CN104438933B - Sheet separation device of panel three-dimensional warehouse built-in material taking mechanical arm - Google Patents
Sheet separation device of panel three-dimensional warehouse built-in material taking mechanical arm Download PDFInfo
- Publication number
- CN104438933B CN104438933B CN201410700885.6A CN201410700885A CN104438933B CN 104438933 B CN104438933 B CN 104438933B CN 201410700885 A CN201410700885 A CN 201410700885A CN 104438933 B CN104438933 B CN 104438933B
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- Prior art keywords
- sheet material
- copper pipe
- cylinder
- plate
- contiguous block
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
- B21D43/24—Devices for removing sheets from a stack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
Abstract
The invention provides a sheet separation device of a panel three-dimensional warehouse built-in material taking mechanical arm. The sheet separation device is composed of a magnetic layering device and a turning angle air injection separation device. The magnetic layering device is composed of an absorption component and an air cylinder. The tail of the air cylinder is connected with a connection plate. The connection plate and base plates are provided with guide shaft sleeves. The guide shaft sleeves are matched with guide shafts. The air cylinder is provided with an output shaft. The top of the output shaft and the tops of the guide shafts are provided with a magnet installation plate. The turning angle air injection separation device is composed of an air cylinder and an air injection component. An output shaft is connected with a connector. The air injection component is composed of an air blowing copper pipe and a vacuum sucker. The tail of the air cylinder is provided with a support. The rear of the support is connected with an inclined support body. The action of the sheet separation device is the result of simulation, and the manual panel separation process is simulated. The material taking mechanical arm is provided with the magnetic layering device and the turning angle air injection separation device at the same time, it can be effectively guaranteed that only a single sheet is taken in the material taking process, the sheet separation drive power comes from the compact air cylinder with a guide rod, and transmission is more stable.
Description
Technical field
The present invention relates to a kind of sheet material separating device and in particular to a kind of built-in reclaimer robot of sheet material tiered warehouse facility point
Open device.
Background technology
Modernization with plate processing technology requires increasingly to increase and computer network data-management application technology
Increasingly mature, user enterprise requires more and more higher to the intelligent flexible of sheet machining apparatus.Main along numerical control sheet material processing
Equipment NC turret punch machine, progressively extends to the feeding, discharge at two, is the effective procedure improving Flexible Equipment.Make numerical control
Capstan head bed has automatic feeding, discharge function, and then extension is connected to intelligent sheet material tiered warehouse facility, allows the process streams of equipment to be also subject to
Control the data management in computer network, this is required for a part of high-end user.Intelligent sheet material tiered warehouse facility structure is tight
Gather, operational efficiency high, be the important composition equipment in flexible wires source.
Sheet material dumps to arbitrary warehouse compartment thereon by bottom warehouse compartment or sheet material is taken out by arbitrary warehouse compartment, efficient by one
Manipulator executes operation, and this manipulator is the core component devices in warehouse.The driving of manipulator is entered by two variable frequency reducer motor
OK, they share a set of frequency converter.Reducing motor respectively drives a rotary shaft, and rotary shaft upper sprocket wheel passes through chain-driving manipulator
Device moves.The movement position precision of above-below direction has a rotary encoder monitoring, and acceleration and deceleration are by programme-control.
Manipulator takes plate action to be executed by one group of vacuum cup.The each micro vacuum with a standard of each vacuum cup is sent out
Raw device.Vacuum generator is produced by compressed air, controls the gas circuit of compressed air to can control the sucking action of vacuum cup.
The raw material of numerical control sheet material process equipment are usually that whole buttress plate is put, and need every from tiered warehouse facility when using
Layer warehouse compartment takes out from top to bottom one by one.The taking-up action of typically every sheet material is one group of vacuum by being contained on reclaimer robot
Sucker is completing.Because new whole buttress panel surface has preservative oil, between plate and plate easy adhesion it is not easy to separate,
Manipulator when capturing the superiors' sheet material, below sheet material easily and the superiors' sheet material adhesion.
