CN209143158U - A kind of manipulator charging and discharging mechanism - Google Patents

Abstract

The utility model discloses a manipulator loading and unloading mechanism, which comprises a frame, a loading and unloading fixed platform, a positioning device, a lifting device, a manipulator loading and unloading and pressing device, a workpiece moving device and an electrical control system. The utility model is an automatic loading and unloading device, which is used for automatic loading and unloading of a lifting oil cylinder with a length of L=1850 mm before and after cleaning. The workpiece is manually placed on a loading table, and automatically positioned by a positioning device. The pressing device descends, picks up the workpiece, transports it by the workpiece moving device, and automatically places the workpiece on the loading station in turn. The workpiece is transported by the workpiece moving device, and the workpiece is automatically placed on the unloading table; the action of this mechanism is controlled by PLC as the center. Except for manually placing the workpiece on the loading table, the rest are automatically completed to realize automatic loading and unloading.

Description

A manipulator loading and unloading mechanism

technical field

The utility model relates to the technical field of cleaning machines, in particular to a loading and unloading mechanism of a manipulator.

Background technique

In the production line of cleaning cylinders, the cylinders are placed in a tray, and then the cleaning process is carried out. At present, most of the materials on this production line are manually lifted or manually controlled by a hoisting device for loading and unloading. These two loading methods have many problems. For example, the manual loading and unloading method, the labor intensity of employees is high, the speed of loading and unloading is slow, and it is easy to cause losses due to the collision and overturning of cylinders due to fatigue of employees; the use of hoisting devices improves the labor intensity of employees. It is a great improvement, but the loading and unloading speed is slow and the process is cumbersome. It needs to manually fix the tray on the hoisting device or unload it from the hoisting device, and the work efficiency is low.

Utility model content

In order to solve the above technical problems, the utility model provides a manipulator loading and unloading mechanism which reduces the input of human resources, saves the production cost and improves the production efficiency.

To achieve the above object, the utility model adopts the following technical solutions:

A manipulator loading and unloading mechanism, which includes a frame, a loading and unloading fixed platform, a positioning device, a lifting device, a manipulator loading and unloading and pressing device, a workpiece moving device and an electrical control system, and the loading and unloading fixed platform includes a loading table and an unloading table , The positioning device and the lifting device are installed above and below the feeding table respectively. The workpiece moving device and the manipulator unloading and pressing device are installed on the frame. Move to the unloading table for grabbing and placing, the workpiece on the loading table is loaded through the lifting device, and pushed and aligned through the positioning device, and the electrical control system controls the actions of each device; the workpiece moving device includes a drive reducer , the first linear guide rail, the guide rail mounting seat, the first rack, the first gear, the square seat bearing, the seat frame, the first shaft and the support plate, the drive reducer is installed on the frame through the transition mounting plate and the fixed mounting plate. On the machine table, the bottom of the first linear guide rail is installed on the machine base of the rack through the slide rail fixing strip, the top of the first linear guide rail is installed on the machine table of the rack through the guide rail mounting seat, and the first rack passes through the machine table. The rack fixing plate is installed on the inner side of the frame of the frame, the first gear is sleeved on the end of the first shaft through the square seat bearing, the first shaft is installed on the seat frame, and support plates are installed at both ends of the seat frame. An encoder is installed at one end through an expansion sleeve.

Further, the manipulator loading and unloading and pressing device includes a first guide post, a guide sleeve, a fixing plate, a first cylinder, a first cylinder connecting rod, a first cylinder support, a connecting plate, a vertical seat bearing, a second shaft, a first cylinder Second cylinder, second cylinder fixing plate, third cylinder, third cylinder fixing plate, third cylinder connecting rod, connecting rod, second guide column, second guide column fixing plate, second cylinder connecting plate, V-block fixing plate, the third V-shaped block and the swing arm, the first guide column is covered with a guide sleeve, the guide sleeve is screwed with the fixing plate, the fixing plate is fixed on the machine table of the frame, and the upper and lower ends of the guide sleeve are connected to the first guide column. A linear bearing is arranged between them, a first bearing cover is arranged on the linear bearing, the first bearing cover is screwed with the guide sleeve, the bottom end of the first guide column is screwed with the connecting plate, and the first cylinder is arranged on the fixing plate, The piston rod of the first cylinder is connected with the first cylinder support through the first cylinder connecting rod, the first cylinder support is screwed with the connecting plate, the connecting plate is connected with two symmetrical vertical seat bearings, and the vertical seat bearings are sleeved in the On the second shaft, a swing arm is sleeved on the second shaft, the second cylinder is connected with the swing arm through the second cylinder fixing plate, the third cylinder is connected with the connecting plate through the third cylinder fixing plate, and the piston rod of the third cylinder is connected through the third cylinder fixing plate. The connecting rod of the three-cylinder is connected with the connecting rod, the connecting rod is sleeved on the second shaft, the swing arm is connected with the second guide column through the second guide column fixing plate, and the bottom end of the second guide column is screwed with the V-shaped block fixing plate, The V-shaped block fixing plate is connected with the piston rod of the second cylinder through the second cylinder connecting plate, and a third V-shaped block is fixed on the V-shaped block fixing plate.

