CN108161971B - Efficient sheet unstacking sucker manipulator - Google Patents
Efficient sheet unstacking sucker manipulator Download PDFInfo
- Publication number
- CN108161971B CN108161971B CN201810205894.6A CN201810205894A CN108161971B CN 108161971 B CN108161971 B CN 108161971B CN 201810205894 A CN201810205894 A CN 201810205894A CN 108161971 B CN108161971 B CN 108161971B
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- frame
- position sensor
- horizontal
- floating positioning
- adsorption
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000001179 sorption measurement Methods 0.000 claims abstract description 38
- 238000007667 floating Methods 0.000 claims abstract description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 241000252254 Catostomidae Species 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000006378 damage Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Manipulator (AREA)
Abstract
The efficient sheet unstacking sucker manipulator comprises a frame, wherein an adsorption mechanism is arranged on the frame in a sliding manner and comprises an adsorption mechanism frame, and the adsorption mechanism frame is connected with the frame through a lifter; the suction device comprises a suction mechanism frame, a vacuum pump, a plurality of sucking discs, a plurality of floating positioning sensors, a position sensor, a floating positioning frame and a position sensor, wherein the sucking discs are arranged below the suction mechanism frame and connected with the vacuum pump through pipelines, the floating positioning sensors comprise the floating positioning frame, the floating positioning frame is fixedly connected with the suction mechanism frame, and the position sensor is arranged below the floating positioning frame. The device has the advantages of reliable structure, low cost, high efficiency, high automation and obvious synergy, and can automatically, accurately and quickly disassemble the stacked sheets into single sheets for use in automatic sheet processing machine tools and processing lines.
Description
Technical field:
the invention relates to a high-efficiency sheet unstacking sucker manipulator.
The background technology is as follows:
the laser cutting machine has high machining efficiency, so that the laser cutting machine is widely applied to the field of machinery on a large scale. However, the steel plate processed by the laser plate cutting machine is generally moved to a processing platform of the laser plate cutting machine by simple mechanical manual work; time and labor are wasted, the efficiency is low, the position change of the plate is large each time, and full-automatic continuous production cannot be realized. Therefore, some devices adopt a sucker to adsorb and position a sensor to position the plate, but because the sucker 1 can play during adsorption, the height direction is difficult to accurately control, especially the sucker with buffer; 2. because of taking the buffering sucking disc, the sucking disc body is higher to the mounted position, and in the high-speed handling process, especially when carrying heavier article, the easy emergence sways, and stability is relatively poor, takes place even to drop. The prior art does not address this.
The invention comprises the following steps:
the invention provides a high-efficiency sheet unstacking sucker manipulator which is reliable in structure and solves the problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the efficient sheet unstacking sucker manipulator comprises a frame, wherein an adsorption mechanism is arranged on the frame in a sliding manner and comprises an adsorption mechanism frame, and the adsorption mechanism frame is connected with the frame through a lifter; the suction device comprises a suction mechanism frame, a vacuum pump, a plurality of sucking discs, a plurality of floating positioning sensors, a plurality of buffer mechanism columns, a controller, a plurality of buffer springs, a plurality of air bags and a plurality of air bags.
Preferably, the top of the buffer mechanism column is connected with a positioning nut in a threaded manner, and a height adjusting spacer is arranged on the buffer mechanism column below the positioning nut.
Preferably, a lifting rack is arranged on the adsorption machine frame, a lifting motor connected with a worm gear reducer is arranged on the frame, a lifting gear matched with the lifting rack is arranged on a driving shaft of the worm gear reducer, and the lifting motor is connected with the controller.
Preferably, a lifting mechanism high-position sensor arranged relative to the adsorption mechanism high-position is arranged on the frame, and the lifting mechanism high-position sensor is connected with the controller.
Preferably, a horizontal rack is arranged on the frame, a horizontal walking motor connected with a worm gear reducer is arranged on the adsorption machine frame, a horizontal gear matched with the horizontal rack is arranged on a driving shaft of the worm gear reducer, and the horizontal walking motor is connected with the controller.
