CN109865874B - Automatic plate shearing machine system based on double-arm robot - Google Patents

Automatic plate shearing machine system based on double-arm robot Download PDF

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Publication number
CN109865874B
CN109865874B CN201711246810.5A CN201711246810A CN109865874B CN 109865874 B CN109865874 B CN 109865874B CN 201711246810 A CN201711246810 A CN 201711246810A CN 109865874 B CN109865874 B CN 109865874B
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China
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rotating
arm
shearing machine
plate
robot
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CN109865874A (en
Inventor
朱思俊
谷侃锋
康浩博
池世春
孙元
张辉
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Kunshan Intelligent Robot R & D Center Shenyang Institute Of Automation
Shenyang Institute of Automation of CAS
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Kunshan Intelligent Robot R & D Center Shenyang Institute Of Automation
Shenyang Institute of Automation of CAS
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Abstract

The invention relates to the technical field of metal shearing production, in particular to an automatic plate shearing machine system based on a double-arm robot, which comprises the double-arm robot, a plate shearing machine, a material table and a robot rotation positioning mechanism, wherein the double-arm robot, the material table and the robot rotation positioning mechanism are all arranged on the plate input side of the plate shearing machine, the material table is respectively arranged on two sides of the double-arm robot, end pickups are arranged at the free ends of mechanical arms on two sides of the double-arm robot, the double-arm robot drives the double-arm robot to rotate and position through the robot rotation positioning mechanism, and a plate positioning device is arranged on the plate shearing machine. The plate shearing machine can realize full-automatic feeding and discharging, ensures continuous shearing operation, can realize various working modes, and greatly improves the production efficiency.

Description

Automatic plate shearing machine system based on double-arm robot
Technical Field
The invention relates to the technical field of metal shearing production, in particular to an automatic plate shearing machine system based on a double-arm robot.
Background
Plate shearing machine among the prior art is unloading and location in the cooperation of many personnel, and the very easy incident that takes place of personnel unloading in the time of cuting great panel, and personnel intensity of labour is big moreover, and production efficiency is low, and it is unusual to probably take place panel and machine table face friction to cause the mar when panel location in addition, appears the quality problem. Although a few companies try to adopt the traditional industrial robot to realize automatic feeding and discharging and positioning, the speed problem cannot meet the requirement of high-efficiency production, and only the traditional industrial robot can be arranged on one side of a shearing plate in function, the angle shearing function with a fixed angle cannot be realized, the required application range on the occupied area is large, and the factory planning is not facilitated.
Disclosure of Invention
The invention aims to provide an automatic plate shearing machine system based on a double-arm robot, which utilizes the double-arm robot to realize full-automatic feeding and discharging of the plate shearing machine, ensures continuous shearing operation, can realize multiple working modes and greatly improves the production efficiency.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an automatic plate shearing machine system based on double-arm robot, includes double-arm robot, plate shearing machine, material platform and robot rotation positioning mechanism, and wherein double-arm robot, material platform and robot rotation positioning mechanism all set up in the panel input side of plate shearing machine, and the material platform branch is located double-arm robot both sides, double-arm robot both sides arm free end all is equipped with the end effector, just double-arm robot passes through the robot rotates positioning mechanism drive rotational positioning be equipped with panel positioner on the plate shearing machine.
The double-arm robot comprises two mechanical arm lifting mechanisms and two mechanical arms, each mechanical arm lifting mechanism comprises an installation vertical seat, a lifting driving motor, a lead screw and a nut, the lifting seat is connected with the installation vertical seat in a sliding mode, the lead screw is installed in the installation vertical seat and passes through the lifting driving motor to drive to rotate, the lead screw is matched with the nut, the lifting seat is fixedly connected with the lead screw, and the two mechanical arms are installed on lifting seats of different mechanical arm lifting mechanisms respectively.
Two arm structures of double-armed robot are the same, all include first swinging boom and second swinging boom, the first swinging boom arm body both ends of first swinging boom are equipped with first revolute joint and second rotation joint respectively, first revolute joint with the seat that goes up and down links to each other, the second revolute joint with the second swinging boom links to each other, first revolute joint downside is equipped with first rotating electrical machines, just first revolute joint with first swinging boom arm body passes through first rotating electrical machines drives rotatoryly, the second rotates the joint downside and is equipped with the second rotating electrical machines, just the second rotate the joint with the second swinging boom passes through the second rotating electrical machines drives rotatoryly.