Further, the lifting device includes a first V-shaped block, a second V-shaped block, a square tube frame, a second linear guide rail, a cylinder connecting rod, a cylinder shaft, a second gear, a second rack and a fourth cylinder. The mold block is fixed on the square tube frame through the first V-shaped block bottom plate, the second V-shaped block is fixed on the side of the square tube frame through the second V-shaped block bottom plate, and the second linear guide The block fixing plate is screwed with the square pipe frame, the second linear guide is fixed on the loading and unloading fixed platform through the linear guide fixing plate, the piston rod of the fourth cylinder is connected with the cylinder connecting rod, the cylinder connecting rod is sleeved with the cylinder shaft, and the cylinder is connected Two symmetrical dust-proof bearings are arranged between the rod and the cylinder shaft, a second bearing cover is arranged on the dust-proof bearings, and the two ends of the cylinder shaft are respectively sleeved with a second gear, the second gear and the two second racks Meshing respectively, one of the second racks is fixed on the square tube frame through the rack adjustment plate and the first rack fixing plate, and the other second rack is fixed on the loading and unloading fixed platform through the second rack fixing plate. The four cylinders are fixed on the bottom of the loading and unloading fixed platform through the cylinder adjusting pad and the cylinder fixing plate.

Further, the positioning device includes a fifth cylinder, a cylinder mounting seat, a support fixing plate, a cylinder tie rod, a pin shaft, a mounting seat plate, a guide rail fixing plate, a third linear guide rail and a push plate, and the fifth cylinder is mounted on the cylinder mounting seat. , the cylinder mounting seat is installed on the loading and unloading fixed platform through the support fixing plate, the cylinder rod of the fifth cylinder is connected with the push plate through the pin shaft, the push plate is installed on the third linear guide through the mounting seat plate, and the third linear guide passes through The guide rail fixing plate is installed on the loading and unloading fixing platform.

Further, the unloading table is inclined.

Beneficial effects:

The utility model is an automatic loading and unloading device, which is used for automatic loading and unloading of a lifting oil cylinder with a length of L=1850 mm before and after cleaning. The workpiece is manually placed on a loading table, and automatically positioned by a positioning device. The pressing device descends, picks up the workpiece, transports it by the workpiece moving device, and automatically places the workpiece on the loading station in turn. The workpiece is transported by the workpiece moving device, and the workpiece is automatically placed on the unloading table; the action of this mechanism is controlled by PLC as the center. Except for manually placing the workpiece on the loading table, the rest are automatically completed to realize automatic loading and unloading.

Description of drawings

Fig. 1 is the front view of the manipulator loading and unloading mechanism of the present utility model;

Fig. 2 is the left side view of the manipulator loading and unloading mechanism of the present invention;

Fig. 3 is the top view of the manipulator loading and unloading mechanism of the present invention;

Fig. 4 is the rear view of the manipulator loading and unloading mechanism of the present invention;

Fig. 5 is the enlarged view of B part in Fig. 1;

Fig. 6 is the enlarged view of A part among Fig. 2;

Fig. 7 is the front view of the manipulator loading and unloading and pressing device of the present invention;

Fig. 8 is the left side view of the manipulator loading and unloading and pressing device of the present invention;

9 is a front view of the lifting device of the present invention;

Figure 10 is a left side view of the lifting device of the present invention;

Figure 11 is a schematic diagram of the connection part of the cylinder connecting rod and the cylinder shaft in Figure 9;

12 is a front view of the positioning device of the present invention;

13 is a top view of the positioning device of the present invention;