Preferably, a horizontal first end point position sensor and a horizontal second end point position sensor which are respectively arranged relative to two ends of the adsorption mechanism are arranged on the frame, and the horizontal first end point position sensor and the horizontal second end point position sensor are connected with the controller.
Preferably, a protection frame is arranged on the outer side of the position sensor, and the protection frame is fixedly connected with the floating positioning frame.
Preferably, the upper end and the lower end of the buffer spring are respectively provided with a bottom bracket, and the bottom brackets are sleeved outside the buffer mechanism column.
Preferably, the sucking disc is connected with the vacuum filter through a pipeline, the vacuum filter is connected with the vacuum pump through a pipeline gas path tapping block, and the pipeline gas path tapping block is connected with the vacuum pump and is connected with a vacuum breaking valve through a pipeline.
Preferably, a vacuum tank is connected with the pipeline gas path branching block, and a pressure sensor is arranged on the pipeline gas path branching block.
The invention adopts the structure, has reliable structure, low cost, high efficiency, high automation and obvious synergy, and can automatically, accurately and quickly split the stacked plates into single plates for use in automatic plate processing machine tools and processing pipelines; positioning by adopting a floating positioning sensor, thereby realizing automatic, concise and accurate positioning, and simultaneously rapidly separating Zhang Zhuaqu plates and plate stacks; the buffer mechanism column overcomes the defect that the plate has a relative position float relative to the sucker when the plate is adsorbed due to the sucker, improves the system stability in the rapid transportation process, and simultaneously reduces the requirement on the detection distance of the position sensor.
Description of the drawings:
fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side view schematic of fig. 1.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is a schematic structural view of a floating position sensor portion.
Fig. 5 is a schematic view of a suction cup portion.
In the figure, 1, a frame, 2, an adsorption machine framework, 3, a sucker, 4, a floating positioning frame, 5, a position sensor, 6, a buffer mechanism column, 7, a buffer spring, 8, a positioning nut, 9, a height adjusting spacer bush, 10, a lifting motor, 11, a lifting mechanism high-position sensor, 12, a horizontal walking motor, 13, a horizontal first end point position sensor, 14, a horizontal second end point position sensor, 15, a protection frame, 16, a bottom bracket, 17, a vacuum filter, 18, a pressure sensor, 19, a vacuum pump, 20, a vacuum breaking valve, 21, a vacuum tank, 22 and a pipeline gas circuit connecting block.
The specific embodiment is as follows:
in order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings.
As shown in fig. 1-5, a high-efficiency sheet unstacking sucker manipulator comprises a frame 1, wherein an adsorption mechanism is arranged on the frame 1 in a sliding manner, the adsorption mechanism comprises an adsorption mechanism frame 2, and the adsorption mechanism frame 2 is connected with the frame 1 through a lifter; the suction device comprises a suction mechanism frame 2, a plurality of suckers 3 arranged below the suction mechanism frame 2, wherein the suckers 3 are connected with a vacuum pump through pipelines, a plurality of floating positioning sensors are further arranged below the suction mechanism frame 2, each floating positioning sensor comprises a floating positioning frame 4, the floating positioning frames 4 are fixedly connected with the suction mechanism frame 2, a position sensor 5 is arranged below the floating positioning frames 4, the position sensor 5 is connected with the floating positioning frames 4 through a plurality of buffer mechanism columns 6, the lower parts of the buffer mechanism columns 6 are fixedly connected with the position sensor 5, a buffer spring 7 is arranged on the buffer mechanism columns 6, the buffer spring 7 is respectively arranged with the floating positioning frames 4 in an abutting mode up and down, and the suction mechanism, the vacuum pump and the floating positioning sensors are connected with a controller.
The top of the buffer mechanism column 6 is in threaded connection with a positioning nut 8, a height adjusting spacer 9 is arranged on the buffer mechanism column 6 below the positioning nut 8, and the bottom of the positioning nut 8 is in abutting connection with the adsorption mechanism frame 2. The overall position and the degree of compression of the buffer spring 7 itself can be adjusted by means of the positioning nut 8.
