CN203936285U - For the manipulator of notching press loading and unloading - Google Patents

For the manipulator of notching press loading and unloading Download PDF

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Publication number
CN203936285U
CN203936285U CN201420361910.8U CN201420361910U CN203936285U CN 203936285 U CN203936285 U CN 203936285U CN 201420361910 U CN201420361910 U CN 201420361910U CN 203936285 U CN203936285 U CN 203936285U
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China
Prior art keywords
sucker
cylinder
clip
manipulator
shaped link
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CN201420361910.8U
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Chinese (zh)
Inventor
高晓锋
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CHANGZHOU YAOHUA ELECTRIC MACHINE EQUIPMENT Co Ltd
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CHANGZHOU YAOHUA ELECTRIC MACHINE EQUIPMENT Co Ltd
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Priority to CN201420361910.8U priority Critical patent/CN203936285U/en
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Abstract

A kind of manipulator for notching press loading and unloading, there are at least 4 sucker and at least 4 suckers in inner ring in outer ring, the sucker of outer ring is divided into two groups, sucker on the same group is respectively connected on a long fulcrum bar by fixture, the sucker of inner ring is divided into two groups, sucker on the same group is respectively connected on a short strut by fixture, long fulcrum bar and short strut are respectively connected on a mobile jib by pole clamping seats, the upper end of each sucker is connected with L shaped link, described fixture comprises the first clip, the second clip and be arranged on first, sleeve pipe between the second clip, the first hoop sleeve is on corresponding long fulcrum bar or short strut, the second hoop sleeve is on the L shaped link of corresponding fixture, in L shaped link, be provided with air flue, on the gas port of L shaped link, be connected with appendix, the gas of appendix output is delivered in sucker by L shaped link.Picking and placeing of the suitable punching of the utility model.