14 is a schematic diagram of the cooperation between the positioning device and the lifting device of the present invention;

In the picture: 1-first guide post, 2-dust ring, 3-bearing cover, 4-linear bearing, 5-guide bush, 6-fixed plate, 7-frame, 8-first cylinder connecting rod, 9- -1st cylinder support, 10-1st cylinder pin, 11-1st round nut, 12-connecting plate, 13-liner, 14-vertical seat bearing, 15-liner, 16-shaft, 17-th Two-cylinder fixing plate, 18-third cylinder fixing plate, 19-third cylinder liner, 20-third cylinder connecting rod, 21-connecting rod, 22-second guide post, 23-second guide post fixing plate, 24-Second round nut, 25-Second cylinder connecting plate, 26-V-block fixing plate, 27-V-block, 28-Swing arm, 29-First pad, 30-Second pad, 31- The third pad, 32-drive reducer, 33-transition mounting plate, 34-fixed mounting plate, 35-slide rail fixing strip, 36-first linear guide rail, 37-rail mounting seat, 38-rack fixing plate , 39-first rack, 40-first gear, 41-square seat bearing, 42-seat frame, 43-first shaft, 44-encoder, 45-support plate, 46-expansion sleeve, 47-first Cylinder, 48-Third Cylinder, 49-Second Cylinder, 50-Loading Table, 51-Unloading Table, 52-First V-Block, 53-Second V-Block, 54-Square Pipe Rack, 55- The second linear guide, 56-cylinder connecting rod, 57-cylinder shaft, 58-second gear, 59-second rack, 60-fourth cylinder, 61-first V-block bottom plate, 62-second V-shaped Block bottom plate, 63-sliding connection plate, 64-slider adjustment pad, 65-slider fixing plate, 66-linear guide fixing plate, 67-dust-proof bearing, 68-second bearing cover, 69-rack adjustment plate, 70-First rack fixing plate, 71-Second rack fixing plate, 72-Cylinder adjusting pad, 73-Cylinder fixing plate, 74-First V-shaped lining, 75-Second V-shaped lining, 76-Spacer ring , 77-dust ring, 78-third V-liner, 79-block, 80-block liner, 81-fifth cylinder, 82-cylinder mounting seat, 83-support fixing plate, 84-nylon pad , 85-cylinder rod, 86-pin shaft, 87-installation seat plate, 88-guide rail fixed plate, 89-third linear guide rail, 90-push plate, 91-reinforcing rib.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

The utility model relates to a loading and unloading mechanism of a manipulator, which is an automatic loading and unloading device, which is used for automatic loading and unloading of a lifting oil cylinder with a length of L=1850 mm before and after cleaning. In order to ensure the quality, the following requirements must be met: Cylinder size: diameter (inner diameter) D=φ50-φ80mm, outer diameter Dmax=φ100mm, longest length L=1850mm, shortest length L=1400mm, production cycle: 1min/piece (depending on The length of the workpiece), the conveying speed: 5.4m/min.

As shown in Figures 1-6, the utility model includes a frame, a loading and unloading fixed platform, a positioning device, a lifting device, a manipulator loading and unloading and pressing device, a workpiece moving device and an electrical control system. The loading and unloading fixed platform includes a loading table. 50 and the unloading table 51, the positioning device and the lifting device are respectively installed above and below the loading table 50, the workpiece moving device and the manipulator unloading and pressing device are installed on the frame, and the manipulator unloading and pressing The device is installed in the workpiece moving device. The workpiece moves from the loading table to the unloading table for grabbing and placement under the action of the loading table 50. The workpieces on the loading table 50 are loaded by the lifting device, and pushed and aligned by the positioning device. The electrical control system controls the actions of each device. . The workpiece moving device includes a drive reducer 32, a first linear guide 36, a guide mounting seat 37, a first rack 39, a first gear 40, a square seat bearing 41, a seat frame 42, a first shaft 43 and a support plate 45, The drive reducer 32 is mounted on the machine table of the rack through the transition mounting plate 33 and the fixed mounting plate 34, and the bottom of the first linear guide 36 is mounted on the frame of the rack through the slide rail fixing strip 35. The top of the guide rail 36 is installed on the machine table of the rack through the guide rail mounting seat 37, the first rack 39 is installed on the inner side of the machine base of the rack through the rack fixing plate 38, and the first gear 40 is sleeved on the first gear through the square seat bearing 41. At the end of a shaft 43 , the first shaft 43 is installed on the seat frame 42 , the support plates 45 are installed at both ends of the seat frame 42 , and the encoder 44 is installed at one end of the first shaft 43 through the expansion sleeve 46 .

