CN209718456U - A kind of pick-and-place insert device based on electromagnet and pneumatic fit - Google Patents
A kind of pick-and-place insert device based on electromagnet and pneumatic fit Download PDFInfo
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- CN209718456U CN209718456U CN201920302927.9U CN201920302927U CN209718456U CN 209718456 U CN209718456 U CN 209718456U CN 201920302927 U CN201920302927 U CN 201920302927U CN 209718456 U CN209718456 U CN 209718456U
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- actuated jaw
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Abstract
The utility model discloses a kind of pick-and-place insert device based on electromagnet and pneumatic fit, the device includes six-joint robot, assembly fixture, six-joint robot includes that six-joint robot includes first axle, second axis, third axis and rotary part, the free end of rotary part is equipped with clamping part, clamping part is used for fixing assembling jig, assembly fixture includes frame, first side of frame is provided with air-actuated jaw, electromagnet and close switch, two electromagnet are located at the two sides of air-actuated jaw and for cooperating air-actuated jaw to be fixed metal inserted piece, second side of frame is provided with vacuum chuck fitting.The pick-and-place insert device of the utility model is cooperated using electromagnetism ferromagnetism and pneumatic element, is reduced the quantity that pneumatic-finger uses, is alleviated the weight of entire jig, while can reduce six-joint robot cost.
Description
[technical field]
The utility model relates to technical field of automation equipment, more particularly, to a kind of based on electromagnet and pneumatic fit
Pick and place insert device.
[background technique]
Shooting Technique is a kind of selection process for being able to satisfy various nonstandard shaped piece processings, cut compared to tradition,
Milling Machining operation mode is rushed, with one-pass molding, the significant advantage being produced on a large scale, currently, in Injection Industry, in injection mould
It is very more to place the product that metalwork is molded, it is most of that metalwork is placed in existing injection mould is put by artificial
It sets, to take out the inlaid piece of mould in mold especially to place handware, then the inlaid piece of mould for placing handware is put again
It returns in mold and is molded, this process is entirely to complete by artificial, and working efficiency is low, needs to expend a large amount of labour
Power.
However, can inevitably encounter other places in mold, regular causes during manually picking and placing inlaid piece of mould
Inlaid piece of mould or mold impingement damage.
[utility model content]
The main purpose of the utility model be to provide it is a kind of cooperated using electromagnetism ferromagnetism and pneumatic element, reduce pneumatic
The quantity that finger uses alleviates the weight of entire jig, at the same can reduce six-joint robot cost based on electromagnet with
The pick-and-place insert device of pneumatic fit.
In order to realize above-mentioned main purpose, a kind of pick-and-place based on electromagnet and pneumatic fit provided by the utility model
Insert device includes six-joint robot, and six-joint robot includes first axle, the second axis, third axis and is installed on third axis freedom
The free end of rotary part on end, rotary part is equipped with clamping part, and the first cursor is equipped between first axle and the second axis, the
The second cursor is equipped between two axis and third axis, picking and placing insert device further includes assembly fixture, and clamping part is used for fixing assembling
Jig, assembly fixture include frame, and the first side of frame is provided with air-actuated jaw, electromagnet and close switch, two electromagnet
It is located at the two sides of air-actuated jaw and is used to that air-actuated jaw to be cooperated to be fixed metal inserted piece, when air-actuated jaw grabs gold
After belonging to mold insert, close to the signal in place switched for detecting metal inserted piece, second side of frame is provided with vacuum chuck fitting, very
Suction disk fitting is used for fixed-type good mold.
Further embodiment is that magnetic switch is equipped on air-actuated jaw, and magnetic switch is used to incude the fortune of air-actuated jaw
Dynamic position.
Further embodiment is that vacuum induction switch is equipped on vacuum chuck fitting, and vacuum induction is switched for detecting
Whether the mold on vacuum chuck fitting is completely removed.
Further scheme is that assembly fixture further includes vacuum generator, and vacuum generator is arranged in frame.
Further scheme is, frame includes two pieces of first panels, two pieces of second panels and third panel, frame by
Two pieces of first panels, two pieces of second panels and third panel are surrounded and are formed.