Description

For the manipulator of notching press loading and unloading
Technical field
The utility model relates to the manipulator for notching press loading and unloading.
Background technology
Manipulator is widely used in automatic production line, and the structure of the manipulator that different occasions are used is not identical.Although have the numerical control notching press of computer program control at present, the loading and unloading of numerical control notching press still need manually.
Utility model content
The purpose of this utility model is to propose a kind of manipulator for notching press loading and unloading, the picking and placeing of suitable punching.
For achieving the above object, the utility model is taked following technical scheme: a kind of manipulator for notching press loading and unloading, there are at least 4 sucker and at least 4 suckers in inner ring in outer ring, the sucker of outer ring is divided into two groups, sucker on the same group is respectively connected on a long fulcrum bar by fixture, the sucker of inner ring is divided into two groups, sucker on the same group is respectively connected on a short strut by fixture, long fulcrum bar and short strut are respectively connected on a mobile jib by pole clamping seats, the upper end of each sucker is connected with L shaped link, described fixture comprises the first clip, the second clip and be arranged on first, sleeve pipe between the second clip, the first hoop sleeve is on corresponding long fulcrum bar or short strut, the second hoop sleeve is on the L shaped link of corresponding fixture, in L shaped link, be provided with air flue, on the gas port of L shaped link, be connected with appendix, the gas of appendix output is delivered in sucker by L shaped link.
Described sucker is permanent magnetism-pneumatic combined sucker, sucker has cylinder and is connected to the cylinder Connection Block on cylinder top, cylinder Connection Block has centre bore, in the epicoele of cylinder, be provided with piston, piston rod portion upwards stretches in the centre bore of cylinder Connection Block, in the epicoele of cylinder, be provided with the back-moving spring being enclosed within piston rod portion, the bottom surface of piston is provided with cannelure, on the bottom surface of piston, form central boss thus, between the bottom surface of central boss and the inner bottom surface of cylinder, leave gap, form the cavity of resorption of cylinder, piston has centre bore, the centre bore of piston is linked up the centre bore of cylinder Connection Block and the cavity of resorption of cylinder, in cannelure, be provided with magnet steel sticking plate and the permanent magnetic steel in magnet steel sticking plate below.
The top of described cylinder is provided with the upper back-up ring spacing to cylinder Connection Block.
In the cannelure of described sucker bottom surface, be provided with the lower back-up ring spacing to magnet steel sticking plate.
Between described the first clip, the second clip and sleeve pipe, be respectively provided with cushion.
There are 6 suckers described outer ring, and inner ring has 4 suckers.
The suctorial center of institute on described outer ring is on same circumference.
The utlity model has following good effect: 1. the utility model utilizes sucker to draw punching, can respectively the rotor punching having separated and stator punching be taken off to the picking and placeing of suitable punching by outer ring sucker with inner ring sucker.2. the depth of parallelism of the fixture convenient, flexible adjustment sucker height of energy of the present utility model and sucker baseplane and punching, picks and places punching reliable.3. adopt permanent magnetism-pneumatic combined sucker, do not need energising, can not there is not the workpiece accident that drops because of suddenly power-off, the large I of suction changes flexibly by adjusting magnet steel number, be applicable to various workpiece sizes, also can pick up even if surface of the work is not very smooth or porose (space), and security performance is good.
Brief description of the drawings
Fig. 1 is structure chart of the present utility model.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the schematic diagram of fixture.
Fig. 4 is sucker and L shaped link connection layout.
Fig. 5 is the schematic diagram of sucker.
Fig. 6 is application illustration.
Fig. 7 is the top view of Fig. 6.
Detailed description of the invention
Embodiment 1
See Fig. 2, consider that manipulator need to draw rotor and the stator having separated, the utlity model has at least 4 sucker 1 and at least 4 suckers 1 in inner ring in outer ring, the sucker 1 of inner ring must be positioned at the position of rotor punching B, for drawing the rotor punching having separated, the sucker 1 of outer ring is positioned on the position of stator punching C, for drawing the stator punching having separated.
See Fig. 1 to Fig. 5, there are 6 suckers 1 outer ring of the present embodiment, and inner ring has 4 suckers 1.6 sucker 1 centers on outer ring are on same circumference A.The sucker 1 of outer ring is divided into two groups, and the sucker in same group is respectively connected on a long fulcrum bar 2 by fixture 3.Outer ring on the same group wherein two terminal suckers of 3 suckers is connected to the inner side of long fulcrum bar 2, and middle sucker is connected to the outside of long fulcrum bar 2, and 6 sucker 1 centers are on same circumference A.The sucker 1 of inner ring is divided into two groups, and the sucker of same group is respectively connected on a short strut 4 by fixture 3.Long fulcrum bar 2 and short strut 4 are respectively connected on a mobile jib 7 by pole clamping seats 6.
