CN103522297B - Mechanical hand system for panel off-line - Google Patents
Mechanical hand system for panel off-line Download PDFInfo
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- CN103522297B CN103522297B CN201310485305.1A CN201310485305A CN103522297B CN 103522297 B CN103522297 B CN 103522297B CN 201310485305 A CN201310485305 A CN 201310485305A CN 103522297 B CN103522297 B CN 103522297B
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- mechanical hand
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- 239000000463 material Substances 0.000 claims abstract description 127
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000003028 elevating effect Effects 0.000 claims abstract description 17
- 238000010521 absorption reaction Methods 0.000 claims abstract description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000001125 extrusion Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- IYLGZMTXKJYONK-ACLXAEORSA-N (12s,15r)-15-hydroxy-11,16-dioxo-15,20-dihydrosenecionan-12-yl acetate Chemical compound O1C(=O)[C@](CC)(O)C[C@@H](C)[C@](C)(OC(C)=O)C(=O)OCC2=CCN3[C@H]2[C@H]1CC3 IYLGZMTXKJYONK-ACLXAEORSA-N 0.000 description 1
- 239000004793 Polystyrene Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 229920002223 polystyrene Polymers 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- IYLGZMTXKJYONK-UHFFFAOYSA-N ruwenine Natural products O1C(=O)C(CC)(O)CC(C)C(C)(OC(C)=O)C(=O)OCC2=CCN3C2C1CC3 IYLGZMTXKJYONK-UHFFFAOYSA-N 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of mechanical hand system for panel off-line, time saving and energy saving, sheet material can be fractureed and be transported to stowed location.This arm-and-hand system mainly comprises conveying device, and also comprise sheet material positioner and sheet material absorption breaking device, sheet material absorption breaking device is arranged on above or below sheet material positioner, and sheet material absorption breaking device comprises bracing frame and elevating mechanism.Sheet material can be adsorbed and fracture by sheet material absorption breaking device, the sheet material after fractureing can be delivered to stowed location by conveying device and stack.
Description
Technical field
The present invention relates to the device that a kind of sheet material rolls off the production line, particularly relate to a kind of arm-and-hand system.
Background technology
In the household electrical appliances production industries such as refrigerator, sheet extrusion equipment adopts the sheet material with fixed dimension of granules of polystyrene or other particle hot melt.This sheet forming size large (maximum 2300mm × 2000mm) and heavier.This sheet material needs first to be fractureed along center line by sheet material to be then placed on stacked location before stacking.At present, sheet material fractures along center line by the artificial breaking mode of general employing, and this mode operates very inconvenient and takes time and effort.
Summary of the invention
The technical problem that the present invention solves is to provide a kind of time saving and energy saving for being fractureed by sheet material and being transported to the mechanical hand system for panel off-line of stowed location.
The technical solution adopted for the present invention to solve the technical problems is: mechanical hand system for panel off-line, comprise conveying device, also comprise sheet material positioner and sheet material absorption breaking device, sheet material absorption breaking device is arranged on above or below sheet material positioner, sheet material absorption breaking device comprises bracing frame and elevating mechanism, bracing frame comprises middle frame, left adjustable shelf and right adjustable shelf, one end of middle frame is connected with elevating mechanism, elevating mechanism is connected with conveying device, left adjustable shelf is connected with middle frame respectively by articulated structure with right adjustable shelf, left adjustable shelf and right adjustable shelf are all provided with multiple vacuum cup, be provided with left adjustable shelf between left adjustable shelf and middle frame and drive cylinder, be provided with right adjustable shelf between right adjustable shelf and middle frame and drive cylinder.
Further: described conveying device comprises pedestal, turning part pedestal being provided with pivoting part and being connected with pivoting part, the axis of pivoting part and the axial vertical of turning part, turning part is connected with described elevating mechanism.
Further: pivoting part comprises turning motor system, by the rotating disk of turning motor system drive and the support arm that is connected with rotating disk, turning part comprises the flip-arm hinged with support arm, for driving the upset electric system of flip-arm.
Further: sheet material positioner comprises belt mechanism, belt mechanism comprises frame and at least 2 of being arranged in frame are parallel to each other and spaced belt conveyor, and each belt conveyor is connected with belt drive.
Further: the quantity of belt conveyor is 3.
Further: the both sides of belt mechanism are respectively arranged with leading truck, leading truck is provided with multiple sheet material directive wheel.