It can be seen that air-actuated jaw is used to grab mounted metal edge on the metal inserted piece and mounting platform in mold
Part, electromagnet are used to that air-actuated jaw to be cooperated to draw mounted metal edge in metal inserted piece and suck up outside equipment in mold
Part, vacuum chuck fitting are used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting and inhales
Modulus tool, and the signal detection of various detection switch, position deviation caused by can preventing mold insert from shifting during the motion,
Jig grasping mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, may be implemented entirely to pick and place metal
Continuity, safety and the precise positioning of mold insert movement.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
[Detailed description of the invention]
Fig. 1 is six axis machines in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the utility model
The structural schematic diagram of people.
Fig. 2 is assembly fixture in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the utility model
With the structural schematic diagram of metal inserted piece, mold.
Fig. 3 is assembly fixture in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the utility model
Structural schematic diagram.
Fig. 4 is assembly fixture in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the utility model
The structural schematic diagram of another angle.
Fig. 5 is assembly fixture in a kind of pick-and-place insert device embodiment based on electromagnet and pneumatic fit of the utility model
Stereogram exploded view.
[specific embodiment]
In order to which the objects, technical solutions and advantages of utility model are more clearly understood, with reference to the accompanying drawings and embodiments,
The present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain this
Utility model, and it is not exclusively for the utility model.
Referring to Fig. 1, a kind of pick-and-place insert device based on electromagnet and pneumatic fit of the utility model includes six axis machines
Device people, assembly fixture and chassis, six-joint robot include pedestal 10, first axle 11, the second axis 12, third axis 13 and installation
In the rotary part 20 on 13 free end of third axis, the first servo motor 19 on pedestal 100, the second servo motor 16,
Third servo motor 17, the 4th servo motor 18 and heavy-duty connector 21, rotary part 20 do axis relative to third shaft 13
To rotation, the free end of rotary part 20 is equipped with clamping part 22, and the first cursor 14 is equipped between first axle 11 and the second axis 12,
The second cursor 15 is equipped between second axis 12 and third axis 13.
In the present embodiment, the clamping part 22 of six-joint robot is used for fixing assembling jig, utilizes the more of six-joint robot
Axis linkage function and multi-functional control run to control assembly fixture.
Referring to fig. 2 with Fig. 5, assembly fixture includes frame, and the first side of frame is provided with air-actuated jaw 31,32 and of electromagnet
Close to switch 33, two electromagnet 32 are located at the two sides of air-actuated jaw 31 and for cooperating air-actuated jaw 31 to be fixed
Metal inserted piece 4 is used to detect the letter in place of metal inserted piece 4 after air-actuated jaw 31 grabs metal inserted piece 4 close to switch 33
Number, second side of frame is provided with vacuum chuck fitting 34, and vacuum chuck fitting 34 is used for fixed-type good mold 5.Wherein,
The present embodiment close to switch 33 be a kind of without carrying out mechanically direct contact and manipulable position switch with moving component,
When metal inserted piece 4 is close to the sensitive surface of the switch to operating distance, not needing Mechanical Contact and any pressure of application can make
Switch motion.
Wherein, magnetic switch (not shown) is installed, magnetic switch is for incuding air-actuated jaw 31 on air-actuated jaw 31
Movement position.
Further, assembly fixture further includes vacuum generator (not shown), and vacuum generator is arranged in frame, and
For generating vacuum to cooperate vacuum chuck fitting 34 to draw mold 5.
In the present embodiment, frame include two pieces of first panels, 1, two piece of second panel 2 and third panel 3, frame by
Two pieces of first panels, 1, two piece of second panel 2 and third panel 3 are around formation, wherein above-mentioned panel is aluminium product part, aluminium
Material workpiece is used as the frame structure of entire jig, installs relevant each accessory.Air-actuated jaw 31, electromagnet 32 and close to opening
33 are closed to be located in first panel 1, vacuum chuck fitting 34 is located on third panel 3, specifically, first piece of first panel 1
Two air-actuated jaws 31 and four electromagnet 32 are respectively equipped with second piece of first panel 1, third panel 3 is equipped with multiple and mould
Have the corresponding vacuum chuck fitting 34 of shape of product, is provided in first panel 1 corresponding with the clamping end of air-actuated jaw 31
First through hole, the clamping end of air-actuated jaw 31 is through first through hole and extends outwardly, and is additionally provided on third panel 3 and vacuum
Corresponding second through-hole in the free end of sucker fitting 34, the free end of vacuum chuck fitting 34 is through the second through-hole and to extension
It stretches, the middle part of second panel 2 is equipped with third through-hole 102 corresponding with the clamping part 22 of six-joint robot, and clamping part 22 passes through
The through-hole grips assembly fixture.