A set of separating device processing sheet material adhesion is had on manipulator.This separating device is by a set of magnetic force decker and one
Angle jet separator composition pulled by set.Magnetic force decker is magnetized into same magnetic pole equipped with strong magnet by one jiao of sheet material, utilizes
Sheet material is efficiently separated and comes by the principle that the same sex is repelled each other.Magnetic force decker for various steel plates separation be all simple, can
Lean on, comprise membrane plate, clad plate and galvanized sheet etc., but invalid for the sheet material not affected by magnetic forces such as aluminium sheet.Therefore use
It is limited that magnetic force decker comes to the separation of sheet material.Pull angle jet separator for sheet material not affected by magnetic forces
Can be effectively separated.Have a sucker to hold sheet material one jiao is pulled on the jet separator of angle, then is driven by a thin cylinder
Dynamic, will be cocked for this angle holding, the nozzle at this moment having a road compressed air to the jet making 4 secondary frequencies per second below plate angle,
The sheet material making adhesion is rapidly separated.Then confirmed by measuring thickness device, be that individual thickness of slab is allowed for access next step action, otherwise follow
Ring carries out pulling angle separating action, still not all right then stopping alarm after three times.
Content of the invention
It is an object of the invention to provide a kind of sheet material separates a kind of fast, the built-in feeding of sheet material tiered warehouse facility of high working efficiency
The separating device of manipulator.
The technical scheme is that a kind of separating device of the built-in reclaimer robot of sheet material tiered warehouse facility, divided by magnetic force
Layer device and pull angle jet separator composition, described magnetic force decker is made up of adsorption element and cylinder, described gas
Cylinder afterbody is provided with connecting plate, is provided with seat board, is connected by screw between described connecting plate and seat board by described connecting plate, institute
The connecting plate stated and seat board are provided with guideway, and described guideway is cooperated with the axis of guide, and described cylinder sets
There is output shaft, described output shaft is parallel to each other with the axis of guide, and described output shaft and axis of guide top are provided with magnet installing plate,
Described magnet installing plate is provided with adsorption element, and described adsorption element is strong magnet, and described strong magnet is installed with magnet
It is connected by screw between plate, described angle jet separator of pulling is made up of cylinder and air ejection member, and described cylinder sets
There is output shaft, described output shaft is connected with each other with joint, described air ejection member is by blowing copper pipe and vacuum cup forms, institute
The afterbody of the cylinder stated is provided with bearing, is connected with oblique bearing after described bearing, passes through to turn between described oblique bearing and bearing
Axle and jump ring connect.
Described oblique bearing is fixed on the side of sucker stand, is provided with connecting rod below described oblique bearing, described connecting rod
The other end is connected by rotating shaft and jump ring with contiguous block, and the top of described contiguous block is connected with joint, described contiguous block
Side is provided with air ejection member, and described air blowing copper pipe is located at the side of vacuum cup, and described vacuum cup is mutual with contiguous block
Connect, between described air blowing copper pipe and vacuum cup, be provided with transit joint, described air blowing copper pipe is interconnected with transit joint phase
Connect, described air blowing copper pipe is connected in l type with transit joint, the gas outlet of described air blowing copper pipe is located at a left side for vacuum cup
Side, the gas outlet of described air blowing copper pipe bends towards below vacuum cup.
The course of work is:
1) operation principle of magnetic force decker is that cylinder exports when manipulator stops preparing crawl sheet material to a certain warehouse compartment
Shaft extension goes out, and is now contained in strong magnet on magnet installing plate under the guide effect of the axis of guide near sheet material, left from sheet material 3-5mm
The right side, this angle of each layer steel plate is magnetized into same magnetic pole, because the principle that magnetic force same sex phase is repelled is so that steel plate is at this angle
Significantly separate and stick up.Then when manipulator takes a plate above, below the plate of adhesion can be under gravity along this
Separate one jiao is gradually disengaged and stays.After capturing success, cylinders retract, sheet material is sent into transport platform by manipulator；
2) pull angle jet separator on manipulator, the sheet material of adhesion is carried out point by the operating principle with artificial
From air cylinder driven contiguous block produces and swings, and connecting rod is rotated up around rotating shaft under the drive of contiguous block, and contiguous block drives vacuum
Sucker produces the aggregate motion being not only lifted up but also to layback.This motion makes one jiao of sheet material to be held upwards by vacuum cup
Pull and start, contiguous block doubles as the mounting bracket of jet joint and air blowing copper pipe, and the air blowing copper pipe of syphon shape is with cocked
Sheet material moves together, and high pressure draught, to the jet entering lines per second 4 secondary frequencies between upper and lower sheet material, is allowed to produce separation and shake.