As shown in Figures 7-8, the manipulator loading and unloading and pressing device includes a first guide post 52, a guide sleeve 5, a fixing plate 6, a first cylinder 47, a first cylinder connecting rod 8, a first cylinder support 9, and a connecting plate 12. Vertical seat bearing 14, shaft 16, second cylinder 49, second cylinder fixing plate 17, third cylinder 48, third cylinder fixing plate 18, third cylinder connecting rod 20, connecting rod 21, second guide post 22. The second guide column fixing plate 23, the second cylinder connecting plate 25, the V-shaped block fixing plate 26, the V-shaped block 27 and the swing arm 28, the first guide column 1 is covered with a guide sleeve 5, and the guide sleeve 5 is fixed with The plate 6 is screwed together, the fixed plate 6 is fixed on the frame 7, the linear bearing 4 is arranged between the upper and lower ends of the guide sleeve 5 and the first guide column 1, the linear bearing 4 is provided with a bearing cover 3, and the bearing cover 3 and The guide sleeve 5 is screwed together, a dust ring 2 is arranged between the bearing cover 3 and the first guide column 1, the bottom end of the first guide column 1 is connected with the connecting plate 12 through the first round nut 11, and the first cylinder 47 is arranged at On the fixing plate 6, the piston rod of the first cylinder 47 is connected to the first cylinder support 9 through the first cylinder connecting rod 8, the first cylinder connecting rod 8 and the first cylinder support 9 are connected through the first cylinder pin 10, A cylinder support 9 is screwed with the connecting plate 12, the connecting plate 12 is connected with two symmetrical vertical seat bearings 14, a gasket 13 is arranged between the connecting plate 12 and the vertical seat bearing 14, and the vertical seat bearing 14 sets On the shaft 16, a swing arm 28 is sleeved on the shaft 16, and a first pad 29, a second pad 30 and a third pad 31 are respectively provided on the grab end of the swing arm 28. The vertical seat bearing 14 and the pendulum A bushing 15 is arranged between the arms 28, the second cylinder 49 is connected to the swing arm 28 through the second cylinder fixing plate 17, the third cylinder 48 is connected to the connecting plate 12 through the third cylinder fixing plate 18, and the third cylinder fixing plate 18 A third cylinder liner 19 is arranged between the connecting plate 12 and the third cylinder 48. The piston rod of the third cylinder 48 is connected to the connecting rod 21 through the third cylinder connecting rod 20. The connecting rod 21 is sleeved on the shaft 16, and the swing arm 28 passes through the second cylinder The guide column fixing plate 23 is connected with the second guide column 22 , the bottom end of the second guide column 22 is connected with the V-shaped block fixing plate 26 through the second round nut 24 , and the V-shaped block fixing plate 26 is connected with the second cylinder connecting plate 25 through the second round nut 24 . The piston rod of the second cylinder 49 is connected, and the V-shaped block 27 is fixed on the V-shaped block fixing plate 26 .

As shown in Figures 9-11, the lifting device includes a first V-shaped block 52, a second V-shaped block 53, a square tube frame 54, a second linear guide 55, a cylinder connecting rod 56, a cylinder shaft 57, a second gear 58, The second rack 59 and the fourth cylinder 60 , the first V-shaped block 52 is fixed on the square tube frame 54 through the first V-shaped block bottom plate 61 , and the second V-shaped block 53 is fixed on the square tube frame 54 through the second V-shaped block bottom plate 62 . On the side of the pipe frame 54, a first V-shaped lining 74 is fixed on the first V-shaped block 52, a third V-shaped lining 78 is provided on one side of the first V-shaped block 52, and a third V-shaped lining 78 is provided on the other side of the first V-shaped block 52 There is a stopper 79, the inner side of the stopper 79 is provided with a stopper lining 80, a second V-shaped lining 75 is fixed on the second V-shaped block 53, and the second linear guide 55 passes through the sliding connecting plate 63, the slider adjusting pad 64 and the The slider fixing plate 65 is screwed with the square tube frame 54, the second linear guide 55 is fixed on the loading and unloading fixed platform through the linear guide fixing plate 66, the piston rod of the fourth cylinder 60 is connected with the cylinder connecting rod 56, and the cylinder connecting rod 56 It is sleeved with the cylinder shaft 57, two symmetrical dust-proof bearings 67 are arranged between the cylinder connecting rod 56 and the cylinder shaft 57, a spacer ring 76 is arranged between the two symmetrical dust-proof bearings 26, and the dust-proof bearing 67 is arranged on the There is a second bearing cover 68, a dust ring 77 is arranged between the second bearing cover 68 and the cylinder shaft 57, the two ends of the cylinder shaft 57 are respectively sleeved with a second gear 58, the second gear 58 and the two second teeth The racks 59 are meshed respectively, one of the second racks 59 is fixed on the square tube frame 54 by the rack adjusting plate 69 and the first rack fixing plate 70 , and the other second rack 59 is fixed by the second rack fixing plate 71 On the loading and unloading fixed platform, the fourth cylinder 60 is fixed on the bottom of the loading and unloading fixed platform through the cylinder adjusting pad 72 and the cylinder fixing plate 73 .

