CN105059917A - Automatic gripping device and gripping method for soft board - Google Patents
Automatic gripping device and gripping method for soft board Download PDFInfo
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- CN105059917A CN105059917A CN201510438732.3A CN201510438732A CN105059917A CN 105059917 A CN105059917 A CN 105059917A CN 201510438732 A CN201510438732 A CN 201510438732A CN 105059917 A CN105059917 A CN 105059917A
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- soft board
- nail
- framework
- snap close
- grabbing device
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Abstract
The invention relates to an automatic gripping device and gripping method for a soft board. The automatic gripping device comprises a nail framework, straight nails and a positioning seat, wherein the nail framework is arranged along the periphery of the soft board; the straight nails are provided with pointed bottom ends, knurled middles and threaded upper portions; the straight nails vertically penetrate through the nail framework; the pointed ends of the straight nails extend out of the lower portion of the nail framework; the straight nails are arranged in a non-uniform mode according to the tension of the soft board; the straight nails are screwed into nuts on the nail framework; a framework gripping mechanism which is connected with a manipulator to grip the nail framework and the soft board is arranged on the upper side of the nail framework. The gripping method includes the steps that a board is put in a heating device to be heated and softened; the gripping device is moved to a position right above the softened board; the straight nails are pressed into the softened board; by means of the framework gripping mechanism, the manipulator delivers and positions the gripping device and the soft board under the gripping device to a guide column of a pressing mould; the gripping device tightly clamps the soft board during shape pressing; then the manipulator upwards moves to pull out the whole gripping device which is then pushed out by an air cylinder and separated from the soft board.
Description
Technical field
The present invention relates to a kind of automatic grabbing device and grasping means, particularly a kind of automatic grabbing device of soft board and grasping means.
Background technology
What require automated production along with manufacture improves constantly, the transportation mode of material also needs to constantly update, before this, when transport soft board, due to soft board feature, automatic capturing cannot be carried out, as the numb plate inside roof of the vehicle, normally to be bondd the sheet material formed by multilayered fibrous material, be installed to inside roof of the vehicle, also need to be pressed into the shape matched with roof of the vehicle inner shape, need to make its deliquescing to numb plate heating, put it in mould compressing again, most of enterprise still adopts a dead lift to bake soft numb plate aborning at present, and numb plate inside roof of the vehicle due to volume larger, adopt a dead lift fiber crops plate production efficiency low, cost of labor is high, also the realization of enterprise's production automation is unfavorable for, in addition, pernicious gas can be produced after the heating of fiber crops plate, a dead lift not only efficiency is low but also harmful to workman's health.Therefore automatic grabbing device and the grasping means of inventing a kind of soft board is necessary.
Summary of the invention
The object of this invention is to provide a kind of can automatic capturing soft board, the automatic grabbing device of soft board of productive costs of effectively enhancing productivity, reduce and grasping means.
The technical scheme that the present invention adopts for achieving the above object is: a kind of automatic grabbing device of soft board, comprise nail framework, straight bundle nail and positioning seat, described straight bundle nails on end and is provided with outside thread, middle part surface is coarse, bottom is sharp-pointed, nail framework is provided with many and directly pricks nail, straight bundle nail vertically runs through nail framework, the straight bundle shaggy middle part of nail and sharp-pointed bottom are stretched out below nail framework, straight bundle nails on end and is connected with and will directly pricks the nut followed closely and be fixed on nail framework, positioning seat is fixedly connected on the lateral margin of the symmetrical frame of nail framework at least one group, also be provided with in nail frame upper side and be connected with manipulator and grab frame mechanism by what follow closely that framework and soft board pick up.
Further technical scheme of the present invention is: described in grab frame mechanism comprise support frame, connect on the support frame for clamped spiked framework positioning seat fixing device, connect on the support frame for supporting the auxiliary support apparatus of soft board, two cross-tie beams that described support frame comprises two longitudinal ligament beams be parallel to each other and is vertically connected between two longitudinal ligament beams, manipulator is connected between two cross-tie beams.
