CN220561567U - Manipulator end actuating mechanism with feeding and discharging functions - Google Patents
Manipulator end actuating mechanism with feeding and discharging functions Download PDFInfo
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- CN220561567U CN220561567U CN202322182132.8U CN202322182132U CN220561567U CN 220561567 U CN220561567 U CN 220561567U CN 202322182132 U CN202322182132 U CN 202322182132U CN 220561567 U CN220561567 U CN 220561567U
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- feeding
- material taking
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- loading
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 238000007599 discharging Methods 0.000 title claims abstract description 9
- 239000000463 material Substances 0.000 claims abstract description 40
- 210000000078 claw Anatomy 0.000 claims abstract description 21
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 239000012636 effector Substances 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000001746 injection moulding Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
The utility model discloses a manipulator end actuating mechanism with feeding and discharging functions, which comprises a fixed bottom plate, wherein a feeding component, a material taking component and a pushing component for driving the material taking component to lift are arranged on the fixed bottom plate; the feeding assembly is provided with a plurality of openable and closable claws, and an elastic pushing piece is arranged among the plurality of claws; and a plurality of absorbing parts are arranged on the material taking assembly. The utility model has simple structure, small volume, light weight and small occupied space, and the driving adopts the air cylinders, so the cost is low and the cost is saved; one or more groups of feeding and taking assemblies can be arranged at the tail end of one manipulator, and a plurality of products can be simultaneously fed and taken, so that the production efficiency is greatly improved.
Description
Technical Field
The utility model belongs to the technical field of industrial automation, and particularly relates to a manipulator end actuating mechanism with feeding and discharging functions.
Background
Along with the development of industrial automation, more and more robots are applied to all production posts, so that manual work is liberated from simple and repeated labor, the labor cost can be reduced, and the production efficiency can be improved. The end actuating mechanism of the robot needs to aim at different application scenes to realize different working requirements.
For example, in the injection molding industry, most of the existing manipulator end-effectors on the market only implement the blanking function, and the pressed plastic finished product is taken out of the mold and placed at a specified position by using a sucker. However, when some injection molding products are produced, the metal inserts are required to be put into the mold in advance and then subjected to die casting molding, and in the production process, the inserts are required to be accurately, stably and reliably put into the mold, and the die-cast finished product pieces are required to be taken out of the mold. However, there is no manipulator end effector that has both functions in the market.
Disclosure of Invention
In order to solve the problems, the utility model provides the manipulator end actuating mechanism with the feeding and discharging functions, which can meet the use requirements of stably placing metal inserts and safely taking out die-cast materials.
For this purpose, the technical scheme of the utility model is as follows: the manipulator end actuating mechanism with the feeding and discharging functions comprises a fixed bottom plate, wherein a feeding component, a material taking component and a pushing component for driving the material taking component to lift are arranged on the fixed bottom plate;
the feeding assembly is provided with a plurality of openable and closable claws, and an elastic pushing piece is arranged among the plurality of claws;
and a plurality of absorbing parts are arranged on the material taking assembly.
The mechanical arm tail end executing mechanism is arranged on the mechanical arm, the mechanical arm is arranged on the side face of the injection molding machine, the feeding component is used for feeding an insert required by a next product to be die-cast into a corresponding position in a mold, the claw can grasp shaft inserts of the injection molding product from the material tray, the elastic pushing component is pushed upwards during grasping, the elastic pushing component accumulates elastic acting force, the feeding component conveys and places the grasped inserts into the mold, the claw is loosened during placing, the elastic pushing component releases the elastic acting force, the inserts are pushed away from the claw and are fed into the mold, and the feeding procedure is completed; the material taking assembly is used for taking out the pressed product in the injection molding machine die, and the pushing assembly is used for driving the material taking assembly to move up and down to complete the blanking process.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the feeding assembly further comprises a first air cylinder and a plurality of connecting lugs, wherein the connecting lugs are arranged at the output end of the first air cylinder and can move along the radial direction of the first air cylinder; a claw is fixedly arranged on each connecting lug. The connecting lugs are distributed on the circumference of the output end of the first cylinder and can drive the claws to expand or contract so as to clamp the shaft inserts.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the elastic pushing piece comprises a pushing rod and a spring, and the spring is sleeved on the pushing rod; the pushing rod is movably assembled at the center shaft of the feeding assembly, can axially move along the first cylinder at the center shaft and presses the spring.