The second swinging boom includes second swinging boom arm body, third rotating electrical machines, drive mechanism, speed reducer and swivelling joint spare, second swinging boom arm body one end with first swinging boom links to each other, and the other end is equipped with a mount pad, third rotating electrical machines, drive mechanism, speed reducer and swivelling joint spare all set up in the mount pad, wherein swivelling joint spare is rotatory through the drive of third rotating electrical machines, just third rotating electrical machines loops through drive mechanism and speed reducer transmission torque, swivelling joint spare and end effector are even.
The end effector comprises an end effector frame body, and a sucking disc, an overshoot detection device and a plurality of detection devices are arranged on the lower side of the end effector frame body.
The plate positioning device comprises a rear positioning mechanism and a front positioning mechanism, the rear positioning mechanism is mounted on a rear positioning mounting rod, the rear positioning mounting rod is horizontally arranged, one end of the rear positioning mounting rod is fixedly mounted on the plate shearing machine, and the front positioning mechanism is mounted on a front baffle of the plate shearing machine.
The rear positioning mechanism comprises a rear micro travel switch, an eccentric positioning block and a positioning baffle shaft, the eccentric positioning block is hinged to the rear positioning mounting rod, the rear micro travel switch presses the eccentric positioning block to trigger through the movement of a plate, and the eccentric positioning block limits displacement through the positioning baffle shaft.
The front positioning mechanism comprises a front micro travel switch, a detection mounting plate and a linkage rod, the linkage rod is movably mounted on a front baffle of the shearing machine, the detection mounting plate is fixedly mounted on the front baffle of the shearing machine, the front micro travel switch is mounted on the detection mounting plate and presses the linkage rod through a plate to trigger, and a reset spring is arranged on the linkage rod.
The robot rotation positioning mechanism comprises a rotating shaft, a rotating shaft base, a fixed rod hinging seat, a fixed plate and two fixed rods, wherein the fixed plate is fixedly arranged on the base of the double-arm robot, the rotating shaft is in a right-angle shape, one end of the rotating shaft is connected with the fixed plate, the other end of the rotating shaft is hinged on the rotating shaft base, one end of each fixed rod is connected with the fixed plate, the other end of each fixed rod is hinged on the different fixed rod hinging seats, the fixed rod hinging seat and the rotating shaft base are fixedly arranged on the plate shearing machine, and the two fixed rods and the plate shearing machine form.
The fixing plate is provided with a plurality of rows of installation long holes, the rotating shaft base is provided with a rotating shaft limiting plate, and the rotating shaft is hollow.
The invention has the advantages and positive effects that:
1. according to the plate shearing machine, the metal plate is placed at the designated position in the plate shearing machine through the double-arm robot to complete shearing, so that full-automatic feeding and discharging of the plate shearing machine can be realized, continuous shearing operation is guaranteed, various working modes can be realized, and the production efficiency is greatly improved.
2. The end effector is provided with the overshoot detection device and the multi-sheet detection device, so that the situations that a multi-layer plate is sucked and the negative pressure in the sucker is insufficient are avoided, and the operation safety is ensured.
3. According to the invention, the plate positioning device for positioning the plate is arranged on the plate shearing machine, so that the position information of the plate can be fed back in time, and the plate positioning accuracy is ensured.
4. The double-arm robot can be driven to rotate and adjust through the robot rotating and positioning mechanism, does not occupy excessive use space, can realize the functions of corner shearing and the like of plates, and is convenient for the robot to turn to the side surface for maintenance.
Drawings
Figure 1 is a schematic layout of the present invention,
figure 2 is a schematic view of the dual-arm robot of figure 1,
figure 3 is a schematic view of the robot arm lift mechanism of figure 2,
figure 4 is a schematic view of the first rotating arm of figure 2,
figure 5 is a bottom view of the first rotating arm of figure 4,
figure 6 is a cross-sectional view a-a of figure 4,
figure 7 is a schematic view of the second rotary arm of figure 2,
figure 8 is a schematic view of the material table of figure 1,
figure 9 is a schematic view of the end effector of figure 1,
figure 10 is a schematic view of a rear positioning mechanism of the sheet positioning device of figure 1,
figure 11 is a schematic view of the position of the rear positioning mechanism of figure 10 on the mounting bar,
figure 12 is a schematic view of the front positioning mechanism of the sheet positioning device of figure 1,
fig. 13 is a schematic view of the robot rotational positioning mechanism of fig. 1.
