CN111645279A - High-precision program-controlled product grabbing and placing manipulator - Google Patents
High-precision program-controlled product grabbing and placing manipulator Download PDFInfo
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- CN111645279A CN111645279A CN202010312196.3A CN202010312196A CN111645279A CN 111645279 A CN111645279 A CN 111645279A CN 202010312196 A CN202010312196 A CN 202010312196A CN 111645279 A CN111645279 A CN 111645279A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14065—Positioning or centering articles in the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
- B29C2045/14049—Inserting articles into the mould feeding inserts by a swing arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4241—Auxiliary means for removing moulded articles from the robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/425—Single device for unloading moulded articles and loading inserts into the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76655—Location of control
- B29C2945/76792—Auxiliary devices
- B29C2945/76795—Auxiliary devices robots, grippers
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a high-precision program-controlled product grabbing and placing manipulator which comprises a rack, wherein a selecting module, a feeding module, a grabbing module and a finished product passage are arranged on the rack, the selecting module and the finished product passage are respectively arranged on two sides of the feeding module, the grabbing module is arranged above the feeding module, the feeding module comprises a first support, a first linear module, a movable plate, a feeding track and a material blocking cylinder, the grabbing module comprises a second support, a second linear module, a transplanting cylinder, a fixed plate and two grabbing units, and each grabbing unit comprises an installation block and a plurality of pneumatic chucks. The high-precision program-controlled product grabbing and placing manipulator is convenient to operate and high in automation degree, greatly improves production efficiency and reduces labor cost; through the accurate cooperation between each module, can effectively guarantee the quality of injection moulding product, and produce safe and reliable more.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a high-precision program-controlled product grabbing and placing manipulator.
Background
At present, the object placing or fetching in the injection molding machine is mainly operated manually. The manual mode has the defects of low efficiency and high cost. In addition, influenced by human factor, the operation such as the putting position of mould internals, put and get the time is different, easily leads to the quality of product unstable, and has the potential safety hazard.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the high-precision program-controlled product grabbing and placing manipulator is provided.
In order to achieve the technical effects, the invention adopts the technical scheme that: a high-precision program-controlled product grabbing and placing manipulator comprises a rack, wherein a selecting module, a feeding module, a grabbing module and a finished product channel are arranged on the rack, the selecting module and the finished product channel are respectively arranged on two sides of the feeding module, and the grabbing module is arranged above the feeding module;
the feeding module comprises a first support, a first linear module, a moving plate, a feeding track and a material blocking cylinder, the first support is fixed on the rack, the first linear module is horizontally arranged on the first support, one side of the moving plate, which is close to the selecting module, is provided with a plurality of product placing grooves, the moving plate is in transmission connection with the first linear module, the feeding track is arranged on the first support, two ends of the feeding track are respectively in butt joint with the product placing grooves and the selecting module, the material blocking cylinder is vertically arranged above the feeding track, and a piston rod of the material blocking cylinder is connected with a pressing block;
the grabbing module comprises a second support, a second straight line module, a transplanting cylinder, a fixed plate and two grabbing units, the second support is fixed on the frame, the second straight line module is horizontally arranged on the second support and perpendicular to the first straight line module, the transplanting cylinder is vertically arranged on the second straight line module, the second straight line module and the second straight line module are in transmission connection, the fixed plate is fixed on a piston rod of the transplanting cylinder, the two grabbing units are symmetrically arranged on the fixed plate, the grabbing units comprise an installation block and a plurality of pneumatic chucks, the installation block is arranged on the fixed plate, the pneumatic chucks are all fixed at the lower end of the installation block, and the pneumatic chucks are located above the product placing groove.
Preferably, the frame is made by high strength aluminum alloy material, and the below of frame is equipped with the supporting legs and removes the wheel, still is equipped with electrical control module in the frame, select module, material loading module and snatch the module and all with electrical control module electric connection.
Preferably, the selecting module comprises a mounting seat, a vibrating disc and a correcting track, the vibrating disc is fixedly connected to the rack through the mounting seat, and the vibrating disc is in butt joint with one end of the feeding track through the correcting track.
Preferably, the bottom of the feeding track is fixedly connected with the first support, an L-shaped plate is arranged on one side of the feeding track, and the material blocking cylinder is connected with the feeding track through the L-shaped plate.
Preferably, one side of the feeding track, which is close to the moving plate, is provided with a counting sensor, and the counting sensor is positioned below the product placing groove.
Preferably, the finished product material channel is obliquely arranged on one side, far away from the vibration disc, of the first support, a connecting shaft is fixed at the lower end of the finished product material channel, and the connecting shaft is rotatably arranged on the second support.
Preferably, the first linear module and the second linear module have the same structure, and both are driven by a servo motor.
Preferably, the longitudinal direction of the moving plate coincides with the longitudinal direction of the mounting block.