Preferably, vacuum induction switch (not shown) is installed, vacuum induction is switched for examining on vacuum chuck fitting 34
Whether the mold 5 surveyed on vacuum chuck fitting 34 is completely removed.Vacuum induction switch is a kind of opening for detection vacuum ranges
It closes, also known as low-vacuum load-tripping device.Its effect is: when vacuum degree generated in real work reaches prescribed requirement, automatic shutter
Control circuit issues electric signal, instruction vacuum adsorption mechanism regular event.
It can be seen that air-actuated jaw 31 is used to grab mounted mold insert on the mold insert and mounting platform in mold, electromagnetism
Iron 32 is used to that air-actuated jaw 31 to be cooperated to draw mounted mold insert in mold insert and suck up outside equipment in mold, vacuum chuck gold
Tool 34 is used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting 34 and draws mold, adds
The signal detection of upper various detection switch, position deviation caused by can preventing mold insert from shifting during the motion, jig crawl
Mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, and may be implemented entirely to pick and place metal inserted piece movement
Continuity, safety and precise positioning.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
In the present embodiment, a kind of pick-and-place method of pick-and-place insert device based on electromagnet and pneumatic fit is also provided,
The pick-and-place method includes: air-actuated jaw after the clamping part 22 of six-joint robot drives assembly fixture to be moved to above mounting platform
31 grab mounted metal inserted piece 4 and are fixed by electromagnet 32；Clamping part 22 drives assembly fixture to be moved to note
Above molding machine mold, vacuum chuck fitting 34 draws the mold 5 of forming, and air-actuated jaw 31 grabs the mold insert in mold and leads to
Electromagnet 32 is crossed to be fixed；Assembly fixture places mounted metal inserted piece 4 to injection molding machine, and by close to the detection of switch 33
Whether mounted metal inserted piece 4 is put in place completely, if so, then assembly fixture is moved to above mounting platform and judgement is
The no signal in place for receiving mounting platform, if so, then placing on metal inserted piece 4 to the mounting platform in mold.
Wherein it is determined that assembly fixture is also controlled by six-joint robot and is moved after mounted metal inserted piece 4 is put in place completely
It moves to product rest area, and the mold of forming 5 is placed to product rest area.
Wherein, mounting platform is handware mounting platform, is the platform that a worker installs that handware uses on mold insert,
Sliding rail is installed on mounting platform, make assembly fixture pick and place mold insert when with manually separate, safeguard protection can be improved, separately
Outside, the receiving and transmitting signal on handware mounting platform is connect with the receiving and transmitting signal of six-joint robot and assembly fixture, can effectively be prevented
Only assembly fixture and handware mounting platform generate interference.
In a particular application, six-joint robot drives assembly fixture to be moved to above mounting platform and waits, receive in confirmation
To after the signal in place of mounting platform, six-joint robot, which drives assembly fixture to shift and passes through air-actuated jaw 31, grabs mounting platform
Upper mounted mold insert, then, the position of readiness that six-joint robot drives assembly fixture to be displaced to injection molding machine wait injection molding machine letter
Number, after determination receives the signal in place of injection molding machine, six-joint robot drives assembly fixture to be displaced to above injection machine mould,
The mold 5 of forming is drawn by vacuum chuck fitting 34, then, assembly fixture rotates 120 °, and grabs by air-actuated jaw 31
Metal inserted piece 4 in modulus tool, then, assembly fixture rotates 120 ° again, then, is moved by six-joint robot control assembly fixture
Mounted metal inserted piece 4 is placed in position, and at this moment, assembly fixture displacement does pressing action to confirm whether metal inserted piece 4 is put completely
It is put into position, wherein can be by detecting whether mounted metal inserted piece 4 is put in place completely close to switch 33.
After confirming that metal inserted piece 4 is fully seated to position, mold actions region is removed by six-joint robot control assembly fixture
And allow mold actions, then, assembly fixture is moved to product rest area by six-joint robot control, by the mold 5 of forming
It places to product rest area, assembly fixture is displaced to the signal in place that mounting platform is waited above mounting platform, connects in confirmation
After the signal in place for receiving mounting platform, assembly fixture displacement is placed on metal inserted piece 4 to the mounting platform taken out in mold, this
When, assembly fixture shifts again takes out mounted metal inserted piece 4 on mounting platform, to continue next loop cycle.