Further: sheet material positioner also comprises sheet material centering positioning mechanism, sheet material centering positioning mechanism comprises the sheet material push arm be synchronized with the movement that two are symmetricly set on belt mechanism both sides, one end of sheet material push arm is drive end, the other end is working end, the drive end of sheet material push arm coordinates with the slide on base, base is also provided with the push arm driving mechanism be connected with sheet material push arm, the moving direction of sheet material push arm on guide rail is vertical with belt conveyor.
Further: support frame as described above is arranged on the below of each belt conveyor, gap between adjacent two belt conveyors forms bracing frame and to step down gap.
Further: also comprise the sheet material piling bed be arranged on outside conveying device, the pile plate lifting drive that sheet material piling bed comprises sheet material pile plate and is connected with pile plate.
Further: described pile plate lifting drive comprises the first adjustable shelf, the second adjustable shelf and sliding chute seat, first adjustable shelf and the second adjustable shelf hinged, upper end and the sheet material pile plate of the first adjustable shelf are hinged, lower end and the sliding chute seat of the first adjustable shelf are hinged, upper end and the sheet material pile plate of the second adjustable shelf are hinged, lower end and the sliding chute seat of the second adjustable shelf are slidably matched, and the adjustable shelf be connected with between the first adjustable shelf and the second adjustable shelf for driving the lower end edge sliding chute seat of the second adjustable shelf to slide drives cylinder.
The invention has the beneficial effects as follows: sheet material can adsorb and fracture by sheet material absorption breaking device, the sheet material after fractureing can be delivered to the stacking of sheet material piling bed by conveying device.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of bracing frame;
Fig. 2 is the set-up mode schematic diagram of belt mechanism and sheet material centering positioning mechanism;
Fig. 3 is the set-up mode schematic diagram of conveying device and bracing frame and belt mechanism;
Fig. 4 is the schematic diagram of the embodiment of pivoting part and turning part;
Fig. 5 is the general assembly drawing of each mechanism;
Fig. 6 is the enlarged drawing of a-quadrant in Fig. 5;
Be labeled as in figure: right adjustable shelf 11, left adjustable shelf 12, right adjustable shelf drives cylinder 13, left adjustable shelf drives cylinder 14, elevating mechanism 15, middle frame 16, vacuum cup 17, sheet material push arm 21, push arm driving mechanism 22, guide rail 23, base 24, belt conveyor 31, leading truck 32, sheet material directive wheel 33, frame 34, flip-arm 41, support arm 42, rotating disk 43, pedestal 44, upset electric system 45, turning motor system 46, sheet material pile plate 51, first adjustable shelf 52, sliding chute seat 53, second adjustable shelf 54, adjustable shelf drives cylinder 55, conveying device 4, sheet extrusion line 6.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in Figures 1 to 6, mechanical hand system for panel off-line, comprise conveying device 4, also comprise sheet material positioner and sheet material absorption breaking device, sheet material absorption breaking device is arranged on above or below sheet material positioner, sheet material absorption breaking device comprises bracing frame and elevating mechanism 15, bracing frame comprises middle frame 16, left adjustable shelf 12 and right adjustable shelf 11, one end of middle frame 16 is connected with elevating mechanism 15, elevating mechanism 15 is connected with conveying device 4, left adjustable shelf 12 is connected with middle frame 16 respectively by articulated structure with right adjustable shelf 11, left adjustable shelf 12 and right adjustable shelf 11 are all provided with multiple vacuum cup 17, be provided with left adjustable shelf between left adjustable shelf 12 and middle frame 16 and drive cylinder 14, be provided with right adjustable shelf between right adjustable shelf 11 and middle frame 16 and drive cylinder 13.As shown in Figure 1, a left adjustable shelf respectively can be set at the two ends of left adjustable shelf 12 and drive cylinder 14, left adjustable shelf drive the two ends of cylinder 14 respectively with middle frame 16 and left adjustable shelf 12 hinged; A right adjustable shelf respectively can be set at right adjustable shelf 11 two ends and drive cylinder 13, right adjustable shelf drive the two ends of cylinder 13 respectively with middle frame 16 and right adjustable shelf 11 hinged.
During use, as shown in Figure 5, above-mentioned arm-and-hand system can be placed in the exit of sheet extrusion line 6, sheet material is moved to after on sheet material positioner by sheet extrusion line 6, bracing frame moves to sheet material place under elevating mechanism 15 acts on, by vacuum cup 17 by the absorption of sheet material entirety, then cylinder 14 and right adjustable shelf is driven to drive cylinder 13 that left adjustable shelf 12 and right adjustable shelf 11 can be driven to produce a snap action by left adjustable shelf, namely simulate the snap action of people's both hands, sheet material is fractureed along center line.After fractureing, sheet material is still adsorbed on bracing frame, because bracing frame is connected with conveying device, by conveying device 4, sheet material is delivered to the destination of stacking.