At this moment whole manipulator is coordinated smoothly to suck up sheet material entirely above upwards.Following sheet material, that is, can be if any adhesion
There is reliable and effective separation in the presence of this covering device.
The invention has the advantage that separating device action comes from emulation, imitate the artificial process separating sheet material；Feeding machinery
Magnetic force decker is installed on hand simultaneously and pulls angle jet separator, can effectively guarantee only to take individual sheet material during feeding, should
The power source that drives said good-bye selects the compact cylinder of guide, and transmission is more steady, and in addition this cylinder two ends carries buffering
Ring, buffer capacity is high compared to common cylinder about four times, can absorb unnecessary energy in the case that speed is higher, this dress of saying good-bye
Put and be built on reclaimer robot, when the arbitrary warehouse compartment of entrance carries out feeding, this device can be to every layer of storehouse of tiered warehouse facility for manipulator
The plate of position is efficiently separated.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the component diagram of the present invention.
Fig. 3 is the a-a sectional view of Fig. 2.
Fig. 4 is the component diagram of the present invention.
Fig. 5 is the component diagram of the present invention.
In figure: 1 is magnetic force decker, 2 is to pull angle jet separator, and 3 is cylinder, and 4 is connecting plate, and 5 is seat board, 6
For guideway, 7 is the axis of guide, and 8 is output shaft, and 9 is magnet installing plate, and 10 is strong magnet, and 11 is cylinder, and 12 is air blowing copper
Pipe, 13 is vacuum cup, and 14 is bearing, and 15 is oblique bearing, and 16 is rotating shaft, and 17 is connecting rod, and 18 is contiguous block, and 19 connect for transition
Head.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
A kind of separating device of the built-in reclaimer robot of sheet material tiered warehouse facility, by magnetic force decker 1 with pull angle jet and divide
Form from device 2, magnetic force decker 1 is made up of adsorption element and cylinder 3, cylinder 3 afterbody is provided with connecting plate 4, by connecting plate 4
It is provided with seat board 5, is connected by screw between connecting plate 4 and seat board 5, connecting plate 4 and seat board 5 are provided with guideway 6, the axis of guide
Set 6 cooperates with the axis of guide 7, and cylinder 3 is provided with output shaft 8, and output shaft 8 is parallel to each other with the axis of guide 7, output shaft 8 with lead
It is provided with magnet installing plate 9 to axle 7 top, magnet installing plate 9 is provided with adsorption element, adsorption element is strong magnet 10, strong magnet
It is connected by screw between 10 and magnet installing plate 9, pull angle jet separator 2 and be made up of cylinder 11 and air ejection member, cylinder
11 are provided with output shaft, and output shaft is connected with each other with joint, and air ejection member is by blowing copper pipe 12 and vacuum cup 13 forms, cylinder
11 afterbody is provided with bearing 14, is connected with oblique bearing 15 after bearing 14, passes through rotating shaft 16 and card between oblique bearing 15 and bearing 16
Spring connects, and oblique bearing 15 is fixed on the side of sucker stand, is provided with connecting rod 17 below oblique bearing 15, connecting rod 17 other end be connected
Block 18 passes through rotating shaft and jump ring connects, and the top of contiguous block 18 is connected with joint, and the side of contiguous block 18 is provided with air ejection member, blows
Gas copper pipe 12 is located at the side of vacuum cup 13, and vacuum cup 13 is connected with each other with contiguous block 18, and air blowing copper pipe 12 is inhaled with vacuum
It is provided with transit joint 19, air blowing copper pipe 12 is connected with each other with transit joint 19, air blowing copper pipe 12 and transit joint 19 between disk 13
Connect in l type, the gas outlet of air blowing copper pipe 12 is located at the left side of vacuum cup 13, and the gas outlet of air blowing copper pipe 12 bends towards in vacuum
Below sucker 13.