Further, magnetic switch is installed, magnetic switch is used to incude the movement of air-actuated jaw 31 on air-actuated jaw 31
Position.
Further, vacuum induction switch is installed, vacuum induction is switched for detecting vacuum on vacuum chuck fitting 34
Whether the mold 5 on sucker fitting 34 is completely removed.
Further, vacuum generator is provided in frame, vacuum generator is arranged in frame, and vacuum generator is used for
Generate vacuum condition.
It can be seen that air-actuated jaw 31 is used to grab mounted mold insert on the mold insert and mounting platform in mold, electromagnetism
Iron 32 is used to that air-actuated jaw 31 to be cooperated to draw mounted mold insert in mold insert and suck up outside equipment in mold, vacuum chuck gold
Tool 34 is used to draw the mold of forming.Wherein, vacuum generator generates vacuum cooperation vacuum chuck fitting 34 and draws mold, adds
The signal detection of upper various detection switch, position deviation caused by can preventing mold insert from shifting during the motion, jig crawl
Mechanism is power-off tensioning, prevents mold insert caused by powering off suddenly in operation from falling off, and may be implemented entirely to pick and place metal inserted piece movement
Continuity, safety and precise positioning.
So controlling assembly fixture using six-joint robot to pick and place metal inserted piece, can replace manually in mold
It takes out metal inserted piece and places metal inserted piece, furthermore it is also possible to the product that injection molding is completed is taken out during picking and placing mold insert, solution
Existing manual operation of having determined damage caused by mold, improves production efficiency, save it is artificial, save factory's recruitment at
This.
It should be noted that the above is only the preferred embodiment of the utility model, but the design concept of utility model is not
It is confined to this, it is all to conceive the insubstantial modifications made to the utility model using this, also each fall within the protection of the utility model
Within the scope of.
Claims (5)
1. a kind of pick-and-place insert device based on electromagnet and pneumatic fit, including six-joint robot, the six-joint robot packet
Include first axle, the second axis, third axis and the rotary part being installed on third axis free end, the rotary part from
Clamping part is equipped with by end, the first cursor, second axis and the third are equipped between the first axle and second axis
The second cursor is equipped between axis, it is characterised in that:
The pick-and-place insert device further includes assembly fixture, and the clamping part for fixing the assembly fixture, control by the assembly
Tool includes frame, and the first side of the frame is provided with air-actuated jaw, electromagnet and close to switch, and two electromagnet are distinguished
Positioned at the air-actuated jaw two sides and for cooperating the air-actuated jaw to be fixed metal inserted piece, when the air-actuated jaw
It is described close to switching signal in place for detecting the metal inserted piece after grabbing the metal inserted piece, the of the frame
Two sides are provided with vacuum chuck fitting, and the vacuum chuck fitting is used for fixed-type good mold.
2. pick-and-place insert device according to claim 1, it is characterised in that:
Magnetic switch is installed, the magnetic switch is used to incude the movement position of the air-actuated jaw on the air-actuated jaw.
3. pick-and-place insert device according to claim 2, it is characterised in that:
Vacuum induction switch is installed, the vacuum induction switch is for detecting the vacuum chuck on the vacuum chuck fitting
Whether the mold on fitting is completely removed.
4. pick-and-place insert device according to claim 1 or 2, it is characterised in that:
The assembly fixture further includes vacuum generator, and the vacuum generator is arranged in the frame.
5. pick-and-place insert device according to claim 1 or 2, it is characterised in that:
The frame include two pieces of first panels, two pieces of second panels and third panel, the frame by two pieces of first panels,
Two pieces of second panels and the third panel, which surround, to be formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920302927.9U CN209718456U (en) | 2019-03-11 | 2019-03-11 | A kind of pick-and-place insert device based on electromagnet and pneumatic fit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920302927.9U CN209718456U (en) | 2019-03-11 | 2019-03-11 | A kind of pick-and-place insert device based on electromagnet and pneumatic fit |
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| Publication Number | Publication Date |
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| CN209718456U true CN209718456U (en) | 2019-12-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774058A (en) * | 2019-03-11 | 2019-05-21 | 珠海汇智智能装备有限公司 | A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit |
-
2019
- 2019-03-11 CN CN201920302927.9U patent/CN209718456U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774058A (en) * | 2019-03-11 | 2019-05-21 | 珠海汇智智能装备有限公司 | A kind of pick-and-place insert device and pick-and-place method based on electromagnet and pneumatic fit |
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