As shown in FIGS. 12-14 , the positioning device includes a fifth cylinder 81 , a cylinder mounting seat 82 , a support fixing plate 83 , a cylinder tie rod 85 , a pin shaft 86 , a mounting seat plate 87 , a guide rail fixing plate 88 , and a third linear guide rail 89 And the push plate 90, the fifth cylinder 81 is installed on the cylinder mounting seat 82, the cylinder mounting seat 82 is installed on the loading and unloading fixed platform through the support fixing plate 83, and the cylinder rod 85 of the fifth cylinder 81 is connected to the push plate through the pin 86. 90 connection, the pushing part of the push plate 90 is provided with a nylon backing plate 84, the two sides of the push plate 90 are provided with reinforcing ribs 91, the push plate 90 is installed on the third linear guide rail 89 through the mounting seat plate 87, and the third linear guide rail 89 It is installed on the loading and unloading fixed platform through the guide rail fixing plate 88 .

The organization consists of:

1. Rack:

It is welded by rectangular steel pipe. The rack is fixed to the ground plane.

2. Loading and unloading fixed platform:

The loading and unloading fixed platform is welded by rectangular steel pipes. The rear end of the feeding table 50 is equipped with a vibrating machine, so that the workpiece can slide down easily, and the bottom heel is fixed on the ground plane. The contact surface between the loading and unloading fixed platform and the workpiece is made of nylon material to prevent the surface of the workpiece from being bumped and scratched. The unloading table 51 is inclined and provided with a block at the front end, and the block is replaced according to different workpieces. A fixed limit is installed on one side of the loading and unloading fixed platform, and the workpiece is manually moved to the limit.

3. Positioning device:

The positioning device is composed of linear guides, supports, cylinders, connecting rods, fixed plates, nylon plates, etc. In order to ensure the accurate position of the workpiece, a set of positioning device is used to position the workpiece, and it will automatically reset after positioning. (Manual must bring the workpiece close to the limit)

4. Lifting device:

The lifting device is composed of cylinder, connecting rod, V-block, linear guide, gear, rack and so on. Driven by the cylinder, driven by gears and racks, the V-shaped block is driven to rise and the workpiece is lifted. Ensure that the working position of the manipulator is accurate.

5. Manipulator loading and unloading and pressing device:

The loading and unloading and pressing device of the manipulator is composed of a lifting cylinder, a swinging cylinder, a pressing cylinder, a swing arm, a guide column, a linear bearing, a pressing plate, etc. The workpiece is pressed by the cylinder, and the lifting cylinder lifts (lowers) the workpiece. Ensure the stability of the workpiece when moving. The lifting cylinder adopts SMC cylinder to ensure the stability of lifting.

6. Workpiece moving device:

The workpiece moving device is composed of a reducer, a transmission shaft, a gear, a rack, and a linear guide. The drive reducer adopts SEW brand reducer, power: 0.37Kw, output speed N=12r/min, moving speed adjustable by frequency conversion. Gear and rack drive, and linear guides are used for movement to ensure the stability of the movement of the workpiece. The moving position is controlled by the encoder.

7. Electrical control system:

The electrical control system adopts PLC as the central control, with two programs of manual adjustment and automatic operation. In the program design, the relevant programs are interlocked. Whether manual or automatic operation, there is a complete protection function, so as to avoid damage to the machine due to misoperation. Ensure that the equipment operates normally. The electrical components operate reliably, the process adjustment is convenient, and the electrical cabinet is shared with the washing machine.