Further technical scheme of the present invention is: described fixing device comprises clamping cylinder, snap close I, locking block, clamping cylinder is separately positioned on the side of two longitudinal ligament beam two ends by terminal position, snap close I to be arranged on outside clamping cylinder and to be connected with the longitudinal ligament beam of side, clamping cylinder place, snap close I is provided with the through hole running through snap close I, locking block is connected to the piston rod outside end of clamping cylinder, described positioning seat comprises the main part be fixedly connected with nail framework lateral margin, main part upper end upwards extends to form is convenient to fixing device by the snap close II of nail framework clamping, snap close II is provided with the through hole running through snap close II, when gripping means grips positioning seat, through hole on snap close I is aimed at mutually with the through hole on snap close II, the piston rod controlling clamping cylinder more outwards promotes locking block, locking block is made to be stuck in corresponding through hole, snap close I and snap close II are locked together.
Further technical scheme of the present invention is: described auxiliary support apparatus comprises support cylinder and is connected to the piston rod outside end of support cylinder for triggering the hook of soft board bottom surface, support cylinder be connected to outside the mounting bracket at two longitudinal ligament beam two ends, and support cylinder and longitudinal ligament beam arranged in parallel.
Further technical scheme of the present invention is: described nail framework is oblong or square; Described straight bundle nail is according to the tensile force size nonuniform mutation operator of captured soft board.
Another technical scheme that the present invention adopts for achieving the above object is: it adopts the automatic grabbing device of soft board described in claim 1 to capture, and comprises the following steps: sheet material is put into the roasting heat of heating arrangement and made its deliquescing by (one); (2) by the controller of instruction control linkage on the automatic grabbing device of soft board, the automatic grabbing device of soft board is made to move to directly over the middle deliquescing sheet material of step () together with controller; (3) pressure is applied to nail framework, make directly to prick pinning and enter in the middle deliquescing sheet material of step (); (4) manipulator of control linkage above the automatic grabbing device of soft board, the automatic grabbing device of soft board and the flexible sheet material of below thereof are transported to target location by manipulator together, make flexible sheet material be positioned on the guide pillar of casted die mould, the pull-out of grabbing device entirety upwards makes it depart from soft board by (five) mould by compressing for soft board rear manipulator.
The automatic grabbing device of soft board of the present invention has following beneficial effect: owing to being provided with the sharp-pointed straight bundle nail in many bottoms on nail framework, due to the characteristic that soft board is softer, straight bundle nail can penetrate in soft board, soft board entirety is realized to mention, realize soft board and capture automation, effectively enhance productivity, reduce productive costs.
The grasping means of soft board of the present invention has following beneficial effect: make its deliquescing by sheet material being baked heat, again with moving to directly over deliquescing sheet material with the straight grabbing device pricking nail, pressure is applied to grabbing device, making directly to prick pinning enters in deliquescing sheet material, so that deliquescing sheet material is transported to target location by manipulator together with grabbing device, automation is realized in whole material transport process, without the need to workman's manual handling soft board, both enhanced productivity, the pernicious gas of deliquescing sheet material release after also reducing heating and affect the health of porter.
Below in conjunction with drawings and Examples, the automatic grabbing device of soft board of the present invention and grasping means are further described.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automatic grabbing device of soft board of the present invention;
Fig. 2 is that the straight bundle pinning of the automatic grabbing device of soft board of the present invention enters structural representation in soft board;
Fig. 3 is the structural representation of positioning seat;
Fig. 4 grabs the structural representation that frame mechanism is connected with manipulator;
Fig. 5 be manipulator pick up soft board of the present invention automatic grabbing device and under the structural representation of soft board;
Fig. 6 is the partial enlarged view of Fig. 5;
Element numbers illustrates: 1-follows closely framework, 2-positioning seat, 3-nut, 4-directly pricks nail, 5-sheet material, 6-main part, 7-snap close II, 8-fixed part, 9-longitudinal ligament beam, 10-manipulator, 11-cross-tie beam, 12-mounting bracket, 13-supports cylinder, 14-clamping cylinder, and 15-links up with, 16-snap close I, 17-locking block.
Detailed description of the invention
As shown in Figures 1 to 4, the automatic grabbing device (being called for short " grabbing device ") of soft board of the present invention, comprise nail framework 1, straight bundle nail 4 and positioning seat 2, it is described that straight bundle nail 4 upper end is provided with outside thread, middle part surface is coarse, bottom is sharp-pointed, can make its rough surface by the mode of annular knurl in the middle part of straight bundle nail 4, by directly pricking, nail 4 middle part surface is coarse so that soft board not easily drops when penetrating soft board.Nail framework 1 is provided with many and directly pricks nail 4, straight nail 4 of pricking vertically runs through nail framework 1, and the straight shaggy middle part of nail 4 and the sharp-pointed bottom pricked is stretched out below nail framework 1.Straight bundle nail 4 upper end is connected with and is fixed on directly pricking nail 4 nut 3 followed closely on framework 1.Straight bundle nail 4 is according to the tensile force size nonuniform mutation operator of captured soft board, capture the large place of soft board tensile force and directly prick nail and arrange closeer, capture the little place of soft board tensile force and directly prick nail and arrange rarer, straight concrete arrangement situation of pricking nail is determined by captured soft board tensile force size.