The adsorption mechanism comprises an adsorption mechanism frame 2, a lifting rack is arranged on the adsorption mechanism frame 2, a lifting motor 10 connected with a worm gear reducer is arranged on the adsorption mechanism frame 1, a lifting gear matched with the lifting rack is arranged on a driving shaft of the worm gear reducer, and the lifting motor 10 is connected with a controller.
The frame 1 is provided with a lifting mechanism high-position sensor 11 arranged relative to the adsorption mechanism high-position, and the lifting mechanism high-position sensor 11 is connected with the controller. The worm and gear transmission is adopted to ensure that the lifting mechanism is stably positioned at a certain position at any time, and the lifting mechanism high-position sensor 11 is arranged to obtain the limiting position of the movement of the lifting mechanism, so that a foundation is provided for the automation or safety operation of the lifting mechanism.
A horizontal rack is arranged on the frame 1, a horizontal walking motor 12 connected with a worm gear reducer is arranged on the adsorption mechanism frame 2, a horizontal gear matched with the horizontal rack is arranged on a driving shaft of the worm gear reducer, and the horizontal walking motor 12 is connected with a controller.
A horizontal first end point position sensor 13 and a horizontal second end point position sensor 14 which are respectively arranged relative to two ends of the adsorption mechanism are arranged on the frame 1, and the horizontal first end point position sensor 13 and the horizontal second end point position sensor 14 are connected with the controller. The worm and gear transmission is adopted to ensure that the lifting mechanism is stably positioned at a certain position at any time, and the horizontal first end point position sensor 13 and the horizontal second end point position sensor 14 are arranged to obtain the limiting position of the movement of the lifting mechanism, so that a foundation is provided for the automatic or safe operation of the lifting mechanism.
A protection frame 15 is arranged on the outer side of the position sensor 5, and the protection frame 15 is fixedly connected with the floating positioning frame 4. The position sensor 5 is protected from impact damage caused by the outside.
The upper end and the lower end of the buffer spring 7 are respectively provided with a bottom bracket 16, and the bottom bracket 16 is sleeved outside the buffer mechanism column 6. So that the buffer spring 7 can be stably positioned on the buffer mechanism column 6 to maintain the stability of the sucker 3.
The sucking disc 3 is connected with the vacuum filter 17 through a pipeline, the vacuum filter 17 is connected with the vacuum pump 19 through a pipeline gas circuit connecting block 22, the pipeline gas circuit connecting block 22 is connected with the vacuum breaking valve 20 through a pipeline, and the pipeline gas circuit connecting block 22 is connected with the vacuum breaking valve 20 through a pipeline.
A vacuum tank 21 is connected with a pipeline gas path connecting block 22, and a pressure sensor 18 is arranged on the pipeline gas path connecting block 22. The stability of the vacuum gas circuit is improved.
When the lifting mechanism is used, whether the lifting mechanism high-position sensor 11 is triggered or not, when the lifting mechanism high-position sensor 11 is not triggered, the lifting motor 10 is started, the adsorption machine frame 2 is lifted upwards until the lifting mechanism high-position sensor 11 is triggered, the lifting motor 10 stops, and the whole lifting part can be self-locked and stopped at any height due to the adoption of worm and gear transmission.
After the high-position sensor 11 of the lifting mechanism is triggered, whether the horizontal first-end position sensor 13 is triggered or not is detected, and when the horizontal first-end position sensor 13 is not triggered, the horizontal traveling motor 12 is started, so that the adsorption machine frame 2 moves towards the end until the horizontal first-end position sensor 13 is triggered, the horizontal traveling motor 12 stops, and the whole mechanism self-locks and stops due to the adoption of the worm gear speed reducing mechanism.
The lift motor 10 is started to run in reverse, the suction frame 2 is lowered down until the floating positioning sensor is triggered, the lift motor 10 is stopped, and the vacuum pump 19 is run at the same time, so that the suction cup 3 starts to suck the sheet material.
