CN110480665B - Suction nozzle carrying manipulator - Google Patents
Suction nozzle carrying manipulator Download PDFInfo
- Publication number
- CN110480665B CN110480665B CN201910709537.8A CN201910709537A CN110480665B CN 110480665 B CN110480665 B CN 110480665B CN 201910709537 A CN201910709537 A CN 201910709537A CN 110480665 B CN110480665 B CN 110480665B
- Authority
- CN
- China
- Prior art keywords
- grabbing
- transposition
- clamping
- plate
- plates
- 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.)
- Active
Links
- 230000017105 transposition Effects 0.000 claims abstract description 70
- 239000000463 material Substances 0.000 claims description 16
- 238000007664 blowing Methods 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 238000001746 injection moulding Methods 0.000 abstract description 13
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 239000003292 glue Substances 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a suction nozzle carrying manipulator which comprises a carrying bracket, six-axis manipulators, a transposition bracket, grabbing devices, transposition devices, a conveyor and a crusher. Through the mode, the automatic gripping device is compact in structure, can replace manual and automatic gripping products, can perform transposition treatment on injection molding pieces, and is stable in operation.
Description
Technical Field
The invention relates to the technical field of industrial machinery, in particular to a suction nozzle carrying manipulator.
Background
The steering connector is used in an automobile steering system, the connector is very important for driving safety, the connector is composed of plastic parts, terminals and a wafer, the assembly process of the connector is complex, manual assembly and machine assembly are combined, the manual assembly efficiency is low, the assembly quality is difficult to guarantee, the positioned terminals and the wafer need to be grabbed to an injection molding machine for injection molding treatment, the injection molded parts after injection molding are often required to be transposed by other mechanical hands, two mechanical hands are often adopted, the occupied area is large, the cost is high, the existing mechanical hands often only have the sucking disc sucking and clamping jaw grabbing functions, the product quality after just injection molding is softer, the grabbing easily leads to product deformation, the problem that how to firmly transpose the injection molded parts is extremely needed to be solved is designed, and the suction nozzle carrying mechanical hand is necessary to be improved based on the defects and shortcomings.
Disclosure of Invention
The invention mainly solves the technical problem of providing the suction nozzle carrying manipulator which is compact in structure, can replace manual automatic grabbing products, can perform transposition treatment on injection molding pieces and is stable in operation.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a suction nozzle transport manipulator, this kind of suction nozzle transport manipulator include transport support, six manipulators, transposition frame, grabbing device, transposition device, conveyer and breaker, install six manipulators on the transport support, six manipulators' wrist department installs the transposition frame, and four groups grabbing device are installed to transposition frame curb plate, and transposition device is installed to transposition frame hypoplastron, and the conveyer is installed to transport support front end, and the export butt joint of conveyer is provided with the breaker.
Preferably, the grabbing device comprises a grabbing mounting plate, grabbing lifting plates, a first grabbing cylinder, a second grabbing cylinder, grabbing connecting plates, grabbing suction blocks, grabbing suction nozzles, grabbing positioning plates and grabbing positioning columns, wherein the grabbing mounting plate is vertically fixed on a transposition frame, sliding grooves are formed in the side faces of the grabbing mounting plate, grabbing lifting plates are arranged in the sliding grooves, the first grabbing cylinder is arranged at the upper end of the grabbing mounting plate, telescopic rods of the first grabbing cylinder are fixed with the grabbing lifting plates, the second grabbing cylinder is arranged at the outer side faces of the grabbing lifting plates, the telescopic rods of the second grabbing cylinders are fixed with grabbing suction blocks through grabbing connecting plates, grabbing suction nozzles are arranged at the lower ends of the suction blocks, grabbing positioning plates are arranged at the lower ends of the grabbing lifting plates, grabbing suction nozzles penetrate through grabbing positioning plates, grabbing suction nozzles are consistent with the shapes of terminals and discs, and two grabbing positioning columns are further arranged at the lower ends of the grabbing positioning plates.