Positioning seat 2 is fixedly connected on the lateral margin of the symmetrical frame of nail at least one group of framework 1, and in the present embodiment, described nail framework 1 is oblong; Positioning seat 2 is fixedly connected on the lateral margin of the symmetrical frame of nail framework 1 one groups, and the lateral margin of each side frame is connected with two positioning seats 2.Also be provided with on the upside of nail framework 1 and be connected with manipulator 10 and grab frame mechanism by what follow closely that framework and soft board pick up.Described grab frame mechanism comprise support frame, connect on the support frame for clamped spiked framework positioning seat fixing device, connect on the support frame for supporting the auxiliary support apparatus of soft board, two cross-tie beams 11 that described support frame comprises two longitudinal ligament beams 9 be parallel to each other and is vertically connected between two longitudinal ligament beams 9, manipulator 10 is connected between two cross-tie beams 11.
Described fixing device comprises clamping cylinder 14, snap close I 16, locking block 17, clamping cylinder 14 is separately positioned on the side of two longitudinal ligament beam 9 two ends by terminal position, snap close I 16 to be arranged on outside clamping cylinder 14 and to be connected with the longitudinal ligament beam 9 of side, clamping cylinder 14 place, snap close I 16 is provided with the through hole running through snap close I 16, locking block 17 is connected to the piston rod outside end of clamping cylinder 14, described positioning seat comprises the main part 6 be fixedly connected with nail framework lateral margin, main part 6 upper end upwards extends to form is convenient to fixing device by the snap close II 7 of nail framework clamping, snap close II 7 is provided with the through hole running through snap close II 7, main part 6 lower end is vertically outward extended with is convenient to shaping fixed part 8, the through hole that fixed part 8 is is for the fixing and tensioning on mould during die mould.When gripping means grips positioning seat, through hole on snap close I 16 is aimed at mutually with the through hole on snap close II 7, the piston rod controlling clamping cylinder 14 more outwards promotes locking block 17, makes locking block 17 be stuck in corresponding through hole, snap close I 16 and snap close II 7 is locked together.
Described auxiliary support apparatus comprises support cylinder 13 and is connected to the piston rod outside end of support cylinder 13 for triggering the hook 15 of soft board bottom surface, support cylinder 13 to be connected to outside the mounting bracket 12 at two longitudinal ligament beam 9 two ends, and it is arranged in parallel with longitudinal ligament beam 9 to support cylinder 13.
Certainly as variation of the present invention, nail framework 1 also can be square or other shape.The large I of nail framework 1 changes with actual demand, size, the aspect ratio alterable of nail framework 1, as long as nail framework is along soft board periphery.Straight bundle nail 4 quantity also can change according to nail framework 1 size and the feature capturing sheet material, adds the alerting ability of this device.
The grasping means of a kind of soft board of the present invention, it adopts the automatic grabbing device of above-mentioned soft board to capture, and sheet material 5 captured in the present embodiment is numb plates of a kind of automobile inside outer wall, and the grasping means of soft board of the present invention comprises the following steps:
(1) sheet material 5 is put into the roasting heat of heating arrangement (not shown) and make its deliquescing;
(2) by the controller of instruction control linkage on the automatic grabbing device of soft board, the automatic grabbing device of soft board is made to move to directly over the middle deliquescing sheet material 5 of step () together with controller, the mode such as the remote controller of operation control or the control system of operation and controlling device connection on computers can control controller, controller is a kind of for the existing apparatus in the present invention, does not describe in detail at this to it;
(3) pressure is applied to nail framework, make directly to prick nail 4 and penetrate in step () in deliquescing sheet material 5, pressure can be applied by the automatic grabbing device of manipulator 10 pairs of soft boards, also can apply pressure by other auxiliary device to the automatic grabbing device of soft board;
(4) manipulator 10 of control linkage above the automatic grabbing device of soft board, please simultaneously see shown in Fig. 5, Fig. 6, the snap close I 16 controlling to grab fixing device on frame mechanism is relative with snap close II 7 on nail framework lateral margin positioning seat, through hole on snap close I 16 is aimed at mutually with the through hole on snap close II 7, the piston rod controlling clamping cylinder 14 more outwards promotes locking block 17, make locking block 17 be stuck in corresponding through hole, snap close I 16 and snap close II 7 are locked together; The piston rod simultaneously controlling auxiliary support apparatus support cylinder 13 outwards moves, hook 15 is made to be positioned at outside sheet material, controlling to support the inside motion of cylinder 13 again makes hook 15 hook in flexible sheet material bottom surface, the automatic grabbing device of soft board and the flexible sheet material of below thereof are transported to target location by manipulator 10 together, namely target location is compressing mould, make flexible sheet material be positioned on the guide pillar of casted die mould, follow closely framework when die mould and be used for tensioning soft board without the need to removing; (5) pull-out of grabbing device entirety upwards makes it depart from soft board by mould by compressing for soft board rear manipulator 10, longitudinal ligament beam 9 is also connected with and vertically disposedly ejects cylinder (not shown), eject cylinder ejector nail framework after the shaping cooling of soft board and make it depart from soft board.In whole material transport process, realize automation, without the need to workman's manual handling soft board, effectively enhance productivity.
