CN217597128U - Automatic mechanical hand of absorption material loading blanking of blowing - Google Patents

Abstract

The utility model discloses an automatic adsorb manipulator of material loading blanking of blowing, this manipulator aim at solving present sucking disc manipulator and get the fixed downwards of direction of putting the worker material, the technical problem of unable normal work when there is the barrier on feeding mechanism upper portion. The manipulator comprises a fixed seat for connecting a robot arm, a vertical oil cylinder arranged at the upper end of the fixed seat, an air pump arranged at the left end of the fixed seat, and an air cavity platform horizontally arranged below the fixed seat. This manipulator adopts the sucking disc device that adsorbs the material loading and blow up the unloading to get and puts the work piece, and is high to the removal efficiency of small-size work piece, and it is difficult to damage the workpiece surface to compare in mechanical clamping removal, and sucking disc mechanism can not only get from the vertical direction and put the work piece also can be through the mode of tilting in vertical plane, adsorbs from the work piece side, is applicable to the multiple feeding mechanism of work piece, can not lead to the unable condition of getting the material of putting because of there being the barrier in the vertical direction of work piece.

Description

Automatic mechanical hand of absorption material loading blanking of blowing

Technical Field

The utility model belongs to unloading equipment field on the manipulator, concretely relates to automatic adsorb manipulator of material loading blanking of blowing.

Background

The sucking disc manipulator is a common sheet material grabbing manipulator. When the sucking disc manipulator need snatch the sheet material of different size of a dimension, realize through the overall arrangement of sucking disc usually, it has little, efficient advantage to the work piece damage compared in traditional mechanical clamping effect. General product is held through the sucking disc, can freely drop after broken vacuum, and when the product volume ratio was little, unable normal drop after the product that weight is lighter was held, and the product can stick or be caught by static electricity, need help with external force to drop.

The utility model discloses a china's utility model that current bulletin number is CN214772133U sucking disc manipulator with quick sucking disc location, including sucking disc frame and a plurality of sucking discs of setting on sucking disc frame. The sucking discs are divided into two end sucking disc groups and two side sucking disc groups. The end sucker groups are arranged on the sucker frame through the longitudinal adjusting mechanism, so that the distance between the two end sucker groups can be adjusted through the longitudinal adjusting mechanism. The lateral sucker groups are arranged on the sucker frame through the transverse adjusting mechanism, so that the distance between the two lateral sucker groups can be adjusted through the transverse adjusting mechanism. The utility model discloses a vertical guiding mechanism and horizontal guiding mechanism can change sucking disc face size fast to the not unidimensional sheet material of adaptation snatchs requirement. This patent file mainly makes the improvement to the overall arrangement and the regulation of sucking disc, makes things convenient for the different work piece of its adaptation to get the blowing, but this kind of sucking disc manipulator gets the angle that puts the work piece fixed downwards, to box material feeding unit, can't follow the upper portion and directly absorb the work piece.

Therefore, the condition that the workpiece can only be taken and placed along the vertical direction by aiming at the traditional sucker-entering mechanical arm is developed, and the sucker platform capable of vertically rotating is utilized, so that the workpiece can be conveniently sucked from the side face of the workpiece.

SUMMERY OF THE UTILITY MODEL

(1) Technical problem to be solved

Not enough to prior art, the utility model aims to provide an automatic adsorb manipulator of material loading blanking of blowing, this manipulator aim at solving present sucking disc manipulator and get the fixed downwards of direction of worker's material, the technical problem of unable normal work when there is the barrier on feeding mechanism upper portion.

(2) Technical scheme

In order to solve the technical problem, the utility model provides such automatic mechanical hand of material loading blanking of adsorbing blows which comprises the fixing base that is used for connecting the robot arm, install in the perpendicular hydro-cylinder of fixing base upper end, install in the air pump of fixing base left end, level set up in the air cavity platform of fixing base below, vertical flexible lift post is installed to perpendicular hydro-cylinder lower extreme, the air cavity platform set up in lift post downside, air cavity platform upper end with two sets of breather pipes of fixedly connected with between the air pump, two rows of sucking discs are installed to air cavity platform lower extreme, the sucking disc the breather pipe with communicate each other between the air pump.