The working principle of this mechanism is as follows: the workpiece is manually placed on the feeding table, automatically positioned by the positioning device, the cylinder is lifted by the lifting device, the manipulator is unloading and the pressing device is lowered, the workpiece is picked up and transported by the workpiece moving device , the workpiece is automatically placed on the feeding station in turn. After the cylinder is cleaned, rinsed and dried, the workpiece is picked up by the manipulator unloading and pressing device, transported by the workpiece moving device, and the workpiece is automatically placed on the unloading table. ; The action of this mechanism is controlled by PLC as the center. Except for manually placing the workpiece on the loading table, the rest are automatically completed to realize automatic loading and unloading.

The process flow of this institution is:

Automatic feeding process: manual feeding on the feeding table → automatic positioning of the workpiece → automatic lifting of the workpiece → automatic grasping of the manipulator → automatic displacement of the workpiece → unloading of the manipulator → automatic reset of the manipulator → repeating the action twice (except for the workpiece shifting The distance is changed, other actions are the same).

The process of automatic unloading: automatic grasping of the manipulator → automatic displacement of the workpiece → automatic unloading of the manipulator to the V-shaped block → automatic lowering of the workpiece to the unloading table → moving the manipulator to the second workpiece position → repeating the action twice (except for the workpiece) The displacement distance is changed, other actions are the same) → The workpiece is automatically rolled onto the assembly table.

The main technical parameters of this mechanism: power supply: three-phase 380V 50HZ; feeding size (length×width×height): 4820×3130×3500mm; blanking size (length×width×height): 2620×3130×3500mm; conveying step Distance: about 1300mm; conveying beat: 1min/piece; conveying speed: 5.4m/min; conveying reducer: 0.37kw.

In the present invention, each supporting equipment is a common equipment on the market.

To limit the protection scope of the present invention, those skilled in the art should understand that on the basis of the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative work are still in the present invention. within the scope of protection.

Claims (5)

1. a kind of manipulator charging and discharging mechanism, it includes rack, loading and unloading fixed platform, positioning device, lifting device, manipulator Loading and unloading and pressing device, workpiece movement device and electrical control system, it is characterised in that: the loading and unloading fixed platform includes Feeding platform (50) and blanking bench (51), the positioning device and the lifting device are separately mounted to the upper of the feeding platform (50) Side and lower section are equipped with the workpiece movement device and the manipulator loading and unloading and pressing device, the machine in the rack Tool on hand blanking and pressing device under the action of the workpiece movement device from feeding platform be moved to blanking bench carry out crawl and It places, the workpiece on the feeding platform (50) carries out feeding by the lifting device, and is pushed away by the positioning device Material contraposition, the electrical control system control the movement of each device；The workpiece movement device includes driving speed reducer (32), the One linear guide (36), guide rail mounting base (37), the first rack gear (39), first gear (40), square block bearing (41), mounting (42), first axle (43) and support plate (45), the driving speed reducer (32) pass through transition mounting plate (33) and fixed mounting plate (34) it is mounted on the board of the rack, the bottom of the first straight line guide rail (36) is mounted on by sliding rail fixed strip (35) On the base of the rack, the top of the first straight line guide rail (36) is mounted on the rack by guide rail mounting base (37) On board, first rack gear (39) is mounted on the inside of the base of the rack by rack gear fixed plate (38), first tooth Wheel (40) is covered by the square block bearing (41) in the end of the first axle (43), and the first axle (43) is mounted on the seat On frame (42), mounting (42) both ends are equipped with the support plate (45), and one end of the first axle (43) passes through expansion set (46) encoder (44) are installed.