Preferably, the transposition device comprises a transposition plate, clamping jaw cylinders, clamping jaws, a blowing head, a transposition connecting plate, a flat clamping cylinder, rubber head clamping jaws, a transposition positioning column, a push pipe, a material supporting column and a reset spring, wherein the transposition plate is arranged on a transposition frame, two clamping jaw cylinders are arranged on the side face of the transposition plate, clamping jaws are arranged on two opposite clamping arms of the clamping jaw cylinders, a transverse clamping groove is formed in the opposite faces of the clamping jaws, the blowing head is arranged on the clamping jaw cylinders, the two sides of the clamping jaw cylinders are provided with transposition connecting plates, the flat clamping cylinder is arranged on the outer sides of the transposition connecting plate, rubber head clamping jaws are arranged on two clamping jaw arms of the flat clamping cylinder, vertical grabbing grooves are formed in the opposite faces of the rubber head clamping jaws, the transposition positioning column is arranged at the lower end of the transposition connecting plate, the push pipe is sleeved on the transposition connecting plate, the material supporting column is arranged in the push pipe, the upper end of the material supporting column is fixed on the transposition connecting plate through a support, and the reset spring is sleeved on the upper portion of the material supporting column.
Compared with the prior art, the invention has the beneficial effects that:
the structure is compact, the operation is stable, the automatic manual grabbing of products can be replaced, and the transposition treatment can be carried out on the injection molding;
the transposition positioning column is used for positioning;
the blowing head is arranged for cleaning the injection molding piece;
the setting of holding in palm the material post is used for assisting holding in the palm the material, guarantees steadily snatchs injection molding.
Drawings
Fig. 1 is a schematic structural view of a suction nozzle handling manipulator.
Fig. 2 is a schematic structural diagram of a gripping device of a suction nozzle handling manipulator.
Fig. 3 is a schematic structural diagram of a transposition device of a suction nozzle handling manipulator.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1 to 3, an embodiment of the present invention includes:
the suction nozzle carrying manipulator comprises a carrying support 21, a six-axis manipulator 22, a transposition frame 23, a grabbing device 24, a transposition device 25, a conveyor 26 and a crusher 27, wherein the six-axis manipulator 22 is arranged on the carrying support 21, the transposition frame 23 is arranged at the wrist of the six-axis manipulator 22, four groups of grabbing devices 24 are arranged on the side plates of the transposition frame 23, the transposition device 25 is arranged on the lower plate of the transposition frame 23, the conveyor 26 is arranged at the front end of the carrying support 21, and the crusher 27 is arranged at the outlet butt joint of the conveyor 26.
The grabbing device 24 comprises a grabbing mounting plate 241, grabbing lifting plates 242, a first grabbing cylinder 243, a second grabbing cylinder 244, grabbing connecting plates 245, grabbing suction blocks 246, grabbing suction nozzles 247, grabbing positioning plates 248 and grabbing positioning columns 249, wherein the grabbing mounting plate 241 is vertically fixed on the transposition frame 23, sliding grooves are formed in the side faces of the grabbing mounting plate 241, grabbing lifting plates 242 are arranged in the sliding grooves, the first grabbing cylinder 243 is mounted at the upper end of the grabbing mounting plate 241, telescopic rods of the first grabbing cylinder 243 are fixed with the grabbing lifting plates 242, the second grabbing cylinder 244 is mounted on the outer side face of the grabbing lifting plates 242, telescopic rods of the second grabbing cylinder 244 are fixed with the grabbing suction blocks 246 through grabbing connecting plates 245, grabbing suction nozzles 247 are mounted at the lower ends of the suction blocks 246, grabbing positioning plates 248 are mounted at the lower ends of the grabbing lifting plates 242, grabbing suction nozzles 247 penetrate through the grabbing positioning plates 248, the grabbing suction nozzles 247 are consistent with the shapes of the terminals and the discs, two grabbing positioning columns 249 are mounted at the lower ends of the grabbing positioning plates 248, and the grabbing positioning columns 249 are matched with the positioning sleeves 1443.