Above embodiment is only preferred embodiment of the present invention; structure of the present invention is not limited to the form that above-described embodiment is enumerated; as the present invention is not limited in for capturing numb plate; also may be used for capturing other sheet material similar to numb plate physical property; all any amendments done within the spirit and principles in the present invention, equivalent replacement etc., all should be included within protection scope of the present invention.
Claims (7)
1. the automatic grabbing device of a soft board, it is characterized in that, comprise nail framework (1), straight bundle nail (4) and positioning seat (2), described straight bundle nail (4) upper end is provided with outside thread, middle part surface is coarse, bottom is sharp-pointed, nail framework (1) is provided with many and directly pricks nail (4), straight bundle nail (4) vertically runs through nail framework (1), straight bundle nail (4) shaggy middle part and sharp-pointed bottom are stretched out below nail framework, straight bundle nail (4) upper end is connected with and is fixed on directly pricking nail (4) nut (3) followed closely on framework (1), positioning seat (2) is fixedly connected on the lateral margin of the symmetrical frame of nail framework (1) at least one group, also be provided with in nail framework (1) upside and be connected with manipulator and grab frame mechanism by what follow closely that framework and soft board pick up.
2. the automatic grabbing device of soft board as claimed in claim 1, it is characterized in that, described grab frame mechanism comprise support frame, connect on the support frame for clamped spiked framework positioning seat fixing device, connect on the support frame for supporting the auxiliary support apparatus of soft board, two cross-tie beams (11) that described support frame comprises two longitudinal ligament beams (9) be parallel to each other and is vertically connected between two longitudinal ligament beams (9), manipulator (10) is connected between two cross-tie beams (11).
3. the automatic grabbing device of soft board as claimed in claim 2, it is characterized in that, described fixing device comprises clamping cylinder (14), snap close I (16), locking block (17), clamping cylinder (14) is separately positioned on the side of two longitudinal ligament beam (9) two ends by terminal position, snap close I (16) is arranged on clamping cylinder (14) outside and is connected with the longitudinal ligament beam (9) of clamping cylinder (14) side, place, snap close I (16) is provided with the through hole running through snap close I (16), locking block (17) is connected to the piston rod outside end of clamping cylinder (14), described positioning seat comprises the main part (6) be fixedly connected with nail framework lateral margin, main part (6) upper end upwards extends to form is convenient to fixing device by the snap close II (7) of nail framework clamping, snap close II (7) is provided with the through hole running through snap close II (7), when gripping means grips positioning seat, through hole on snap close I (16) is aimed at mutually with the through hole on snap close II (7), the piston rod controlling clamping cylinder (14) more outwards promotes locking block (17), locking block (17) is made to be stuck in corresponding through hole, snap close I (16) and snap close II (7) are locked together.
4. the automatic grabbing device of soft board as claimed in claim 2, it is characterized in that, described auxiliary support apparatus comprise support cylinder (12) and be connected to support cylinder (12) piston rod outside end for triggering the hook (15) of soft board bottom surface, support mounting bracket (12) outside that cylinder (12) is connected to two longitudinal ligament beam (9) two ends, and it is arranged in parallel with longitudinal ligament beam (9) to support cylinder (12).