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the top end of the pushing rod is provided with a thread structure, and the bottom end of the pushing rod is provided with a limiting plate; a through hole for a pushing rod to pass through is formed in the middle of the first cylinder, the pushing rod passes through the through hole, and a limit nut is arranged at the top end of the pushing rod; one end of the spring is propped against the limiting plate, and the other end of the spring is propped against the first cylinder.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: a first position sensor is arranged on the outer side of the first cylinder.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the pushing assembly comprises a second air cylinder and a base plate, the base plate is arranged on an output shaft of the second air cylinder, and the material taking assembly is arranged on the base plate. The second cylinder can drive the substrate to move up and down so as to drive the material taking assembly to lift.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the second cylinder is installed on the fixed bottom plate, the linear bearing is fixed on the fixed bottom plate, the guide shaft is installed on the base plate, and the guide shaft and the linear bearing work in a matching mode. The linear bearing and the guide shaft can ensure that the substrate moves up and down more stably.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the absorption piece is a vacuum chuck, and the vacuum chuck is arranged on the substrate through a chuck bracket. The vacuum chuck adsorbs the injection product which is molded in the die through negative pressure, and the blanking process is completed.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: and a plurality of groups of feeding assemblies and material taking assemblies are arranged on the fixed bottom plate, the number of the feeding assemblies is the same as that of the material taking assemblies, and the positions of the feeding assemblies and the material taking assemblies are opposite.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the adapter plate is arranged on one side of the fixed bottom plate, the feeding assembly is arranged on one side, close to the adapter plate, of the fixed bottom plate, and the material taking assembly is arranged on one side, far away from the adapter plate, of the fixed bottom plate.
Compared with the prior art, the utility model has the beneficial effects that:
1. the manipulator end actuating mechanism has the advantages of simple integral structure, small volume, light weight and small occupied space, and the driving is realized by adopting the air cylinders, so that the manufacturing cost is low and the cost is saved; one or more groups of feeding and taking assemblies can be arranged at the tail end of one manipulator, and a plurality of products can be simultaneously fed and taken, so that the production efficiency is greatly improved.
2. The feeding component and the material taking component which are matched to work are positioned on the same side of the fixed bottom plate, and when the feeding and material taking device is used, the component does not need to be turned over, so that the time of feeding and discharging is greatly saved, and the productivity is effectively improved.
3. On the same actuating mechanism, the gripper structure capable of clamping the part and the sucker structure capable of adsorbing the part are arranged, and the gripper structure and the sucker structure can be used independently and used independently, so that the use rate of the product is greatly improved due to flexible and various use modes, and the gripper is wider in application range.
4. All action parts of the manipulator end actuating mechanism are controlled by electromagnetic valves, and each step has information feedback, so that accidents are prevented, and the whole grabbing and placing process is safer and more accurate.
Drawings
The following is a further detailed description of embodiments of the utility model with reference to the drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic diagram of the structure of the present utility model (another view);
FIG. 3 is a schematic view of a feed assembly according to the present utility model;
FIG. 4 is a cross-sectional view of the feed assembly of the present utility model;
fig. 5 is an exploded view of a component of the feed assembly of the present utility model.
Marked in the figure as: the automatic feeding device comprises a fixed bottom plate 1, an adapter plate 2, a feeding assembly 3, a first air cylinder 31, a connecting lug 32, a paw 33, an elastic pushing piece 34, a pushing rod 341, a spring 342, a limiting plate 343, a first position sensor 35, a stop block 36, a limiting nut 37, a material taking assembly 4, a vacuum chuck 41, a chuck bracket 42, a vacuum generator 43, a pushing assembly 5, a second air cylinder 51, a base plate 52, a linear bearing 53, a guide shaft 54 and a shaft-shaped insert 6.
Detailed Description
In the description of the present utility model, it should be noted that, for the azimuth words such as the terms "center", "transverse (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, only for convenience of describing the present utility model and simplifying the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and should not be construed as limiting the specific protection scope of the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first", "a second" feature may explicitly or implicitly include one or more of such feature, and in the description of the present utility model, the meaning of "a number", "a number" is two or more, unless otherwise specifically defined.
See the drawings. The manipulator end actuating mechanism is used for taking out a product pressed in a die of an injection molding machine and feeding an insert required by a next product to be die-cast into a corresponding position in the die.
The manipulator tail end executing mechanism comprises a fixed bottom plate 1, an adapter plate 2, a feeding component 3, a material taking component 4 and a pushing component 5; the fixed bottom plate 1 is used for bearing the feeding component 3, the taking component 4 and the pushing component 5, the fixed bottom plate 1 is arranged at the tail end of the manipulator through the adapter plate 2, the feeding component 3 is located on one side close to the adapter plate, the taking component 4 is located on one side far away from the adapter plate, and the feeding component and the taking component are opposite in position.