The upper end of each sucker 1 is connected with L shaped link 5, can utilize joint standard component to connect between sucker 1 and L shaped link 5.
Described fixture 3 comprises the first clip 3-1, the second clip 3-2 and is arranged on the sleeve pipe 3-3 between first, second clip, between the first clip 3-1, the second clip 3-2 and sleeve pipe 3-3, is respectively provided with cushion 3-4.Fixture 3 is linked into an integrated entity through the first clip 3-1, cushion 3-4, sleeve pipe 3-3, cushion 3-4 and the second clip 3-2 by a stay bolt, in the countersunk head unthreaded hole of the head of stay bolt in the first clip 3-1 first half, the afterbody of stay bolt and the second the latter half of of clip 3-2 are threaded.
The first clip 3-1 is enclosed within on corresponding long fulcrum bar 2 or short strut 4, and the first clip 3-1 can rotate or be mobile on long fulcrum bar 2 or short strut 4, and the second clip 3-2 is enclosed within on the L shaped link 5 of corresponding fixture, and the second clip 3-2 can rotate on L shaped link 5.Fixture 3 energy angle-adjustables, cause the height of sucker to adjust, and can ensure the baseplane of sucker and the depth of parallelism of punching.
In L shaped link 5, be provided with air flue, be connected with appendix 8 on the gas port of L shaped link 5, the gas that appendix 8 is exported is delivered in sucker 1 by L shaped link 5.The gas port of L shaped link 5 has 1, also has 2.The joint of total appendix 9 is divided into four tunnels and leads to respectively four groups of suckers.The appendix of sucker is connected in series on the same group, and the L shaped link 5 in every group on the last sucker of appendix is 1 gas port, and the L shaped link 5 on other sucker is 2 gas ports.
Sucker can be conventional vacuum cup, can be also conventional magnechuck, and this enforcement adopts permanent magnetism-pneumatic combined sucker.
Permanent magnetism-pneumatic combined sucker 1 has cylinder 1-5 and is connected to the cylinder Connection Block 1-1 on cylinder 1-5 top, cylinder Connection Block 1-1 has centre bore 1-1a, in the epicoele 1-5a of cylinder 1-5, be provided with piston 1-2, the 1-2-1 of piston rod portion upwards stretches in the centre bore 1-1a of cylinder Connection Block 1-1, in the epicoele 1-5a of cylinder 1-5, be provided with the back-moving spring 1-3 being enclosed within on the 1-2-1 of piston rod portion, the bottom surface of piston 1-2 is provided with cannelure, on the bottom surface of piston 1-2, form thus central boss 1-2-2, between the inner bottom surface of the bottom surface of central boss 1-2-2 and cylinder 1-5, leave gap, form the cavity of resorption 1-5b of cylinder, piston 1-2 has centre bore 1-2a, the centre bore 1-2a of piston 1-2 links up the centre bore 1-1a of cylinder Connection Block 1-1 and the cavity of resorption 1-5b of cylinder, in cannelure, be provided with annular magnet steel sticking plate 1-6 and the annular permanent magnetic steel 1-8 in magnet steel sticking plate 1-6 below.Permanent magnetic steel 1-8 is one or more, adjusts according to needed suction size.
The top of cylinder 1-5 is provided with the upper back-up ring 1-4 spacing to cylinder Connection Block 1-1, and cylinder Connection Block 1-1 is inverted T-shaped, has the base plate 1-1-1 covering on cylinder, upper back-up ring 1-4 be arranged on base plate 1-1-1 top, be embedded in the groove of cylinder 1-5 inwall.In the cannelure of sucker bottom surface, be provided with the lower back-up ring 1-7 spacing to magnet steel sticking plate 1-6.On the base plate 1-1-1 of cylinder Connection Block 1, be also provided with steam vent 1-1b, for Quick air-discharge.
Magnet steel sticking plate 1-6 is connected with piston 1-2 by lower back-up ring 1-7, and permanent magnetic steel 1-8 is adsorbed on magnet steel sticking plate 1-6.
When ventilation, gas enters lower chamber of air cylinder from piston center hole, on piston, moves, and permanent magnetic steel disappears to the suction of bottom punching, and punching can be put down; When exhaust, piston resets downwards by the elastic force of deadweight and back-moving spring 1-3, and suction increases, and punching can pick up.
Application examples
See Fig. 6 and Fig. 7, and the supporting robot of notching press has two manipulators, the supervisor 7 of two manipulators is same.On mobile jib 7, be connected with mobile jib Connection Block 11 by mobile jib clamping seats 10, manipulator is connected on the robot body supporting with notching press by mobile jib Connection Block 11.
In application, one of them in two manipulators is responsible for capturing punching blank and is put into reason sheet station, takes off punching blank again put to punching press station from reason sheet station.Another manipulator is responsible for adsorbing at punching press station the rotor punching and the stator punching that have rushed and separated, and puts to corresponding rotor punching, stator punching stacking station.