The embodiment of above-mentioned conveying device has multiple, such as, can be a cylinder, but can only move linearly like this, whole production line can be made long, can not make full use of the space of factory building.In order to the multi-direction transfer in solid space can be realized, the space of factory building is made full use of with this, as shown in Fig. 3 to 6, described conveying device 4 comprises pedestal 44, turning part pedestal 44 being provided with pivoting part and being connected with pivoting part, the axis of pivoting part and the axial vertical of turning part, turning part is connected with described elevating mechanism.Sheet material moving at any angle in three dimensions can be realized like this, the sheet material after fractureing directly can be deposited in the outside of conveying device 4.
The embodiment of above-mentioned pivoting part and turning part has multiple, the form relatively simplified is as shown in Fig. 3 to 6, the support arm 42 that pivoting part comprises turning motor system 46, the rotating disk 43 driven by turning motor system 46 and is connected with rotating disk 43, turning part comprises the flip-arm 41 hinged with support arm 42, for driving the upset electric system 45 of flip-arm 41.Rotating disk 43 can drive support arm 42 to rotate, and support arm 42 can drive flip-arm 41 to rotate, and flip-arm 41 can be connected with elevating mechanism, thus drives bracing frame upset, and in switching process, bracing frame can apply active force to sheet material makes sheet material fracture.
On the basis of the above, also position-limit mechanism can be set on pivoting part and turning part, thus limit the rotational angle of pivoting part and the rotational angle of turning part.
The embodiment of above-mentioned sheet material positioner has multiple, such as, can be a support platform, but this mode likely can make to enter the process of support platform from sheet extrusion line 6 sheet material out to cause surface scratches.In order to prevent the above-described problem from occurring, make that sheet material is intact to be unloaded from sheet extrusion line 6 stably, as shown in Figure 2, sheet material positioner comprises belt mechanism, belt mechanism comprises frame 34 and at least 2 of being arranged in frame 34 are parallel to each other and spaced belt conveyor 31, and each belt conveyor is connected with belt drive.The sheet material that the outlet of sheet extrusion line 6 is shifted out can be unloaded smoothly by belt conveyor 31.The quantity of above-mentioned belt conveyor 31 can be 2,3,4,5 etc.The quantity of belt conveyor 31 is generally the size needs that 3 can meet most of sheet material.
In order to the better sheet material to entering sheet material positioner carries out guide-localization, the both sides of belt mechanism are respectively arranged with leading truck 32, leading truck 32 are provided with multiple sheet material directive wheel 33.
On the basis of the above, as shown in Figures 2 and 3, sheet material positioner also comprises sheet material centering positioning mechanism, sheet material centering positioning mechanism comprises the sheet material push arm 21 be synchronized with the movement that two are symmetricly set on belt mechanism both sides, one end of sheet material push arm 21 is drive end, the other end is working end, working end is for promoting sheet material, guide rail 23 on the drive end of sheet material push arm 21 and base 24 is slidably matched, base is also provided with the push arm driving mechanism 22 be connected with sheet material push arm 21, the moving direction of sheet material push arm 21 on guide rail 23 is vertical with belt conveyor 31.Push arm driving mechanism 22 can be cylinder isoline driving mechanism.Above-mentioned base 24 can directly be installed in frame 34, as shown in Figure 2, certainly also can be arranged on separately on installation base surface.The sheet material push arm 21 be synchronized with the movement by symmetrically arranged two, can to two of a sheet material edge applied thrust, make sheet material and belt mechanism centering, like this, only need when arranging by bracing frame and belt mechanism centering, bracing frame can be made sheet material and bracing frame automatic centering after sheet material absorption, thus the active force that bracing frame is applied sheet material is more balanced.
For the ease of installing and arranging above-mentioned bracing frame, as shown in Figure 3 and Figure 5, support frame as described above is arranged on the below of each belt conveyor 31, and gap between adjacent two belt conveyors 31 forms bracing frame and to step down gap.Like this, when sheet material is positioned at after on belt conveyor, elevating mechanism 15 drives bracing frame to rise and is adsorbed by sheet material, then by conveying device 4, bracing frame and sheet material is together moved to stowed location.
