnet and close to switch, and two electromagnet are distinguished
Positioned at the air-actuated jaw two sides and for cooperating the air-actuated jaw to be fixed metal inserted piece, when the air-actuated jaw
It is described close to switching signal in place for detecting the metal inserted piece after grabbing the metal inserted piece, the of the frame
Two sides are provided with vacuum chuck fitting, and the vacuum chuck fitting is used for fixed-type good mold.
2. pick-and-place insert device according to claim 1, it is characterised in that:
Magnetic switch is installed, the magnetic switch is used to incude the movement position of the air-actuated jaw on the air-actuated jaw.
3. pick-and-place insert device according to claim 2, it is characterised in that:
Vacuum induction switch is installed, the vacuum induction switch is for detecting the vacuum chuck on the vacuum chuck fitting
Whether the mold on fitting is completely removed.
4. pick-and-place insert device according to claim 1 or 2, it is characterised in that:
The assembly fixture further includes vacuum generator, and the vacuum generator is arranged in the frame.
5. pick-and-place insert device according to claim 1 or 2, it is characterised in that:
The frame include two pieces of first panels, two pieces of second panels and third panel, the frame by two pieces of first panels,
Two pieces of second panels and the third panel, which surround, to be formed.
6. a kind of pick-and-place method of the pick-and-place insert device based on electromagnet and pneumatic fit, which is characterized in that the pick-and-place edge
Part device is using the described in any item pick-and-place insert devices of the claims 1 to 3；
The pick-and-place method the following steps are included:
After the clamping part of six-joint robot drives assembly fixture to be moved to above mounting platform, air-actuated jaw grabs mounted gold
Belong to mold insert and is fixed by electromagnetic actuation；
The clamping part drives the assembly fixture to be moved to above injection machine mould, and vacuum chuck fitting draws the mould of forming
Tool, the air-actuated jaw grab the metal inserted piece in mold and are fixed by the electromagnetic actuation；
The assembly fixture places the mounted metal inserted piece to the injection molding machine, and by detecting the peace close to switch
Whether the metal inserted piece installed is put in place completely, if so, then the assembly fixture be moved to above the mounting platform and
Judge whether to receive the signal in place of the mounting platform, if so, then placing metal inserted piece in the mold to the peace
On assembling platform.
7. pick-and-place method according to claim 6, it is characterised in that:
After determining that the mounted metal inserted piece is put in place completely, the assembly fixture is also controlled by the six-joint robot
It is moved to product rest area, and the mold of the forming is placed to the product rest area.
8. pick-and-place method according to claim 6 or 7, it is characterised in that:
Magnetic switch is installed, the magnetic switch is used to incude the movement position of the air-actuated jaw on the air-actuated jaw.
9. pick-and-place method according to claim 6 or 7, it is characterised in that:
Vacuum induction switch is installed, the vacuum induction switch is for detecting the vacuum chuck on the vacuum chuck fitting
Whether the mold on fitting is completely removed.
10. pick-and-place method according to claim 6 or 7, it is characterised in that:
Vacuum generator is provided in the frame, the vacuum generator is arranged in the frame, the vacuum generator
For generating vacuum condition.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181617.0A CN109774058A (en) | 2019-03-11 | 2019-03-11 | A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181617.0A CN109774058A (en) | 2019-03-11 | 2019-03-11 | A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit |
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| CN109774058A true CN109774058A (en) | 2019-05-21 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923421A (en) * | 2020-05-29 | 2020-11-13 | 西安航天精密机电研究所 | Six-axis robot-based sealing body, insulating pad and ceramic core assembling manipulator, system and method |
| CN113172891A (en) * | 2020-01-08 | 2021-07-27 | 塑成科技（北京）有限责任公司 | Control system and control method for controlling operation trough and 3D printing equipment |
| CN114193701A (en) * | 2021-11-30 | 2022-03-18 | 珠海市英诚电子科技有限公司 | Production method and production system of mesh cloth filtering assembly |
| CN114888261A (en) * | 2022-05-18 | 2022-08-12 | 南京俊东机器人有限公司 | All-in-one machine using insert of electromagnetic mechanism |
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| CN114193701A (en) * | 2021-11-30 | 2022-03-18 | 珠海市英诚电子科技有限公司 | Production method and production system of mesh cloth filtering assembly |
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