Wherein, 1 is a double-arm robot, 2 is a material platform, 201 is a main frame body of the material platform, 202 is a supporting leg, 203 is a positioning rod, 204 is a magnetic delayer, 3 is a plate positioning device, 301 is a rear micro travel switch, 302 is an eccentric positioning block, 303 is a positioning baffle shaft, 304 is a rear positioning mounting rod, 305 is a front micro travel switch, 306 is a front baffle plate of a plate shearing machine, 307 is a detection mounting plate, 308 is a reset spring, 309 is a linkage rod, 310 is a guide copper sleeve, 4 is an end effector, 401 is a suction cup, 402 is an end effector frame body, 403 is an overshoot detection device, 404 is a multi-plate detection device, 405 is a connecting flange, 5 is a base, 51 an electric cabinet base, 6 is a robot rotation positioning mechanism, 601 is a fixed rod, 602 is a fixed plate, 603 is an installation long hole, 604 is a rotating shaft, 605 is a rotating shaft base, 606 is a rotating shaft limiting plate, 607 is a fixed rod seat, 7 is a mechanical, 701 is a lifting driving motor, 702 is a first lead screw fixing seat, 703 is a lifting slide rail, 704 is a lead screw, 705 is a lifting seat, 706 is a second lead screw fixing seat, 707 is a mounting stand seat, 8 is a first rotating arm, 801 is a first rotating joint, 802 is a second rotating joint, 803 is a second connecting flange, 804 is a first rotating motor, 805 is a second rotating motor, 806 is a first connecting flange, 807 is a first rotating arm body, 808 is a rotating speed reducer, 9 is a second rotating arm, 901 is a third rotating motor, 902 is a driving pulley, 903 is a synchronous belt, 904 is a driven pulley, 905 is a speed reducer, 906 is a rotating connecting piece, 907 is a mechanical arm connecting flange, 908 is a second rotating arm body, and 10 is a plate shearing machine.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 13, the plate shearing machine comprises a double-arm robot 1, a plate shearing machine 10, a material table 2 and a robot rotation positioning mechanism 6, wherein the double-arm robot 1, the material table 2 and the robot rotation positioning mechanism 6 are all arranged on the plate input side of the plate shearing machine 10, the material table 2 is respectively arranged on two sides of the double-arm robot 1, end-picking devices 4 for moving plates are arranged at the free ends of mechanical arms on two sides of the double-arm robot 1, a plate positioning device 3 for positioning the plates is arranged on the plate shearing machine 10, and the double-arm robot 1 is driven to rotate and position by the robot rotation positioning mechanism 6 according to the production shearing requirements. The invention works in two ways: firstly, a arm of double-armed robot is expected the material from one side material platform 2 and is cuted, and panel after another arm will be cuted is delivered to opposite side material platform 2 on, secondly two arms of double-armed robot are respectively from both sides material platform absorb sheet metal of different materials and send into plate shearing machine 10 in turn and cuted, respectively on the material platform 2 of unloading to both sides after the shearing is accomplished.
As shown in fig. 2, the dual-arm robot 1 includes a base 5, a robot lifting mechanism 7 and two robots on two sides, the robot lifting mechanism 7 is disposed on the base 5, as shown in fig. 3, the robot lifting mechanism 7 includes an installation vertical seat 707, a lifting seat 705, a lifting driving motor 701, a lead screw 704 and a nut, the installation vertical seat 707 is fixed on the base 5, the lifting seat 705 is slidably connected to the installation vertical seat 707, a lifting slide rail 703 is disposed on the installation vertical seat 707, a slide block matched with the lifting slide rail 703 is disposed on the lifting seat 705, two ends of the lead screw 704 are respectively mounted in the installation vertical seat 707 through a first lead screw fixing seat 702 and a second lead screw fixing seat 706, the lead screw 704 is driven to rotate by the lifting driving motor 701, and the nut matched with the lead screw 704 is fixedly connected to the lifting seat 705. The base 5 is provided with two mechanical arm lifting mechanisms 7, and the two mechanical arms are respectively arranged on lifting seats 705 of different mechanical arm lifting mechanisms 7.
As shown in fig. 2, the two robot arms of the two-arm robot 1 have the same structure and each include a first rotating arm 8 and a second rotating arm 9.