For the ease of stacking the sheet material after fractureing, as shown in Figure 5 and Figure 6, also comprise the sheet material piling bed be arranged on outside conveying device 4, the pile plate lifting drive that sheet material piling bed comprises sheet material pile plate 51 and is connected with pile plate 51.Pile plate 51 can be driven to rise or decline by pile plate lifting drive.During beginning, pile plate 51 can be risen to certain altitude, the height of pile plate 51 apart from the sheet material on bracing frame can be reduced like this, sheet material can be steadily placed in pile plate 51.After pile plate 51 is stacked with certain thickness sheet material, by pile plate lifting drive, the height of pile plate 51 is declined, to abdicate sheet material stacking space, make stackable more sheet material in pile plate 51.Certainly, also for simultaneously operating, namely often can stack a sheet material, pile plate 51 synchronously declines certain distance, can be convenient to above-mentioned conveying device 4 like this and be put down by sheet material at sustained height at every turn.Above-mentioned sheet material piling bed can be arranged respectively in the both sides of conveying device 4, and the sheet material like this on the sheet material piling bed of side reaches capacity after quantity, can place sheet material immediately on the sheet material piling bed of opposite side.Sheet material on sheet material piling bed is after reaching specified quantity, and sheet material piling bed can be down to discharge location automatically, and sheet material is hauled out by the artificial hydraulic trailer that adopts.
Above-mentioned pile plate lifting drive can be the mechanisms such as cylinder.Be preferably as shown in Figure 6, described pile plate lifting drive comprises the first adjustable shelf 52, second adjustable shelf 54 and sliding chute seat 53, first adjustable shelf 52 and the second adjustable shelf 54 hinged, upper end and the sheet material pile plate 51 of the first adjustable shelf 52 are hinged, lower end and the sliding chute seat 53 of the first adjustable shelf 52 are hinged, upper end and the sheet material pile plate 51 of the second adjustable shelf 54 are hinged, lower end and the sliding chute seat 53 of the second adjustable shelf 54 are slidably matched, between first adjustable shelf 52 and the second adjustable shelf 54, the adjustable shelf be connected with for driving the lower end edge sliding chute seat 53 of the second adjustable shelf to slide drives cylinder 55.Pile plate 51 can be driven to rise or decline by the acting in conjunction of the first adjustable shelf 52 and the second adjustable shelf 54.This structure accurately can control the rising of pile plate 51 or dropping distance, and higher to the support strength of pile plate 51, and the sheet material be conducive to stacking carries out firm support.
Claims (9)
1. mechanical hand system for panel off-line, comprise conveying device (4), it is characterized in that: also comprise sheet material positioner and sheet material absorption breaking device, sheet material absorption breaking device is arranged on above or below sheet material positioner, sheet material absorption breaking device comprises bracing frame and elevating mechanism (15), bracing frame comprises middle frame (16), left adjustable shelf (12) and right adjustable shelf (11), one end of middle frame (16) is connected with elevating mechanism (15), elevating mechanism (15) is connected with conveying device (4), left adjustable shelf (12) is connected with middle frame (16) respectively by articulated structure with right adjustable shelf (11), left adjustable shelf (12) and right adjustable shelf (11) are all provided with multiple vacuum cup (17), be provided with left adjustable shelf between left adjustable shelf (12) and middle frame (16) and drive cylinder (14), be provided with right adjustable shelf between right adjustable shelf (11) and middle frame (16) and drive cylinder (13).
2. mechanical hand system for panel off-line as claimed in claim 1, it is characterized in that: described conveying device (4) comprises pedestal (44), turning part pedestal (44) being provided with pivoting part and being connected with pivoting part, the axis of pivoting part and the axial vertical of turning part, turning part is connected with described elevating mechanism.
3. mechanical hand system for panel off-line as claimed in claim 2, it is characterized in that: the support arm (42) that pivoting part comprises turning motor system (46), the rotating disk (43) driven by turning motor system (46) and is connected with rotating disk (43), turning part comprises the flip-arm (41) hinged with support arm (42), for driving the upset electric system (45) of flip-arm (41).
4. mechanical hand system for panel off-line as claimed in claim 1, it is characterized in that: sheet material positioner comprises belt mechanism, belt mechanism comprises frame (34) and at least 2 of being arranged in frame (34) are parallel to each other and spaced belt conveyor (31), and each belt conveyor is connected with belt drive.
5. mechanical hand system for panel off-line as claimed in claim 4, is characterized in that: the quantity of belt conveyor (31) is 3.
6. mechanical hand system for panel off-line as claimed in claim 4, is characterized in that: the both sides of belt mechanism are respectively arranged with leading truck (32), leading truck (32) is provided with multiple sheet material directive wheel (33).