The feeding assembly 3 is used for grabbing, conveying and placing shaft inserts of the injection molding products from a tray into a mold; the feeding assembly 3 comprises a first air cylinder 31, a plurality of connecting lugs 32, a plurality of claws 33 and an elastic pushing piece 34, the first air cylinder 31 is longitudinally arranged on the fixed bottom plate 1, the output end of the first air cylinder 31 is provided with the plurality of connecting lugs 32, the connecting lugs 32 can move along the radial direction of the first air cylinder 31, each connecting lug 32 is fixedly provided with one claw 33, and the first air cylinder 31 can drive the claws 33 to open or contract through the connecting lugs 32 so as to clamp the shaft inserts. A first position sensor 35 is provided outside the first cylinder 31 to monitor the operation of the paw.
The elastic pushing piece 34 is positioned at the middle shaft of the feeding assembly, the elastic pushing piece 34 comprises a pushing rod 341 and a spring 342, the top end of the pushing rod 341 is provided with a thread structure, the bottom end of the pushing rod 341 is provided with a limiting plate 343, the spring 342 is sleeved on the pushing rod and is arranged above the limiting plate 343; the middle of the first cylinder 31 is provided with a through hole for the push rod 341 to pass through, the top of the first cylinder 31 is provided with a stop block 36, the stop block is also provided with a through hole, the top end of the push rod 341 passes out from the top of the first cylinder 31 and above the stop block 36, and a limit nut 37 is arranged at the thread structure of the top end of the push rod 341 to prevent the push rod 341 from falling off from the through hole. One end of the spring 342 abuts against the limiting plate 343, and the other end abuts against the first cylinder 31.
The feeding component 3 is used for conveying an insert required by a next product to be die-cast into a corresponding position in a die, the claw 33 can grab shaft inserts of the injection product from the material tray, during grabbing, the inserts can push the elastic pushing piece 34 upwards, the elastic pushing piece 34 accumulates elastic acting force, the feeding component 3 conveys and places the grabbed inserts into the die, during placing, the claw 33 is loosened, the elastic pushing piece 34 releases the elastic acting force, the inserts are pushed away from the claw and are conveyed into the die, and the feeding procedure is completed.
The pushing assembly 5 comprises a second cylinder 51 and a substrate 52, and the substrate may be hollow; the second cylinder 51 is vertically arranged on the fixed bottom plate 1, the fixed bottom plate 1 is also fixed with linear bearings 53, and the linear bearings 53 are positioned on two sides of the second cylinder 51; the output shaft of the second cylinder 51 is provided with a base plate 52, guide shafts 54 are arranged on two sides of the base plate 52, and the guide shafts 54 pass through the linear bearings 53, so that the base plate 52 is ensured to move up and down more stably. A position sensor is arranged outside the second cylinder 51 and is used for sensing the working state of the second cylinder.
The material taking assembly 4 is arranged on the substrate, the material taking assembly 4 comprises a vacuum chuck 41, a chuck support 42 and a vacuum generator 43, the vacuum chuck 41 is arranged on the substrate 52 through the chuck support 42, the vacuum generator 43 is arranged on the fixed bottom plate 1 and is communicated with the chuck support 42 through an air pipe, so that the vacuum chuck 41 can adsorb injection products molded in a die through negative pressure, and the blanking process is completed.
According to the user demand, fixed bottom plate can set up more than a set of pay-off subassembly and get the material subassembly, and 1 pay-off subassembly collocation 1 gets the material subassembly and use, can be according to the quantity adjustment pay-off subassembly of injection molding in the mould and get the quantity of material subassembly, for example, figure 1 shows two sets of pay-off subassemblies, gets the material subassembly.
The manipulator drives the tail end executing mechanism to move to the insert feeding disc, the material taking assembly 3 is utilized to grasp the shaft-shaped inserts 6, the elastic pushing piece 34 is arranged on the material feeding assembly 3, when the material is taken from the disc, the pushing rod 341 is pushed upwards by the inserts, so that the spring 342 is compressed, and after the claws 33 are clamped, the spring 342 cannot rebound; when the manipulator drives the tail end executing mechanism to move to the injection mold for discharging, the gripper 33 is opened, the spring 342 rebounds, the pushing rod 341 pushes the insert 6 into the trough of the mold under the action of the spring 342, and the feeding operation is completed. The cylinder appearance, cylinder engaging lug and the quantity of the claws installed thereon can be increased or decreased according to the difference of the grasped inserts, and the length and the working face shape of the claws can be changed according to the difference of the grasped inserts, and the similar changes are all within the protection scope of the patent.