As shown in fig. 4 to 6, the first rotating arm 8 includes a first rotating arm body 807 and a first rotating joint 801 and a second rotating joint 802 disposed at two ends of the first rotating arm body 807, a first connecting flange 806 connected to a lifting seat 705 in the robot arm lifting mechanism 7 is disposed at an outer side of the first rotating joint 801, a second connecting flange 803 connected to a second rotating arm 9 is disposed at an outer side of the second rotating joint 802, a first rotating motor 804 is disposed at a lower side of the first rotating joint 801, the first rotating joint 801 is driven to rotate by the first rotating motor 804 and drives the first rotating arm body 807 to rotate, a second rotating motor 805 is disposed at a lower side of the second rotating joint 802, and the second rotating joint 802 is driven to rotate by the second rotating motor 805 and drives the second rotating arm 9 to rotate. As shown in fig. 6, a rotation speed reducer 808 is provided in each of the first rotary joint 801 and the second rotary joint 802, and the first rotary electric machine 804 and the second rotary electric machine 805 transmit torque via the rotation speed reducers 808 in the respective joints.
As shown in fig. 7, the second rotating arm 9 includes a second rotating arm body 908, a third rotating motor 901, a transmission mechanism, a speed reducer 905, and a rotating connector 906, a mechanical arm connecting flange 907 connected to the second connecting flange 803 on the first rotating arm 8 is disposed at one end of the second rotating arm body 908, a mounting seat is disposed at the other end of the second rotating arm body 908, and the third rotating motor 901, the transmission mechanism, the speed reducer 905, and the rotating connector 906 are all disposed in the mounting seat, wherein the rotating connector 906 is driven to rotate by the third rotating motor 901, and the third rotating motor 901 sequentially transmits torque through the transmission mechanism and the speed reducer 905. In this embodiment, the transmission mechanism is a synchronous belt transmission mechanism, and includes a driving pulley 902, a synchronous belt 903 and a driven pulley 904, wherein the driving pulley 902 is fixedly connected to an output shaft of the third rotating electrical machine 901, the driven pulley 904 is fixedly connected to an input end of the speed reducer 905, an output end of the speed reducer 905 is connected to the rotating connector 906, and the rotating connector 906 is connected to the end effector 4.
As shown in fig. 8, the material table 2 includes a material table main frame 201, supporting legs 202, a positioning rod 203 and a magnetic layering device 204, the material table main frame 201 is placed on a station table through the supporting legs 202, the positioning rod 203 is arranged on the material table main frame 201 and used for positioning the plates, the magnetic layering device 204 is arranged on the positioning rod 203 and used for layering the metal plates, and the phenomenon that the plates are bonded to each other to take multiple plates at a time is avoided, and the magnetic layering device 204 is a technology known in the art.
As shown in fig. 9, the end effector 4 includes an end effector frame 402, suckers 401, overshoot detection devices 403, and multi-chip detection devices 404, wherein an end effector connecting flange 405 is provided on the upper side of the end effector frame 402 to connect with a rotating connector 906 at the free end of the robot arm of the dual-arm robot 1, a plurality of suckers 401 are uniformly distributed on the lower side of the end effector frame 402 in a matrix form for sucking a board, the suckers 401 are mounted on the end effector frame 402 through a buffer rod, the suckers 401 are connected with a vacuum system and form a negative pressure sucking the board by the action of the vacuum system, the overshoot detection devices 403 and the multi-chip detection devices 404 are mounted on the lower side of the end effector frame 402, wherein the multi-chip detection devices 404 are used for detecting whether or not to suck a multi-layer board simultaneously, and if a multi-layer board is sucked, the multi-chip detection devices 404 alarm and reset the end effector 4, the process detection means 403 function to: when the negative pressure is not established inside the suction cup 401, the end effector 4 will always descend to try to suck, and when the buffer rod on the suction cup 401 is completely compressed and does not reach the negative pressure requirement, the overshoot detection device 403 will sense that the buffer mechanism is close to the limit position, and send a signal to stop the pressing action of the end effector 4 and give an alarm. The overshoot detection device 403 and the multi-chip detection device 404 are both well known in the art.
As shown in fig. 1 and 10 to 12, the plate positioning device 3 includes a rear positioning mechanism and a front positioning mechanism, wherein as shown in fig. 10 to 11, the rear positioning mechanism is mounted on a rear positioning mounting rod 304, the rear positioning mounting rod 304 is horizontally arranged, one end of the rear positioning mounting rod 304 is fixedly mounted on the plate shearing machine 10, the rear positioning mechanism includes a rear micro-stroke switch 301, an eccentric positioning block 302 and a positioning baffle shaft 303, the eccentric positioning block 302 is hinged to the rear positioning mounting rod 304, initially, the end of the eccentric positioning block 302 with heavier mass is inclined downward, the other end of the eccentric positioning block 302 is inclined upward, when a plate is input, the eccentric positioning block 302 is pressed down, after the plate enters the machine, the eccentric positioning block 302 automatically restores to the original position under the action of gravity, and then the plate moves backwards and sideward to press the eccentric positioning block 302 and triggers the rear stroke switch 301 to send a signal to prompt for, the positioning stop shaft 303 limits the displacement of the eccentric positioning block 302, and prevents the eccentric positioning block 302 from being crushed to cause the micro-travel switch 301 to be damaged.