7. mechanical hand system for panel off-line as claimed in claim 4, it is characterized in that: sheet material positioner also comprises sheet material centering positioning mechanism, sheet material centering positioning mechanism comprises the sheet material push arm (21) be synchronized with the movement that two are symmetricly set on belt mechanism both sides, one end of sheet material push arm (21) is drive end, the other end is working end, guide rail (23) on the drive end of sheet material push arm (21) and base (24) is slidably matched, base is also provided with the push arm driving mechanism (22) be connected with sheet material push arm (21), the moving direction of sheet material push arm (21) on guide rail (23) is vertical with belt conveyor (31).
8. mechanical hand system for panel off-line as claimed in claim 4, is characterized in that: support frame as described above is arranged on the below of each belt conveyor (31), and the gap between adjacent two belt conveyors (31) forms bracing frame and to step down gap.
9. mechanical hand system for panel off-line as claimed in claim 1, it is characterized in that: also comprise the sheet material piling bed being arranged on conveying device (4) outside, the pile plate lifting drive that sheet material piling bed comprises sheet material pile plate (51) and is connected with pile plate (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310485305.1A CN103522297B (en) | 2013-10-16 | 2013-10-16 | Mechanical hand system for panel off-line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310485305.1A CN103522297B (en) | 2013-10-16 | 2013-10-16 | Mechanical hand system for panel off-line |
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| Publication Number | Publication Date |
|---|---|
| CN103522297A CN103522297A (en) | 2014-01-22 |
| CN103522297B true CN103522297B (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310485305.1A Active CN103522297B (en) | 2013-10-16 | 2013-10-16 | Mechanical hand system for panel off-line |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106986182A (en) * | 2016-01-21 | 2017-07-28 | 广东科达洁能股份有限公司 | Brick machine above and below a kind of automatic sorting |
| CN113291804A (en) * | 2021-07-06 | 2021-08-24 | 苏州神运机器人有限公司 | Feeding module and multi-station feeding device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2560609Y (en) * | 2002-08-09 | 2003-07-16 | 浙江精工科技股份有限公司 | Stacker transport device |
| CN101844691A (en) * | 2009-12-23 | 2010-09-29 | 浙江双友物流器械股份有限公司 | Adsorption device for metal plate |
| CN102602702A (en) * | 2012-03-06 | 2012-07-25 | 东莞华尔泰装饰材料有限公司 | An automatic adsorption and conveying system device for plates |
| CN202528190U (en) * | 2012-02-14 | 2012-11-14 | 深圳怡丰自动化科技有限公司 | Automatic feeding manipulator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5034669B2 (en) * | 2007-05-16 | 2012-09-26 | 村田機械株式会社 | Plate material conveying and storing system and plate material conveying and storing method |
| JP2010082705A (en) * | 2008-09-29 | 2010-04-15 | Kyocera Corp | Suction-conveying device for plate-like body |
-
2013
- 2013-10-16 CN CN201310485305.1A patent/CN103522297B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2560609Y (en) * | 2002-08-09 | 2003-07-16 | 浙江精工科技股份有限公司 | Stacker transport device |
| CN101844691A (en) * | 2009-12-23 | 2010-09-29 | 浙江双友物流器械股份有限公司 | Adsorption device for metal plate |
| CN202528190U (en) * | 2012-02-14 | 2012-11-14 | 深圳怡丰自动化科技有限公司 | Automatic feeding manipulator |
| CN102602702A (en) * | 2012-03-06 | 2012-07-25 | 东莞华尔泰装饰材料有限公司 | An automatic adsorption and conveying system device for plates |
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| CN103522297A (en) | 2014-01-22 |
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Address after: 618300 Guanghan City Economic Development Zone, Deyang, Sichuan province (two sections of Shenzhen Road East) Patentee after: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. Address before: 618300 Sichuan Shenzhen Deyang Economic Development Zone Shenzhen Road East two section Sichuan haute Electric Co., Ltd. Patentee before: SICHUAN HAOTE ELECTRIC CO.,LTD. |
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Effective date of registration: 20180904 Address after: 618000 No. 74 Tai Zhong Road, Guanghan, Deyang, Sichuan Patentee after: Sichuan Shang Yang Electromechanical Equipment Co.,Ltd. Address before: 618300 Guanghan City Economic Development Zone, Deyang, Sichuan province (two sections of Shenzhen Road East) Patentee before: SICHUAN CHUAN'AN GG ROBOT TECHNOLOGY CO.,LTD. |