2. manipulator charging and discharging mechanism according to claim 1, it is characterised in that: the manipulator loading and unloading and compression dress It sets including the first guide post (1), guide sleeve (5), fixed plate (6), the first cylinder (47), the first cylinder connecting rod (8), the first cylinder branch Seat (9), connecting plate (12), plummer block housing bearing (14), the second axis (16), the second cylinder (49), the second air cylinder fixed plate (17), the Three cylinders (48), third air cylinder fixed plate (18), third cylinder connecting rod (20), connecting rod (21), the second guide post (22), second are led Column fixed plate (23), the second cylinder connecting plate (25), V-block fixed plate (26), third V-block (27) and swing arm (28), it is described It is cased on first guide post (1) guide sleeve (5), the guide sleeve (5) is spirally connected with the fixed plate (6), and the fixed plate (6) is fixed On the board of rack, linear bearing (4), institute are provided between the upper and lower side and first guide post (1) of the guide sleeve (5) It states and is provided on linear bearing (4) first bearing lid (3), the first bearing lid (3) is spirally connected with the guide sleeve (5), and described The bottom end of one guide post (1) is spirally connected with the connecting plate (12), and first cylinder (47) is arranged on the fixed plate (6), institute The piston rod for stating the first cylinder (47) is connect by the first cylinder connecting rod (8) with first cylinder saddle (9), described First cylinder saddle (9) is spirally connected with the connecting plate (12), the connecting plate (12) and two symmetrical plummer block housing bearings (14) it connects, the plummer block housing bearing (14) covers on second axis (16), is cased with the swing arm on second axis (16) (28), second cylinder (49) is connect by second air cylinder fixed plate (17) with the swing arm (28), the third gas Cylinder (48) is connect by the third air cylinder fixed plate (18) with the connecting plate (12), the piston rod of the third cylinder (48) It is connect by the third cylinder connecting rod (20) with the connecting rod (21), the connecting rod (21) covers in second axis (16) On, the swing arm (28) is connect by the second guide post fixed plate (23) with second guide post (22), second guide post (22) bottom end is spirally connected with the V-block fixed plate (26), and the V-block fixed plate (26) passes through the second cylinder connecting plate (25) it is connect with the piston rod of second cylinder (49), is fixed with the third V-block on the V-block fixed plate (26) (27)。

3. manipulator charging and discharging mechanism according to claim 1, it is characterised in that: the lifting device includes the first V-type Block (52), the second V-block (53), square tube frame (54), second straight line guide rail (55), cylinder connecting rod (56), cylinder axis (57), Two gears (58), the second rack gear (59) and the 4th cylinder (60), first V-block (52) pass through the first V-block bottom plate (61) It is fixed on the square tube frame (54) above, second V-block (53) is fixed on the square tube by the second V-block bottom plate (62) Frame (54) side, the second straight line guide rail (55) are fixed by sliding connection plate (63), sliding block adjusting pad (64) and sliding block Plate (65) is spirally connected with the square tube frame (54), and the second straight line guide rail (55) is fixed on institute by linear guide fixed plate (66) It states in loading and unloading fixed platform, the piston rod of the 4th cylinder (60) is connect with the cylinder connecting rod (56), the cylinder Connecting rod (56) and the cylinder axis (57) are socketed, and are provided with two between the cylinder connecting rod (56) and the cylinder axis (57) A symmetrical shield bearing (67) is provided with second bearing lid (68) on the shield bearing (67), the cylinder axis (57) Both ends are arranged with the second gear (58) respectively, and the second gear (58) is nibbled respectively with two second rack gears (59) It closes, wherein second rack gear (59) is fixed on the side by rack gear adjustment plate (69) and the first rack gear fixed plate (70) On pipe support (54), another second rack gear (59) is fixed on the loading and unloading fixation by the second rack gear fixed plate (71) and puts down On platform, the 4th cylinder (60) is fixed on the loading and unloading fixation by cylinder adjusting pad (72) and air cylinder fixed plate (73) and puts down The bottom of platform.

4. manipulator charging and discharging mechanism according to claim 1, it is characterised in that: the positioning device includes the 5th cylinder (81), cylinder mounting base (82), support fixed plate (83), air cylinder tie rod (85), pin shaft (86), installation seat plate (87), guide rail are solid Fixed board (88), third linear guide (89) and push plate (90), the 5th cylinder (81) are mounted on the cylinder mounting base (82) On, the cylinder mounting base (82) is mounted in the loading and unloading fixed platform by the support fixed plate (83), and described The air cylinder tie rod (85) of five cylinders (81) is connect by the pin shaft (86) with the push plate (90), and the push plate (90) is logical It crosses the installation seat plate (87) to be mounted on the third linear guide (89), the third linear guide (89) is led by described Rail fixed plate (88) is mounted in the loading and unloading fixed platform.

5. manipulator charging and discharging mechanism according to claim 1, it is characterised in that: the blanking bench (51) is obliquely installed.