When the manipulator capable of automatically adsorbing, feeding, blowing and blanking is used, the manipulator controls the fixing seat to move above the work material conveying mechanism, then the vertical oil cylinder pushes the lifting column to extend downwards, when the air cavity platform is close to a conveyed workpiece, the air cavity platform turns upwards to enable the sucker to face the side face of the workpiece, the workpiece is close to the sucker along with conveying, the air pump sucks air inwards through the air pipe to enable the sucker to generate suction to fix the workpiece, then the vertical oil cylinder enables the lifting column to retract and retract, the workpiece is taken up, the manipulator controls the fixing seat to move to a specified place, then the vertical oil cylinder controls the adsorbed workpiece to be placed downwards again, then the air cavity platform turns downwards to enable the sucker and the workpiece to face downwards vertically, the air pump blows upwards through the air pipe to enable the adsorption force of the sucker to disappear, and the workpiece naturally drops.

Preferably, the lower end of the lifting column is provided with a rotary groove, and a movable shaft which rotates up and down is installed on the inner side of the rotary groove. The lower end of the lifting column forms a U-shaped structure through the opening of the rotary groove, and the movable shaft rotates in the rotary groove along the axis of the movable shaft.

Preferably, lifting column right-hand member downside fixed mounting has U type mount, rotary motor is installed to the mount right-hand member, axial rotation's transmission shaft is installed to the rotary motor left end, the loose axle install in the transmission shaft outside. The rotary motor drives the transmission shaft to rotate, so that the movable shaft fixedly connected with the transmission shaft synchronously rotates.

Preferably, the lower end of the movable shaft is fixedly connected with a linkage frame, the lower end of the linkage frame is fixedly connected with a balance table, and the balance table is horizontally arranged on the upper side of the air cavity platform. The movable shaft is connected with the balance table through the linkage frame, so that the balance table can be slowly and stably turned over by ninety degrees up and down.

Preferably, two groups of parallel orientation grooves are symmetrically formed in the front and back of the lower end of the balance table, and a guide rail is horizontally arranged in the middle of each orientation groove. Compared with the hollow structure of the air cavity platform, the balance platform has balanced self weight and high stability.

Preferably, a linear motor is fixedly mounted at the right end of the air cavity platform, and the linear motor is mounted at the lower end of the guide rail. The linear motor drives the air cavity platform to move transversely along the guide rail left and right, so that the sucking disc can calibrate the position of a workpiece below the sucking disc.

Preferably, two groups of parallel directional rails are symmetrically arranged at the upper end of the air cavity platform in the front-back direction, and the directional rails are arranged on the inner side of the directional groove. The air cavity platform is horizontally pushed in the directional groove through the directional track, so that the stability of self movement is ensured, and the vibration caused by the friction between the structures is not easy to occur.

(3) Advantageous effects

Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses an automatic manipulator that adsorbs material loading blowing blanking adopts the sucking disc device that adsorbs the material loading and blow up the unloading to get and puts the work piece, it is high to the removal efficiency of small-size work piece, it is difficult to damage workpiece surface to compare in mechanical centre gripping removal, sucking disc mechanism can not only get from the vertical direction and put the work piece also can be through the mode of tilting from top to bottom in vertical plane, adsorb from the work piece side, be applicable to the multiple feeding mechanism of work piece, can not have the barrier and lead to the unable condition of getting the material of putting because of the vertical direction of work piece.