When the manipulator drives the end actuating mechanism to move to the injection mold to take materials, the second air cylinder 51 pushes the substrate 52 out along the direction of the guide shaft, so that the vacuum chuck 41 arranged on the substrate can accurately adsorb injection products, then the second air cylinder 51 withdraws the output end to drive the substrate 52 to move upwards, so that the taken products are ensured to be in a safe position, and the damage caused by collision between the taken products and other objects is avoided. The vacuum generator in the material taking assembly is provided with an electric switch, and the conditions of whether the product to be taken is successfully sucked, whether the product falls off from the sucker in the conveying process and the like can be fed back to the control system.
The above description is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.
Claims (10)
1. Mechanical arm end actuating mechanism with feeding and discharging functions comprises a fixed bottom plate and is characterized in that: the fixed bottom plate is provided with a feeding component, a material taking component and a pushing component for driving the material taking component to lift;
the feeding assembly is provided with a plurality of openable and closable claws, and an elastic pushing piece is arranged among the plurality of claws;
and a plurality of absorbing parts are arranged on the material taking assembly.
2. The manipulator end effector with loading and unloading functions as set forth in claim 1, wherein: the feeding assembly further comprises a first air cylinder and a plurality of connecting lugs, wherein the connecting lugs are arranged at the output end of the first air cylinder and can move along the radial direction of the first air cylinder; a claw is fixedly arranged on each connecting lug.
3. The manipulator end effector with loading and unloading functions as claimed in claim 2, wherein: the elastic pushing piece comprises a pushing rod and a spring, and the spring is sleeved on the pushing rod; the pushing rod is movably assembled at the center shaft of the feeding assembly, can axially move along the first cylinder at the center shaft and presses the spring.
4. A manipulator end effector with loading and unloading functions as claimed in claim 3, characterized in that: the top end of the pushing rod is provided with a thread structure, and the bottom end of the pushing rod is provided with a limiting plate; a through hole for a pushing rod to pass through is formed in the middle of the first cylinder, the pushing rod passes through the through hole, and a limit nut is arranged at the top end of the pushing rod; one end of the spring is propped against the limiting plate, and the other end of the spring is propped against the first cylinder.
5. The manipulator end effector with loading and unloading functions as claimed in claim 2, wherein: a first position sensor is arranged on the outer side of the first cylinder.
6. The manipulator end effector with loading and unloading functions as set forth in claim 1, wherein: the pushing assembly comprises a second air cylinder and a base plate, the base plate is arranged on an output shaft of the second air cylinder, and the material taking assembly is arranged on the base plate.
7. The manipulator end effector with loading and unloading functions as set forth in claim 6, wherein: the second cylinder is installed on the fixed bottom plate, the linear bearing is fixed on the fixed bottom plate, the guide shaft is installed on the base plate, and the guide shaft and the linear bearing work in a matching mode.
8. The manipulator end effector with loading and unloading functions as set forth in claim 6, wherein: the absorption piece is a vacuum chuck, and the vacuum chuck is arranged on the substrate through a chuck bracket.
9. The manipulator end effector with loading and unloading functions as set forth in claim 1, wherein: and a plurality of groups of feeding assemblies and material taking assemblies are arranged on the fixed bottom plate, the number of the feeding assemblies is the same as that of the material taking assemblies, and the positions of the feeding assemblies and the material taking assemblies are opposite.
10. The manipulator end effector with loading and unloading functions as set forth in claim 1, wherein: the adapter plate is arranged on one side of the fixed bottom plate, the feeding assembly is arranged on one side, close to the adapter plate, of the fixed bottom plate, and the material taking assembly is arranged on one side, far away from the adapter plate, of the fixed bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322182132.8U CN220561567U (en) | 2023-08-14 | 2023-08-14 | Manipulator end actuating mechanism with feeding and discharging functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322182132.8U CN220561567U (en) | 2023-08-14 | 2023-08-14 | Manipulator end actuating mechanism with feeding and discharging functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220561567U true CN220561567U (en) | 2024-03-08 |
Family
ID=90092204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322182132.8U Active CN220561567U (en) | 2023-08-14 | 2023-08-14 | Manipulator end actuating mechanism with feeding and discharging functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220561567U (en) |
-
2023
- 2023-08-14 CN CN202322182132.8U patent/CN220561567U/en active Active
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