The course of work is:
1) operation principle of magnetic force decker is that cylinder 3 is defeated when manipulator stops preparing crawl sheet material to a certain warehouse compartment
Shaft stretches out, and is now contained in strong magnet 10 on magnet installing plate under the guide effect of the axis of guide 7 near sheet material, from sheet material 3-
5mm about, this angle of each layer steel plate is magnetized into same magnetic pole, because the principle that magnetic force same sex phase is repelled is so that steel plate exists
This angle significantly separately sticks up.Then when manipulator takes a plate above, below the plate of adhesion can be in the effect of gravity
This separate one jiao of lower edge is gradually disengaged and stays.After capturing success, cylinder 3 is retracted, and sheet material is sent into conveying by manipulator
Platform；
2) pull angle jet separator on manipulator, the sheet material of adhesion is carried out point by the operating principle with artificial
From cylinder 11 drive connection block 18 produces and swings, and connecting rod 17 is rotated up around rotating shaft 16 under the drive of contiguous block 18, connects
Block 18 drives vacuum cup 13 to produce the aggregate motion being not only lifted up but also to layback.This motion make one jiao of sheet material true
Suction disk 13 holds to pull upwards and starts, and contiguous block 18 doubles as the mounting bracket of jet joint and air blowing copper pipe 12, syphon shape
Air blowing copper pipe 12 move together with cocked sheet material, high pressure draught is to the spray entering lines per second 4 secondary frequencies between upper and lower sheet material
Gas, is allowed to produce separation and shake.At this moment whole manipulator is coordinated smoothly to suck up sheet material entirely above upwards.Below
Sheet material if any adhesion, reliable and effective separation can occur in the presence of this covering device.
Claims (1)
1. a kind of separating device of the built-in reclaimer robot of sheet material tiered warehouse facility, separates dress by magnetic force decker with pulling angle jet
Put composition it is characterised in that: described magnetic force decker is made up of adsorption element and cylinder, and described tail cylinder is provided with even
Fishplate bar, is provided with seat board, is connected by screw between described connecting plate and seat board by described connecting plate, described connecting plate and
Seat board is provided with guideway, and described guideway is cooperated with the axis of guide, and described cylinder is provided with output shaft, described
Output shaft be parallel to each other with the axis of guide, described output shaft and axis of guide top are provided with magnet installing plate, described magnet peace
Dress plate is provided with adsorption element, and described adsorption element is strong magnet, passes through spiral shell between described strong magnet and magnet installing plate
Nail connects, and described angle jet separator of pulling is made up of cylinder and air ejection member, and described cylinder is provided with output shaft, described
Output shaft be connected with each other with joint, described air ejection member by blowing copper pipe and vacuum cup forms, the tail of described cylinder
Portion is provided with bearing, is connected with oblique bearing, is connected by rotating shaft and jump ring between described oblique bearing and bearing after described bearing；
Described oblique bearing is fixed on the side of sucker stand, is provided with connecting rod below described oblique bearing, and described connecting rod is another
End is connected by rotating shaft and jump ring with contiguous block, and the top of described contiguous block is connected with joint, the side of described contiguous block
It is provided with air ejection member, described air blowing copper pipe is located at the side of vacuum cup, and described vacuum cup is connected with each other with contiguous block,
It is provided with transit joint, described air blowing copper pipe is connected with each other with transit joint, institute between described air blowing copper pipe and vacuum cup
The air blowing copper pipe stated is connected in l type with transit joint, and the gas outlet of described air blowing copper pipe is located at the left side of vacuum cup, described
The gas outlet of air blowing copper pipe bend towards below vacuum cup；
The course of work is:
1) operation principle of magnetic force decker is that cylinder exports shaft extension when manipulator stops preparing crawl sheet material to a certain warehouse compartment
Go out, be now contained in strong magnet on magnet installing plate under the guide effect of the axis of guide near sheet material, from sheet material 3-5mm about,
This angle of each layer steel plate is magnetized into same magnetic pole, because the principle that magnetic force same sex phase is repelled is so that steel plate is bright at this angle