Preferably, the number of the product placing grooves is eight, the eight product placing grooves are arranged side by side along the length direction of the moving plate, and the vertical section of each product placing groove is of a stepped structure.
Preferably, the number of the pneumatic chucks is four, and the four pneumatic chucks are arranged side by side along the length direction of the mounting block.
Compared with the prior art, the invention has the beneficial effects that: the high-precision program-controlled product grabbing and placing manipulator is convenient to operate and high in automation degree, greatly improves production efficiency and reduces labor cost; through the accurate cooperation between each module, can effectively guarantee the quality of injection moulding product, and produce safe and reliable more.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the embodiments, and it is apparent that the described embodiments are some, but not all embodiments of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision program-controlled product grabbing and placing manipulator of the invention.
Fig. 2 is a schematic structural diagram of the feeding module of the present invention.
Fig. 3 is a schematic structural diagram of another view angle of the feeding module of the present invention.
Fig. 4 is a schematic structural diagram of the grabbing module of the present invention.
The reference numbers and corresponding designations in the drawings are: 1. the automatic feeding device comprises a rack, 2 parts of a selecting module, 3 parts of a feeding module, 4 parts of a grabbing module, 5 parts of a finished product material channel, 6 parts of an electrical control module, 7 parts of supporting legs, 8 parts of a moving wheel, 9 parts of a connecting shaft, 10 parts of a servo motor, 201 parts of a mounting seat, 202 parts of a vibrating disc, 203 parts of a correcting track, 301 parts of a first support, 302 parts of a first linear module, 303 parts of a moving plate, 304 parts of a feeding track, 305 parts of a material blocking cylinder, 306 parts of a pressing block, 307 parts of an L-shaped plate, 308 parts of a counting sensor, 401 parts of a second support, 402 parts of a second linear module, 403 parts of a transplanting cylinder, 404 parts of a fixing plate, 405 parts of a mounting block, 406 parts of a pneumatic chuck.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, the high-precision program-controlled product grabbing and placing manipulator comprises a rack 1, wherein a selecting module 2, a feeding module 3, a grabbing module 4 and a finished product channel 5 are arranged on the rack 1, the selecting module 2 and the finished product channel 5 are respectively arranged on two sides of the feeding module 3, and the grabbing module 4 is arranged above the feeding module 3;
as shown in fig. 2-3, the feeding module 3 includes a first support 301, a first linear module 302, a moving plate 303, a feeding track 304 and a material blocking cylinder 305, the first support 301 is fixed on the rack 1, the first linear module 302 is horizontally arranged on the first support 301, one side of the moving plate 303 close to the selecting module 2 is provided with a plurality of product placement grooves 3031, the moving plate 303 is in transmission connection with the first linear module 302, eight product placement grooves 3031 are provided, the eight product placement grooves 3031 are arranged side by side along the length direction of the moving plate 303, and the vertical section of the product placement grooves 3031 is in a stepped structure; the feeding track 304 is arranged on the first support 301, two ends of the feeding track are respectively butted with the product placing groove 3031 and the selecting module 2, the material blocking cylinder 305 is vertically arranged above the feeding track 304, and a piston rod of the material blocking cylinder is connected with a pressing block 306; the bottom of the feeding track 304 is fixedly connected with the first support 301, one side of the feeding track is provided with an L-shaped plate 307, and the material stopping cylinder 305 is connected with the feeding track 304 through the L-shaped plate 307; a counting sensor 308 is provided on a side of the feeding rail 304 adjacent to the moving plate 303, and the counting sensor 308 is located below the product placement slot 3031.
During the use, carry the part to feeding track 304 one by selecting module 2, and first straight line module 302 is fixed on frame 1 through first support 301, and along with the part forward removal in feeding track 304, cooperates first straight line module 302 to drive movable plate 303 and moves along its length direction, can imbed the part in each product standing groove 3031 one by one. The counter sensor 308 is used to detect the number of parts embedded in the product placement tray 3031, thereby controlling the on/off of the feeding rail 304. When the product placing groove 3031 is detected to be full of eight parts, the material blocking cylinder 305 is started, the pressing block 306 is controlled to descend, one part at the forefront end in the feeding rail 304 is pressed, and feeding to the moving plate 303 is stopped.
As shown in fig. 4, the grabbing module 4 includes a second support 401, a second linear module 402, a transplanting cylinder 403, a fixing plate 404 and two grabbing units, the second support 401 is fixed on the rack 1, the second linear module 402 is horizontally arranged on the second support 401 and is perpendicular to the first linear module 302, the transplanting cylinder 403 is vertically arranged on the second linear module 402 and is in transmission connection with the second linear module 402, the fixing plate 404 is fixed on a piston rod of the transplanting cylinder 403, the two grabbing units are symmetrically arranged on the fixing plate 404, each grabbing unit includes a mounting block 405 and a plurality of pneumatic chucks 406, the mounting blocks 405 are arranged on the fixing plate 404, each pneumatic chuck 406 is fixed at the lower end of the mounting block 405, and the pneumatic chucks 406 are located above the product placing groove 3031; the length direction of the moving plate 303 is consistent with the length direction of the mounting block 405; the pneumatic chucks 406 are four in number, and the four pneumatic chucks 406 are arranged side by side along the length of the mounting block 405.