The transposition device 25 comprises a transposition plate 251, clamping jaw cylinders 252, clamping jaws 253, a blowing head 254, a transposition connecting plate 255, a flat clamping cylinder 256, rubber head clamping jaws 257, transposition positioning columns 258, pushing pipes 259, a material supporting column 2510 and a reset spring 2511, wherein the transposition plate 251 is arranged on the transposition frame 23, two clamping jaw cylinders 252 are arranged on the side face of the transposition plate 251, clamping jaws 253 are arranged on two opposite clamping arms of the clamping jaw cylinders 252, transverse clamping grooves are formed in opposite faces of the clamping jaws 253, the blowing head 254 is arranged on the clamping jaw cylinders 252, transposition connecting plates 255 are arranged on two sides of the clamping jaw cylinders 252, flat clamping cylinders 256 are arranged on the outer sides of the transposition connecting plates 255, rubber head clamping jaws 257 are arranged on two clamping jaw arms of the flat clamping cylinders 256, vertical grabbing grooves are formed in opposite faces of the rubber head clamping jaws 257, the transposition positioning columns 258 are arranged at the lower ends of the transposition connecting plates 255, the pushing pipes 259 are sleeved, the material supporting columns 2510 are arranged in the pushing pipes 259, the upper ends of the material supporting columns 2510 are fixed on the transposition connecting plates 255 through supports, and the reset springs 2511 are sleeved on the upper portions of the support columns 2510.
When the suction nozzle carrying manipulator works, the telescopic rods of the first grabbing cylinder 243 and the second grabbing cylinder 244 are sequentially stretched to drive the grabbing suction nozzles 247 to move downwards, the grabbing suction nozzles 247 absorb a terminal and a wafer to be molded, the six-axis manipulator 22 drives the terminal and the wafer to be molded to move to an injection molding machine for injection molding, after injection molding is finished, the transposition positioning column 258 is inserted into a positioning hole at a station to be grabbed, the transposition positioning column 258 is used for positioning, the material supporting column 2510 is inserted into the wafer of an injection molded part, the material supporting column 2510 is used for assisting in supporting materials, the clamping jaw cylinder 252 drives the clamping jaw 253 to clamp a glue head, the blowing head 254 blows and is used for cleaning the injection molded part, the flat clamping cylinder 256 drives the glue head clamping jaw 257 to clamp the injection molded part, the six-axis manipulator 22 drives the transposition device 25 to clamp the product to a specified position and drives the clamping jaw 253 and the glue head clamping jaw 257 to reset, and the push pipe 259 to push the injection molded part to the specified position under the elastic force of the reset spring 2511.
The suction nozzle carrying manipulator is compact in structure, can replace manual and automatic grabbing products, can perform transposition treatment on injection molding pieces, and is stable in operation.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (1)
1. A suction nozzle transport manipulator, its characterized in that: the suction nozzle carrying manipulator comprises a carrying bracket, a six-axis manipulator, a transposition bracket, a grabbing device, a transposition device, a conveyor and a crusher, wherein the six-axis manipulator is arranged on the carrying bracket, the transposition bracket is arranged at the wrist of the six-axis manipulator, four groups of grabbing devices are arranged on the side plates of the transposition bracket, the transposition device is arranged on the lower plate of the transposition bracket, the conveyor is arranged at the front end of the carrying bracket, and the crusher is arranged at the outlet butt joint of the conveyor;
the grabbing device comprises a grabbing mounting plate, a grabbing lifting plate, a first grabbing cylinder, a second grabbing cylinder, a grabbing connecting plate, grabbing suction blocks, grabbing suction nozzles, grabbing positioning plates and grabbing positioning columns, wherein the grabbing mounting plate is vertically fixed on a transposition frame, sliding grooves are formed in the side faces of the grabbing mounting plate, the grabbing lifting plate is arranged in the sliding grooves, the first grabbing cylinder is mounted at the upper end of the grabbing mounting plate, a telescopic rod of the first grabbing cylinder is fixed with the grabbing lifting plate, the second grabbing cylinder is mounted at the outer side face of the grabbing lifting plate, the telescopic rod of the second grabbing cylinder is fixed with the grabbing suction blocks through the grabbing connecting plate, the grabbing suction nozzles are mounted at the lower ends of the suction blocks, the grabbing positioning plates are mounted at the lower ends of the grabbing lifting plates, the grabbing suction nozzles penetrate through the grabbing positioning plates, the grabbing suction nozzles are consistent with the shapes of the terminals and the discs, and two grabbing positioning columns are further mounted at the lower ends of the grabbing positioning plates;