Drawings

Fig. 1 is a schematic view of a blanking state three-dimensional structure of a specific embodiment of the manipulator for automatically adsorbing, feeding, blowing and blanking of the present invention;

fig. 2 is a schematic view of a feeding state three-dimensional structure of a specific embodiment of the manipulator for automatically adsorbing, feeding, blowing and blanking of the utility model;

fig. 3 is a schematic view of a blanking state plane structure of a specific embodiment of the manipulator for automatically adsorbing, feeding, blowing and blanking of the present invention;

fig. 4 is a schematic view of the feeding state plane structure of the mechanical hand embodiment of the present invention for automatically adsorbing, feeding, blowing and blanking.

The symbols in the drawings are: 1. a fixed seat; 2. a vertical oil cylinder; 3. a lifting column; 4. an air pump; 5. an air cavity platform; 6. a breather pipe; 7. a suction cup; 8. a rotary trough; 9. a movable shaft; 10. a fixed mount; 11. a rotary motor; 12. a drive shaft; 13. a linkage frame; 14. a balancing table; 15. a directional tank; 16. a guide rail; 17. a linear motor; 18. the track is oriented.

Detailed Description

The specific embodiment is a manipulator for automatically adsorbing feeding, blowing and blanking, the schematic drawing of the blanking state three-dimensional structure is shown in fig. 1, the schematic drawing of the feeding state three-dimensional structure is shown in fig. 2, the schematic drawing of the blanking state planar structure is shown in fig. 3, the schematic drawing of the feeding state planar structure is shown in fig. 4, the manipulator comprises a fixing seat 1 for connecting a robot arm, a vertical oil cylinder 2 installed at the upper end of the fixing seat 1, an air pump 4 installed at the left end of the fixing seat 1, an air cavity platform 5 horizontally arranged below the fixing seat 1, a vertically telescopic lifting column 3 is installed at the lower end of the vertical oil cylinder 2, the air cavity platform 5 is arranged at the lower side of the lifting column 3, two groups of air vent pipes 6 are fixedly connected between the upper end of the air cavity platform 5 and the air pump 4, two rows of suckers 7 are installed at the lower end of the air cavity platform 5, and the suckers 7, the suckers 6 are communicated with the air pump 4.

Aiming at the embodiment, the balance table 14 has a balanced self weight and high stability compared with the hollow structure of the air cavity platform 5, plays the roles of reducing inertia and keeping a workpiece stable when the air cavity platform 5 is vertically turned over and started and stopped, and avoids the workpiece falling caused by mechanical vibration.

Wherein, 3 lower extremes of lift post are provided with the turn-around groove 8, the loose axle 9 of vertical rotation is installed to 8 inboard in turn-around groove, 3 right-hand member downside fixed mounting of lift post have U type mount 10, rotating electrical machines 11 is installed to mount 10 right-hand member, rotating electrical machines 11 left ends install axial rotation's transmission shaft 12, loose axle 9 is installed in the 12 outsides of transmission shaft, loose axle 9 lower extreme fixedly connected with link 13, link 13 lower extreme fixedly connected with balance station 14, balance station 14 level sets up in the 5 upsides of air cavity platform. The lower extreme of lift post 3 forms U type structure through seting up of revolving chute 8, and the loose axle 9 is rotatory along self axis in revolving chute 8, and rotating electrical machines 11 drive transmission shaft 12 is rotatory, makes the loose axle 9 of consolidating with transmission shaft 12 rotate in step, and loose axle 9 passes through linkage 13 and links to each other with balancing stand 14, makes balancing stand 14 can slowly and stable upper and lower ninety degree upset.