When the pneumatic transplanting machine is used, the second linear module 402 is fixed on the rack 1 through the second support 401, the second linear module 402 can drive the transplanting cylinder 403 to move to a specified position along the length direction of the transplanting cylinder, the transplanting cylinder 403 drives the mounting block 405 to move downwards through the fixing plate 404, four pneumatic chucks 406 grab four parts from the eight product placing grooves 3031, the four parts are matched through the movement of the first linear module 302 and the second linear module 402, and the other four pneumatic chucks 406 repeat the steps to grab the rest four parts. The second linear die set 402 then moves eight pneumatic chucks 406 above the die and the part to be embedded is loaded into the die and removed by program control. When the mold opening is completed during the injection molding process, the second linear module 402 drives the eight pneumatic chucks 406 to move above the mold, and the manufactured product is grabbed and placed into the finished product channel 5, thereby completing the production.
The selecting module 2 comprises a mounting seat 201, a vibrating disc 202 and a correcting track 203, wherein the vibrating disc 202 is fixedly connected to the rack 1 through the mounting seat 201, and the vibrating disc 202 is in butt joint with one end of the feeding track 304 through the correcting track 203. After the vibrating disk 202 is started, the internal parts thereof are subjected to vibration screening, then enter the alignment track 203 one by one, and are conveyed to the feeding track 304 after being directionally arranged by the alignment track 203.
The finished material channel 5 is obliquely arranged on one side of the first bracket 301 far away from the vibrating disk 202, the lower end of the finished material channel is fixed with a connecting shaft 9, and the connecting shaft 9 is rotatably arranged on the second bracket 401. The finished product material channel 5 is used for product blanking, and the inclination angle of the finished product material channel can be adjusted through the connecting shaft 9, so that the finished product material channel is suitable for different working environments.
The first linear module 302 and the second linear module 402 are identical in structure and both are driven by the servo motor 10. The first linear module 302 is used for controlling the moving plate 303 to horizontally slide, and the second linear module 402 is used for controlling the transplanting cylinder 403 to horizontally slide. The servo motor 10 is used for driving, and the stroke positions of the moving plate 303 and the transplanting cylinder 403 can be accurately regulated and controlled.
The implementation principle is as follows: the worker can start by the electrical control module 406, the picking module 2 works first, the vibrating plate 202 shakes and screens the parts, and sends the parts to the alignment rail 203, and the parts are moved to the feeding rail 304 after being aligned by the alignment rail 203. Then the feeding module 3 is started, the first linear module 302 can drive the moving plate 303 to move along the length direction of the moving plate, so that the eight product placing grooves 3031 are sequentially butted with the feeding rail 304, the parts on the feeding rail 304 are embedded into the product placing grooves 3031 one by one, when the counting sensor 308 detects that the number of the parts needing to be embedded is enough, the material blocking cylinder 305 is started, the pressing block 306 is controlled to descend, one part at the foremost end in the feeding rail 304 is pressed, and the feeding of the moving plate 303 is stopped. Next, the grabbing module 4 is started, the second linear module 402 can drive the transplanting cylinder 403 to reach the position above the moving plate 303, the transplanting cylinder 403 drives the mounting block 405 to move downwards through the fixing plate 404, four pneumatic chucks 406 grab four parts from the eight product placing slots 3031, and the other four pneumatic chucks 406 repeat the above steps to grab the remaining four parts through the motion cooperation of the first linear module 302 and the second linear module 402. Then the second linear module 402 drives eight pneumatic chucks 406 to move above the mold of the injection molding machine, and the parts to be embedded are loaded into the mold and then removed through program control. When the mold opening is completed during the injection molding process, the second linear module 402 drives the pneumatic chuck 406 to move to the upper side of the mold, and the produced product is grabbed and placed into the finished product channel 5, so that the production is completed.
The present invention is not limited to the above-described embodiments, and various modifications made without inventive step from the above-described concept will fall within the scope of the present invention for those skilled in the art.