Claims (7)

1. the manipulator for notching press loading and unloading, it is characterized in that: there are at least 4 sucker (1) and at least 4 suckers (1) in inner ring in outer ring, the sucker (1) of outer ring is divided into two groups, sucker on the same group is respectively connected on a long fulcrum bar (2) by fixture (3), the sucker (1) of inner ring is divided into two groups, sucker on the same group is respectively connected on a short strut (4) by fixture (3), long fulcrum bar (2) and short strut (4) are respectively connected on a mobile jib (7) by pole clamping seats (6), the upper end of each sucker (1) is connected with L shaped link (5), described fixture (3) comprises the first clip (3-1), the second clip (3-2) and be arranged on first, sleeve pipe (3-3) between the second clip, the first clip (3-1) is enclosed within on corresponding long fulcrum bar (2) or short strut (4), the second clip (3-2) is enclosed within on the L shaped link (5) of corresponding fixture, L shaped link is provided with air flue in (5), on the gas port of L shaped link (5), be connected with appendix (8), the gas of appendix (8) output is delivered in sucker (1) by L shaped link (5).
2. the manipulator for notching press loading and unloading according to claim 1, it is characterized in that: described sucker (1) is the cylinder Connection Block (1-1) that has cylinder (1-5) and be connected to cylinder (1-5) top, cylinder Connection Block (1-1) has centre bore (1-1a), in the epicoele (1-5a) of cylinder (1-5), be provided with piston (1-2), piston rod portion (1-2-1) upwards stretches in the centre bore (1-1a) of cylinder Connection Block (1-1), in the epicoele (1-5a) of cylinder (1-5), be provided with the back-moving spring (1-3) being enclosed within piston rod portion (1-2-1), the bottom surface of piston (1-2) is provided with cannelure, on the bottom surface of piston (1-2), form thus central boss (1-2-2), between the inner bottom surface of the bottom surface of central boss (1-2-2) and cylinder (1-5), leave gap, form the cavity of resorption (1-5b) of cylinder, piston (1-2) has centre bore (1-2a), the centre bore (1-2a) of piston (1-2) is linked up the centre bore (1-1a) of cylinder Connection Block (1-1) and the cavity of resorption (1-5b) of cylinder, in cannelure, be provided with magnet steel sticking plate (1-6) and the permanent magnetic steel (1-8) in magnet steel sticking plate (1-6) below.
3. the manipulator for notching press loading and unloading according to claim 2, is characterized in that: the top of cylinder (1-5) is provided with the upper back-up ring (1-4) spacing to cylinder Connection Block (1-1).
4. the manipulator for notching press loading and unloading according to claim 2, is characterized in that: in the cannelure of sucker bottom surface, be provided with the lower back-up ring (1-7) spacing to magnet steel sticking plate (1-6).
5. the manipulator for notching press loading and unloading according to claim 1, is characterized in that: between the first clip (3-1), the second clip (3-2) and sleeve pipe (3-3), be respectively provided with cushion (3-4).
6. the manipulator for notching press loading and unloading according to claim 1, is characterized in that: there are 6 suckers (1) outer ring, and inner ring has 4 suckers (1).
7. the manipulator for notching press loading and unloading according to claim 1, is characterized in that: the center of all suckers (1) on outer ring is on same circumference (A).
CN201420361910.8U 2014-07-01 2014-07-01 For the manipulator of notching press loading and unloading Active CN203936285U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420361910.8U CN203936285U (en) 2014-07-01 2014-07-01 For the manipulator of notching press loading and unloading

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420361910.8U CN203936285U (en) 2014-07-01 2014-07-01 For the manipulator of notching press loading and unloading

Publications (1)

Publication Number Publication Date
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108724231A (en) * 2017-04-16 2018-11-02 广西隆盛双金属铜合金制造有限公司 Vacuum cup machinery hand fixture
CN109848285A (en) * 2018-11-23 2019-06-07 芜湖电工机械有限公司 The four axial plane formula robot integrated systems for high speed slot-puncher automatic loading/unloading
CN112707163A (en) * 2020-12-20 2021-04-27 刘琴 Material sheet transferring mechanism for intelligent manufacturing punching machine and using method thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108724231A (en) * 2017-04-16 2018-11-02 广西隆盛双金属铜合金制造有限公司 Vacuum cup machinery hand fixture
CN109848285A (en) * 2018-11-23 2019-06-07 芜湖电工机械有限公司 The four axial plane formula robot integrated systems for high speed slot-puncher automatic loading/unloading
CN112707163A (en) * 2020-12-20 2021-04-27 刘琴 Material sheet transferring mechanism for intelligent manufacturing punching machine and using method thereof

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