As shown in fig. 12, the front positioning mechanism includes a front micro-stroke switch 305, a detecting mounting plate 307 and a linkage bar 309, wherein the linkage bar 309 is movably mounted on the front baffle 306 of the shearing machine, the detecting mounting plate 307 is fixed on the front baffle 306 of the shearing machine, the front micro-stroke switch 305 is mounted on the detecting mounting plate 307 and is triggered by the linkage bar 309, a return spring 308 and a guiding copper sleeve 310 are sleeved on the linkage bar 309, and the linkage bar 309 is movably mounted on the front baffle 306 of the shearing machine by the guiding copper sleeve 310. The front baffle 306 of the shearing machine is used for positioning plates, after the linkage rod 309 is added, the linkage rod 309 is touched by the plates and then moves to trigger the front micro travel switch to send out a signal to prompt positioning, and after the plates leave the front baffle 306 of the shearing machine, the pressure borne by the linkage rod 309 disappears and the plates are automatically reset under the action of the reset spring 308.
As shown in fig. 13, the robot rotation positioning mechanism 6 includes a rotating shaft 604, a rotating shaft base 605, two fixed rod hinge seats 607, a fixed plate 602 and two fixed rods 601, wherein the fixed plate 602 is fixedly disposed on one side of the base 5 of the two-arm robot 1, a moving wheel is disposed on the lower side of the base 5, an electric cabinet base 51 is disposed on the other side of the base 5, the rotating shaft 604 is in a right-angle shape, one end of the rotating shaft is connected to the fixed plate 602, the other end of the rotating shaft is hinged to the rotating shaft base 605, the rotating shaft base 605 is fixedly disposed on the plate shearing machine 10, one end of each of the two fixed rods 601 is connected to the fixed plate 602, the other end of each of the two fixed rods is hinged to a different fixed rod hinge seat 607, the fixed rod hinge seat 607 is fixedly disposed on the plate shearing machine 10, a plurality of rows of mounting long holes 603 are disposed on the fixed plate 602, and the hole 603 forms a stable triangle with the plate shearing machine 10 to fix the base 5, the rotating shaft base 605 is provided with a rotating shaft limiting plate 606 for limiting the rotating range of the rotating shaft 604, in addition, various circuits are accommodated in the rotating shaft 604 in a hollow manner, and when the double-arm robot 1 needs to rotate, the two fixing rods 601 are loosened.
The working principle of the invention is as follows:
the invention puts the metal plate into the designated position in the plate shearing machine 10 by the double-arm robot 1 to complete shearing, and can comprise two working modes: firstly, a mechanical arm at one side of the double-arm robot 1 absorbs a metal plate raw material to execute the feeding action of the plate shearing machine 10, and a mechanical arm at the other side executes the blanking work after the plate shearing is completed, so that the double-arm robot 1 completes the full-automatic feeding and blanking process of the plate shearing machine 10. And secondly, the mechanical arms at two sides of the double-arm robot 1 respectively absorb different metal plate raw materials, the plate shearing machine is alternately carried out for feeding, and the plate shearing machine is alternately carried out for blanking after carrying out the action, so that the double-arm robot can complete the full-automatic feeding and blanking process of the automatic plate shearing machine.