Because the sucker 3 absorbs the characteristics of the object, when the sucker 3 absorbs the plate from the beginning to the end, the space between the sucker 3 and the plate has a shifting amount of a few millimeters, and the shifting amounts of plates with different thicknesses or weights are different, so that a certain trouble is brought to the installation of the positioning sensor from the upper side of the plate. And the floating positioning sensor realizes the following functions by arranging the buffer mechanism column 6 and absorbing most of capacity of the buffer spring 7: (1) protecting the sensor from this amount of standoff; (2) reducing the requirements on the detection distance of the sensor; (3) When the sucking disc 3 releases the plate, the sensor automatically resets under the action of the buffer spring 7; (4) The positioning nut 8 increases the adjustment distance of the sensor in the height direction, and reduces the installation and debugging difficulty and precision; (5) Meanwhile, the height position precision of the plate relative to the sucker 3 is guaranteed relative to the sucker 3 with the spring, so that the height position of the plate relative to other butt joint working tables is basically controllable when the plate is released below the sucker; (6) Since the locating plate is detected from the right above, the thickness of the plate and the height of the plate stack are not required as long as the single plate does not exceed the maximum load (400 Kg); (7) The adoption of the fixed sucker increases the stability of the mechanism and the sucking reliability in the rapid transportation process.
When the vacuum pump 19 makes the vacuum degree of the whole sucking disc system reach the set pressure value, the pressure sensor 23 outputs a signal to start the lifting motor 10 to operate, the adsorption machine frame 2 is lifted upwards, and the vacuum pump 19 stops operating.
When the lifting mechanism reaches the lifting mechanism high-point position sensor 11, the horizontal walking motor 12 is started to reversely run until the horizontal second-point position sensor 14 is triggered, the horizontal walking motor 12 stops, and the whole mechanism is stopped and self-locked by adopting a worm gear speed reducing mechanism.
The lifting mechanism descends and releases the plate at fixed points: when the horizontal second end point position sensor 14 is triggered, the lifting motor 10 is started to reversely run, the suction machine frame 2 is lowered until reaching a preset position, the lifting motor 10 is stopped, meanwhile, the vacuum breaking valve 20 is powered on, the outside is connected with a system of the suction disc 3, and the suction disc 3 starts to release the plate. The transportation work of the plate can be completed by reciprocating the plate.
The above embodiments are not to be taken as limiting the scope of the invention, and any alternatives or modifications to the embodiments of the invention will be apparent to those skilled in the art and fall within the scope of the invention.
The present invention is not described in detail in the present application, and is well known to those skilled in the art.
Claims (1)
1. The utility model provides a high-efficient panel sucking disc manipulator of breaking a jam which characterized in that: the device comprises a frame, wherein an adsorption mechanism is arranged on the frame in a sliding manner, the adsorption mechanism comprises an adsorption mechanism frame, and the adsorption mechanism frame is connected with the frame through a lifter; a plurality of suckers are arranged below the adsorption mechanism frame, the suckers are connected with a vacuum pump through pipelines, a plurality of floating positioning sensors are also arranged below the adsorption mechanism frame, the floating positioning sensors comprise floating positioning frames, the floating positioning frames are fixedly connected with the adsorption mechanism frame, a position sensor is arranged below the floating positioning frames, the position sensor is connected with the floating positioning frames through a plurality of buffer mechanism columns, the lower parts of the buffer mechanism columns are fixedly connected with the position sensor, the upper end and the lower end of the buffer spring are respectively provided with a bottom support, the bottom support is sleeved outside the buffer mechanism column, the top of the buffer mechanism column is in threaded connection with a positioning nut, and a height adjusting spacer is arranged on the buffer mechanism column below the positioning nut;