Claims (10)
1. The high-precision program-controlled product grabbing and placing manipulator comprises a rack (1) and is characterized in that a selecting module (2), a feeding module (3), a grabbing module (4) and a finished product channel (5) are arranged on the rack (1), the selecting module (2) and the finished product channel (5) are respectively arranged on two sides of the feeding module (3), and the grabbing module (4) is arranged above the feeding module (3);
the feeding module (3) comprises a first support (301), a first linear module (302), a moving plate (303), a feeding track (304) and a material blocking cylinder (305), the first support (301) is fixed on the rack (1), the first linear module (302) is horizontally arranged on the first support (301), one side, close to the selecting module (2), of the moving plate (303) is provided with a plurality of product placing grooves (3031), the moving plate (303) is in transmission connection with the first linear module (302), the feeding track (304) is arranged on the first support (301), two ends of the feeding track (304) are respectively in butt joint with the product placing grooves (3031) and the selecting module (2), the material blocking cylinder (305) is vertically arranged above the feeding track (304), and a piston rod of the material blocking cylinder is connected with a pressing block (306);
the grabbing module (4) comprises a second bracket (401), a second linear module (402), a transplanting cylinder (403), a fixing plate (404) and two grabbing units, the second bracket (401) is fixed on the frame (1), the second linear module (402) is horizontally arranged on the second bracket (401), which is vertical to the first straight line module (302), the transplanting cylinder (403) is vertically arranged on the second straight line module (402) and is in transmission connection with the second straight line module, the fixing plate (404) is fixed on a piston rod of the transplanting cylinder (403), the two grabbing units are symmetrically arranged on the fixing plate (404), the grabbing unit comprises a mounting block (405) and a plurality of pneumatic chucks (406), the mounting block (405) is arranged on the fixing plate (404), each pneumatic chuck (406) is fixed to the lower end of the mounting block (405), and the pneumatic chucks (406) are located above the product placing groove (3031).
2. The high-precision program-controlled product grabbing and placing manipulator according to claim 1, wherein the rack (1) is made of high-strength aluminum alloy materials, supporting legs (7) and moving wheels (8) are arranged below the rack (1), an electrical control module (6) is further arranged on the rack (1), and the selecting module (2), the loading module (3) and the grabbing module (4) are electrically connected with the electrical control module (6).
3. The high-precision program-controlled product grabbing and placing manipulator according to claim 2, wherein the selecting module (2) comprises a mounting seat (201), a vibrating disk (202) and a correcting track (203), the vibrating disk (202) is fixedly connected to the rack (1) through the mounting seat (201), and the vibrating disk (202) is in butt joint with one end of the feeding track (304) through the correcting track (203).
4. The high-precision program-controlled product grabbing and placing manipulator according to claim 3, wherein the bottom of the feeding rail (304) is fixedly connected with the first bracket (301), an L-shaped plate (307) is arranged on one side of the feeding rail, and the material blocking cylinder (305) is connected with the feeding rail (304) through the L-shaped plate (307).
5. The high-precision program-controlled product grabbing and placing manipulator according to claim 4, wherein a counting sensor (308) is arranged on one side of the feeding track (304) close to the moving plate (303), and the counting sensor (308) is located below the product placement groove (3031).
6. The high-precision program-controlled product grabbing and placing manipulator according to claim 4, wherein the finished product channel (5) is obliquely arranged on one side of the first support (301) far away from the vibrating plate (202), a connecting shaft (9) is fixed at the lower end of the finished product channel, and the connecting shaft (9) is rotatably arranged on the second support (401).
7. The high-precision program-controlled product grabbing and placing manipulator according to claim 1, wherein the first linear module (302) and the second linear module (402) are identical in structure and are driven by a servo motor (10).
8. The high-precision program-controlled product grabbing and placing manipulator according to claim 1, wherein the length direction of the moving plate (303) is consistent with the length direction of the mounting block (405).
9. The high-precision program-controlled product grabbing and placing manipulator according to claim 8, wherein eight product placement grooves (3031) are arranged side by side along the length direction of the moving plate (303), and the vertical section of each product placement groove (3031) is of a stepped structure.
10. The high-precision program-controlled product grabbing and placing manipulator according to claim 8, wherein the number of the pneumatic chucks (406) is four, and the four pneumatic chucks (406) are arranged side by side along the length direction of the mounting block (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010312196.3A CN111645279A (en) | 2020-04-20 | 2020-04-20 | High-precision program-controlled product grabbing and placing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010312196.3A CN111645279A (en) | 2020-04-20 | 2020-04-20 | High-precision program-controlled product grabbing and placing manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN111645279A true CN111645279A (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010312196.3A Pending CN111645279A (en) | 2020-04-20 | 2020-04-20 | High-precision program-controlled product grabbing and placing manipulator |
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| CN (1) | CN111645279A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208073A (en) * | 2020-09-17 | 2021-01-12 | 苏州领裕电子科技有限公司 | Clamping and transferring machine for injection molding product Bobbin |
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| US10981316B2 (en) * | 2016-10-18 | 2021-04-20 | Engel Austria Gmbh | Control device for a handling device |
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Application publication date: 20200911 |