the transposition device comprises a transposition plate, clamping jaw cylinders, clamping jaws, a blowing head, transposition connecting plates, a flat clamping cylinder, rubber head clamping jaws, transposition positioning columns, a pushing pipe, a material supporting column and a reset spring, wherein the transposition plate is arranged on a transposition frame, two clamping jaw cylinders are arranged on the side surfaces of the transposition plate, clamping jaws are arranged on two opposite clamping arms of the clamping jaw cylinders, transverse clamping grooves are formed in opposite surfaces of the clamping jaws, the blowing head is arranged on the clamping jaw cylinders, the transposition connecting plates are arranged on two sides of the clamping jaw cylinders, the flat clamping cylinders are arranged on the outer sides of the transposition connecting plates, rubber head clamping jaws are arranged on the two clamping jaw arms of the flat clamping cylinders, vertical grabbing grooves are formed in the opposite surfaces of the rubber head clamping jaws, the transposition positioning columns are arranged at the lower ends of the transposition connecting plates, the pushing pipe is sleeved on the transposition connecting plates, the material supporting column is arranged in the pushing pipe, the upper ends of the material supporting column are fixed on the transposition connecting plates through brackets, and the reset spring is sleeved on the upper portions of the material supporting column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709537.8A CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709537.8A CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110480665A CN110480665A (en) | 2019-11-22 |
| CN110480665B true CN110480665B (en) | 2024-03-29 |
Family
ID=68549044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910709537.8A Active CN110480665B (en) | 2019-08-01 | 2019-08-01 | Suction nozzle carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480665B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453445B (en) * | 2020-04-16 | 2021-11-19 | 南京蹑波物联网科技有限公司 | Suction nozzle carrying manipulator |
| CN111730635B (en) * | 2020-06-05 | 2022-07-22 | 贝隆精密科技股份有限公司 | Material taking manipulator |
| CN111604921B (en) * | 2020-06-10 | 2021-01-05 | 盐城市聚龙湖商务集聚区发展有限公司 | Robot grabbing equipment with functions of transporting and removing dust for silicon wafers |
| CN113799103A (en) * | 2021-10-29 | 2021-12-17 | 苏州福菁浩自动化科技有限公司 | Product carrying manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100083557A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for multi-function |
| CN204748626U (en) * | 2015-06-29 | 2015-11-11 | 吴中区横泾博尔机械厂 | Automatic Z axle mobile device of monitor assembly machine |
| CN205343609U (en) * | 2016-02-02 | 2016-06-29 | 苏州恒源盛模塑有限公司 | Automatic bury ironware injection moulding device |
| CN107323753A (en) * | 2017-05-24 | 2017-11-07 | 歌尔股份有限公司 | Method and apparatus for automatic accomodation SMT products |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN107813459A (en) * | 2017-12-07 | 2018-03-20 | 福建省石狮市通达电器有限公司 | A kind of manipulator jig suitable for nanometer injection |
| CN107972230A (en) * | 2018-01-16 | 2018-05-01 | 芜湖博康汽车饰件有限公司 | A kind of injection molding machine catching robot |
| CN210678757U (en) * | 2019-08-01 | 2020-06-05 | 昆山三智达自动化设备科技有限公司 | Suction nozzle carrying manipulator |
-
2019
- 2019-08-01 CN CN201910709537.8A patent/CN110480665B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100083557A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for multi-function |
| CN204748626U (en) * | 2015-06-29 | 2015-11-11 | 吴中区横泾博尔机械厂 | Automatic Z axle mobile device of monitor assembly machine |
| CN205343609U (en) * | 2016-02-02 | 2016-06-29 | 苏州恒源盛模塑有限公司 | Automatic bury ironware injection moulding device |
| CN107323753A (en) * | 2017-05-24 | 2017-11-07 | 歌尔股份有限公司 | Method and apparatus for automatic accomodation SMT products |
| CN107572252A (en) * | 2017-09-27 | 2018-01-12 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp carried for cell phone mainboard |
| CN107813459A (en) * | 2017-12-07 | 2018-03-20 | 福建省石狮市通达电器有限公司 | A kind of manipulator jig suitable for nanometer injection |
| CN107972230A (en) * | 2018-01-16 | 2018-05-01 | 芜湖博康汽车饰件有限公司 | A kind of injection molding machine catching robot |
| CN210678757U (en) * | 2019-08-01 | 2020-06-05 | 昆山三智达自动化设备科技有限公司 | Suction nozzle carrying manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110480665A (en) | 2019-11-22 |
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