the adsorption machine frame is provided with a lifting rack, the frame is provided with a lifting motor connected with a worm gear reducer, a driving shaft of the worm gear reducer is provided with a lifting gear matched with the lifting rack, and the lifting motor is connected with the controller; a lifting mechanism high-position sensor arranged relative to the adsorption mechanism high-position is arranged on the frame and is connected with the controller; a horizontal rack is arranged on the rack, a horizontal travelling motor connected with a worm gear reducer is arranged on the adsorption machine framework, a horizontal gear matched with the horizontal rack is arranged on a driving shaft of the worm gear reducer, and the horizontal travelling motor is connected with a controller; a horizontal first end point position sensor and a horizontal second end point position sensor which are respectively arranged relative to two ends of the adsorption mechanism are arranged on the frame, and the horizontal first end point position sensor and the horizontal second end point position sensor are connected with the controller;
the outside of position sensor is equipped with the fender bracket, the fender bracket links firmly with floating locating rack, the sucking disc links to each other with vacuum filter through the pipeline, and vacuum filter links to each other through pipeline gas circuit branching piece, and pipeline gas circuit branching piece links to each other with the vacuum pump, pipeline gas circuit branching piece links to each other with a vacuum destruction valve through the pipeline, and a vacuum tank links to each other with pipeline gas circuit branching piece, is equipped with pressure sensor on pipeline gas circuit branching piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810205894.6A CN108161971B (en) | 2018-03-13 | 2018-03-13 | Efficient sheet unstacking sucker manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810205894.6A CN108161971B (en) | 2018-03-13 | 2018-03-13 | Efficient sheet unstacking sucker manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161971A CN108161971A (en) | 2018-06-15 |
| CN108161971B true CN108161971B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810205894.6A Active CN108161971B (en) | 2018-03-13 | 2018-03-13 | Efficient sheet unstacking sucker manipulator |
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| Country | Link |
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| CN (1) | CN108161971B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6775067B1 (en) * | 2019-06-21 | 2020-10-28 | 株式会社アマダ | Vacuum gripper and work suction holding method |
| CN116175244B (en) * | 2022-12-15 | 2023-11-03 | 容德精机（江苏）机床有限公司 | Metal sheet processing machine tool with automatic feeding structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06115733A (en) * | 1992-10-05 | 1994-04-26 | Nec Toyama Ltd | Substrate transfer device |
| KR20050113962A (en) * | 2004-05-31 | 2005-12-05 | 쌍용자동차 주식회사 | Protective apparatus of optical sensor for sensing panel attached to vacuum cup of press automatic carrier |
| CN102602702A (en) * | 2012-03-06 | 2012-07-25 | 东莞华尔泰装饰材料有限公司 | System device for automatic sucking-up handling plates |
| CN204211334U (en) * | 2014-06-12 | 2015-03-18 | 江苏立得仓储科技有限公司 | Sheet material vacuum absorbing and hoisting machine |
| CN208100407U (en) * | 2018-03-13 | 2018-11-16 | 山东镭鸣数控激光装备有限公司 | A kind of efficient plate de-stacking sucker manipulator |
-
2018
- 2018-03-13 CN CN201810205894.6A patent/CN108161971B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06115733A (en) * | 1992-10-05 | 1994-04-26 | Nec Toyama Ltd | Substrate transfer device |
| KR20050113962A (en) * | 2004-05-31 | 2005-12-05 | 쌍용자동차 주식회사 | Protective apparatus of optical sensor for sensing panel attached to vacuum cup of press automatic carrier |
| CN102602702A (en) * | 2012-03-06 | 2012-07-25 | 东莞华尔泰装饰材料有限公司 | System device for automatic sucking-up handling plates |
| CN204211334U (en) * | 2014-06-12 | 2015-03-18 | 江苏立得仓储科技有限公司 | Sheet material vacuum absorbing and hoisting machine |
| CN208100407U (en) * | 2018-03-13 | 2018-11-16 | 山东镭鸣数控激光装备有限公司 | A kind of efficient plate de-stacking sucker manipulator |
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| Publication number | Publication date |
|---|---|
| CN108161971A (en) | 2018-06-15 |
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