Meanwhile, two sets of parallel orientation grooves 15 are symmetrically formed in the front and back of the lower end of the balance table 14, a guide rail 16 is horizontally arranged in the middle of each orientation groove 15, a linear motor 17 is fixedly arranged at the right end of the air cavity platform 5, the linear motor 17 is arranged at the lower end of the guide rail 16, two sets of parallel orientation rails 18 are symmetrically arranged in the front and back of the upper end of the air cavity platform 5, and the orientation rails 18 are arranged on the inner sides of the orientation grooves 15. Compared with the hollow structure of the air cavity platform 5, the balance table 14 is balanced in self weight and high in stability, the linear motor 17 drives the air cavity platform 5 to move transversely left and right along the guide rail 16, the sucker 7 corrects the position of a workpiece below the sucker, the air cavity platform 5 is horizontally pushed in the directional groove 15 through the directional rail 18, the self-moving stability is guaranteed, and vibration is not easy to occur due to friction between structures.

When the manipulator capable of automatically adsorbing, feeding, blowing and blanking is used, the manipulator controls the fixed seat 1 to move above the workpiece conveying mechanism, then the vertical oil cylinder 2 pushes the lifting column 3 to extend downwards, when the air cavity platform 5 is close to a conveyed workpiece, the rotary motor 11 drives the movable shaft 9 to rotate through the transmission shaft 12, the air cavity platform 5 is enabled to turn upwards, the sucker 7 faces the side face of the workpiece, the workpiece is close to the sucker 7 along with conveying, the air pump 4 sucks air inwards through the air pipe 6, the sucker 7 generates suction to fix the workpiece, then the vertical oil cylinder 2 enables the lifting column 3 to retract to take up the workpiece, the manipulator controls the fixed seat 1 to move to a specified place, then the vertical oil cylinder 2 controls the adsorbed workpiece to be lowered, the rotary motor 11 controls the air cavity platform 5 to turn downwards, the sucker 7 and the workpiece are enabled to face downwards vertically, when the workpiece is small in size and the workpiece is stuck or is adsorbed by static electricity, the unloading air pipe 4 needs to be assisted by external force to fall off, the air pump 4 blows outwards through the sucker 7, the adsorption force disappears, the workpiece drops naturally, the workpiece is good in effect, and the working efficiency is improved.

Claims (7)

1. A manipulator capable of automatically adsorbing, feeding, blowing and blanking comprises a fixed seat, a vertical oil cylinder, an air pump and an air cavity platform, wherein the fixed seat is used for connecting a robot arm, the vertical oil cylinder is installed at the upper end of the fixed seat, the air pump is installed at the left end of the fixed seat, and the air cavity platform is horizontally arranged below the fixed seat; the air cylinder lifting device is characterized in that a vertical telescopic lifting column is installed at the lower end of the vertical oil cylinder, the air cavity platform is arranged on the lower side of the lifting column, two groups of air pipes are fixedly connected between the upper end of the air cavity platform and the air pump, two rows of suckers are installed at the lower end of the air cavity platform, and the suckers, the air pipes and the air pump are communicated with one another.

2. The manipulator according to claim 1, wherein a rotary slot is provided at the lower end of the lifting column, and a movable shaft rotating up and down is installed inside the rotary slot.

3. The manipulator of claim 2, wherein a U-shaped fixing frame is fixedly mounted on the lower side of the right end of the lifting column, a rotary motor is mounted on the right end of the fixing frame, a transmission shaft rotating axially is mounted on the left end of the rotary motor, and the movable shaft is mounted on the outer side of the transmission shaft.

4. The manipulator of claim 2, wherein a linkage frame is fixedly connected to the lower end of the movable shaft, a balance table is fixedly connected to the lower end of the linkage frame, and the balance table is horizontally arranged on the upper side of the air cavity platform.

5. The manipulator of claim 4, wherein the lower end of the balance table is symmetrically provided with two parallel orientation grooves in front and back, and a guide rail is horizontally arranged in the middle of the orientation grooves.

6. The manipulator of claim 5, wherein a linear motor is fixedly mounted at the right end of the air cavity platform, and the linear motor is mounted at the lower end of the guide rail.

7. The manipulator of claim 6, wherein two sets of parallel orientation rails are symmetrically installed at the upper end of the air cavity platform in front and back directions, and the orientation rails are arranged inside the orientation grooves.

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