Aobvious separation sticks up, then when manipulator takes a plate above, below the plate of adhesion can be under gravity along this point
One jiao opened is gradually disengaged and stays, after capturing success, cylinders retract, and sheet material is sent into transport platform by manipulator；
2) pull angle jet separator on manipulator, the sheet material of adhesion is carried out separating by the operating principle with artificial,
Air cylinder driven contiguous block produces and swings, and connecting rod is rotated up around rotating shaft under the drive of contiguous block, and contiguous block drives vacuum to inhale
Disk produces and had not only been lifted up the again aggregate motion to layback, and this moves and makes one jiao of sheet material to be held by vacuum cup to pull upwards
Move and start, contiguous block doubles as the mounting bracket of jet joint and air blowing copper pipe, and the air blowing copper pipe of syphon shape is with cocked plate
Material moves together, and high pressure draught, to the jet entering lines per second 4 secondary frequencies between upper and lower sheet material, is allowed to produce separation and shake, this
Sheet material entirely above is smoothly sucked up by Shi Peihe whole manipulator upwards, and sheet material below, that is, can be at this if any adhesion
There is reliable and effective separation in the presence of covering device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410700885.6A CN104438933B (en) | 2014-11-28 | 2014-11-28 | Sheet separation device of panel three-dimensional warehouse built-in material taking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410700885.6A CN104438933B (en) | 2014-11-28 | 2014-11-28 | Sheet separation device of panel three-dimensional warehouse built-in material taking mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104438933A CN104438933A (en) | 2015-03-25 |
| CN104438933B true CN104438933B (en) | 2017-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410700885.6A Active CN104438933B (en) | 2014-11-28 | 2014-11-28 | Sheet separation device of panel three-dimensional warehouse built-in material taking mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN104438933B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105173812B (en) * | 2015-09-26 | 2017-07-04 | 青岛科创智能装备有限公司 | A kind of automatic plate feeding machine |
| CN105538019A (en) * | 2015-12-18 | 2016-05-04 | 陕西同力达电子科技有限公司 | Stainless steel sheet separating device |
| CN106697967B (en) * | 2016-12-14 | 2019-02-22 | 安徽海拓志永智能装备股份有限公司 | A kind of vertical movable magnetic splitting device |
| CN106694738A (en) * | 2016-12-15 | 2017-05-24 | 东莞市豪顺精密科技有限公司 | Method for separating two steel plates on receiver and feeding steel plates into die |
| CN106800193A (en) * | 2017-03-15 | 2017-06-06 | 东莞市瑞辉机械制造有限公司 | One kind automation plate conveying equipment |
| CN106800192B (en) * | 2017-03-15 | 2023-08-11 | 广东瑞辉智能科技有限公司 | Separating device for metal stacking |
| CN107009188A (en) * | 2017-05-27 | 2017-08-04 | 扬州恒佳自动化设备有限公司 | It is a kind of to realize the transmission device that frock moves up and down |
| CN107097003A (en) * | 2017-05-27 | 2017-08-29 | 扬州恒佳自动化设备有限公司 | A kind of laser cutting machine loading and unloading robot |
| JP6775067B1 (en) * | 2019-06-21 | 2020-10-28 | 株式会社アマダ | Vacuum gripper and work suction holding method |
| CN110585768B (en) * | 2019-09-30 | 2021-09-17 | 广西田东中洲科技有限公司 | Filter plate pulling device for filter press |
| CN110918816A (en) * | 2019-12-09 | 2020-03-27 | 安徽戎发冲压机器人有限公司 | Unstacking trolley for press lines |
| CN112226892B (en) * | 2020-09-29 | 2022-03-29 | 石狮市振富针纺机械有限公司 | Automatic yarn splicing and changing device |
| CN112520418B (en) * | 2020-12-15 | 2022-06-24 | 深圳南玻应用技术有限公司 | Glass sheet taking device and method |
| CN113680914A (en) * | 2021-08-25 | 2021-11-23 | 安徽纳赫智能科技有限公司 | Non-magnetic material separating device and separating method thereof |
| CN113843739B (en) * | 2021-10-13 | 2023-01-13 | 潍坊新松机器人自动化有限公司 | Arched sheet carrying robot |
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| CH442141A (en) * | 1966-06-24 | 1967-08-15 | Vidosa S A | Device for transporting single sheets from a stack to a processing machine |
| JP2002313881A (en) * | 2001-04-10 | 2002-10-25 | Nec Corp | Wafer take-out device |
| CN202861248U (en) * | 2012-08-23 | 2013-04-10 | 浙江豪情汽车制造有限公司 | Automatic material-taking device |
| CN103407792B (en) * | 2013-08-16 | 2015-07-08 | 济南二机床集团有限公司 | Pneumatic separating type magnetic force distributing device |
| CN204276721U (en) * | 2014-11-28 | 2015-04-22 | 江苏亚威机床股份有限公司 | The separating device of the built-in reclaimer robot of a kind of sheet material tiered warehouse facility |
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2014
- 2014-11-28 CN CN201410700885.6A patent/CN104438933B/en active Active
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| CN104438933A (en) | 2015-03-25 |
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