5. the automatic grabbing device of soft board as claimed in claim 1, it is characterized in that, described nail framework (1) is oblong or square.
6. the automatic grabbing device of soft board as claimed in claim 1, is characterized in that, described straight bundle nail (4) is according to the tensile force size nonuniform mutation operator of captured soft board.
7. a grasping means for soft board, is characterized in that, it adopts the automatic grabbing device of soft board described in claim 1 to capture, and comprises the following steps: sheet material is put into the roasting heat of heating arrangement and made its deliquescing by (one); (2) by the controller of instruction control linkage on the automatic grabbing device of soft board, the automatic grabbing device of soft board is made to move to directly over the middle deliquescing sheet material of step () together with controller; (3) pressure is applied to nail framework, make directly to prick pinning and enter in the middle deliquescing sheet material of step (); (4) manipulator of control linkage above the automatic grabbing device of soft board, the automatic grabbing device of soft board and the flexible sheet material of below thereof are transported to target location by manipulator together, make flexible sheet material be positioned on the guide pillar of casted die mould, the pull-out of grabbing device entirety upwards makes it depart from soft board by (five) mould by compressing for soft board rear manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510438732.3A CN105059917B (en) | 2015-07-23 | 2015-07-23 | Automatic gripping device and gripping method for soft board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510438732.3A CN105059917B (en) | 2015-07-23 | 2015-07-23 | Automatic gripping device and gripping method for soft board |
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| Publication Number | Publication Date |
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| CN105059917A true CN105059917A (en) | 2015-11-18 |
| CN105059917B CN105059917B (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510438732.3A Active CN105059917B (en) | 2015-07-23 | 2015-07-23 | Automatic gripping device and gripping method for soft board |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501963A (en) * | 2016-01-11 | 2016-04-20 | 厦门市富桥机械有限公司 | Intelligent board grabbing machine |
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| US4015872A (en) * | 1975-06-25 | 1977-04-05 | Loznak Edward J | Impaling transfer process and apparatus |
| US4214741A (en) * | 1979-06-04 | 1980-07-29 | Cluett, Peabody & Co., Inc. | Needle pickup device |
| CN101332601A (en) * | 2008-06-23 | 2008-12-31 | 刘明春 | Automatic baiting needling device of vehicle roof board production chain |
| CN203006729U (en) * | 2012-11-21 | 2013-06-19 | 上汽通用五菱汽车股份有限公司 | Feeding hanger for front longitudinal beam of automobile |
| CN204823214U (en) * | 2015-07-23 | 2015-12-02 | 广西瑞克工业机器人有限公司 | Automatic grabbing device of soft board |
-
2015
- 2015-07-23 CN CN201510438732.3A patent/CN105059917B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4015872A (en) * | 1975-06-25 | 1977-04-05 | Loznak Edward J | Impaling transfer process and apparatus |
| US4214741A (en) * | 1979-06-04 | 1980-07-29 | Cluett, Peabody & Co., Inc. | Needle pickup device |
| CN101332601A (en) * | 2008-06-23 | 2008-12-31 | 刘明春 | Automatic baiting needling device of vehicle roof board production chain |
| CN203006729U (en) * | 2012-11-21 | 2013-06-19 | 上汽通用五菱汽车股份有限公司 | Feeding hanger for front longitudinal beam of automobile |
| CN204823214U (en) * | 2015-07-23 | 2015-12-02 | 广西瑞克工业机器人有限公司 | Automatic grabbing device of soft board |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501963A (en) * | 2016-01-11 | 2016-04-20 | 厦门市富桥机械有限公司 | Intelligent board grabbing machine |
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| CN105059917B (en) | 2017-05-17 |
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| CB02 | Change of applicant information |
Inventor after: Huang Gengbao Inventor after: Liang Rongquan Inventor after: Zhang Qimu Inventor before: Huang Gengbao Inventor before: He Heng Inventor before: Chen Qibing Inventor before: Yi Haining Inventor before: Pang Caihua Inventor before: Shi Minfeng |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20161223 Address after: The beginning of 545006 Liuzhou Road, the Guangxi Zhuang Autonomous Region No. 14 Applicant after: GUANGXI RICK INDUSTRIAL ROBOT CO., LTD. Applicant after: Guangxi University of Science and Technology Address before: The beginning of 545006 Liuzhou Road, the Guangxi Zhuang Autonomous Region No. 14 Applicant before: GUANGXI RICK INDUSTRIAL ROBOT CO., LTD. |
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