Claims (8)

1. The utility model provides an automatic plate shearing machine system based on double-armed robot which characterized in that: the plate shearing machine comprises a double-arm robot (1), a plate shearing machine (10), a material platform (2) and a robot rotation positioning mechanism (6), wherein the double-arm robot (1), the material platform (2) and the robot rotation positioning mechanism (6) are all arranged on the plate input side of the plate shearing machine (10), the material platform (2) is respectively arranged on two sides of the double-arm robot (1), the free ends of mechanical arms on two sides of the double-arm robot (1) are respectively provided with an end picking device (4), the double-arm robot (1) is driven by the robot rotation positioning mechanism (6) to rotate and position, and a plate positioning device (3) is arranged on the plate shearing machine (10);
the robot rotation positioning mechanism (6) comprises a rotating shaft (604), a rotating shaft base (605), a fixed rod hinge seat (607), a fixed plate (602) and two fixed rods (601), wherein the fixed plate (602) is fixedly arranged on a base (5) of the double-arm robot (1), the rotating shaft (604) is in a right-angle shape, one end of the rotating shaft is connected with the fixed plate (602), the other end of the rotating shaft is hinged to the rotating shaft base (605), one ends of the two fixed rods (601) are connected with the fixed plate (602), the other ends of the two fixed rods are respectively hinged to different fixed rod hinge seats (607), the fixed rod hinge seats (607) and the rotating shaft base (605) are fixedly arranged on the plate shearing machine (10), and the two fixed rods (601) and the plate shearing machine (10) form a triangle;
the fixing plate (602) is provided with a plurality of rows of mounting long holes (603), the rotating shaft base (605) is provided with a rotating shaft limiting plate (606), and the rotating shaft (604) is hollow.
2. The dual-arm robot-based automatic plate shearing machine system according to claim 1, wherein: two arm robot (1) include two arm elevating system (7) and two arms, arm elevating system (7) stand seat (707), lift seat (705), lift driving motor (701), lead screw (704) and screw including the installation, lift seat (705) with seat (707) sliding connection stands in the installation, lead screw (704) install in stand seat (707) and pass through lift driving motor (701) drive is rotatory, with lead screw (704) complex screw with lift seat (705) link firmly, and two arms are installed respectively on the lift seat (705) of different arm elevating system (7).
3. The dual-arm robot-based automatic plate shearing machine system according to claim 2, wherein: the two mechanical arms of the double-arm robot (1) have the same structure and both comprise a first rotating arm (8) and a second rotating arm (9), a first rotating joint (801) and a second rotating joint (802) are respectively arranged at two ends of a first rotating arm body (807) of the first rotating arm (8), the first rotating joint (801) is connected with the lifting seat (705), the second rotating joint (802) is connected with the second rotating arm (9), a first rotating motor (804) is arranged at the lower side of the first rotating joint (801), and the first rotary joint (801) and the first rotary arm body (807) are driven to rotate by the first rotary motor (804), a second rotating motor (805) is arranged at the lower side of the second rotating joint (802), and the second rotary joint (802) and the second rotating arm (9) are driven to rotate by the second rotating motor (805).
4. The dual-arm robot-based automatic plate shearing machine system according to claim 3, wherein: the second rotating arm (9) comprises a second rotating arm body (908), a third rotating motor (901), a transmission mechanism, a speed reducer (905) and a rotating connecting piece (906), one end of the second rotating arm body (908) is connected with the first rotating arm (8), the other end of the second rotating arm body is provided with a mounting seat, the third rotating motor (901), the transmission mechanism, the speed reducer (905) and the rotating connecting piece (906) are all arranged in the mounting seat, the rotating connecting piece (906) is driven to rotate through the third rotating motor (901), the third rotating motor (901) sequentially passes through the transmission mechanism and the speed reducer (905) to transmit torque, and the rotating connecting piece (906) is connected with the end effector (4).
5. The dual-arm robot-based automatic plate shearing machine system according to claim 1, wherein: the end effector (4) comprises an end effector frame body (402), and a suction disc (401), an overshoot detection device (403) and a plurality of detection devices (404) are arranged on the lower side of the end effector frame body (402).
6. The dual-arm robot-based automatic plate shearing machine system according to claim 1, wherein: the plate positioning device (3) comprises a rear positioning mechanism and a front positioning mechanism, the rear positioning mechanism is mounted on a rear positioning mounting rod (304), the rear positioning mounting rod (304) is horizontally arranged, one end of the rear positioning mounting rod is fixedly mounted on the plate shearing machine (10), and the front positioning mechanism is mounted on a front baffle (306) of the plate shearing machine.
7. The dual-arm robot-based automatic plate shearing machine system according to claim 6, wherein: the rear positioning mechanism comprises a rear micro travel switch (301), an eccentric positioning block (302) and a positioning baffle shaft (303), the eccentric positioning block (302) is hinged to the rear positioning mounting rod (304), the rear micro travel switch (301) is pressed by moving a plate to trigger the eccentric positioning block (302), and the eccentric positioning block (302) limits displacement through the positioning baffle shaft (303).
8. The dual-arm robot-based automatic plate shearing machine system according to claim 6, wherein: the front positioning mechanism comprises a front micro travel switch (305), a detection mounting plate (307) and a linkage rod (309), the linkage rod (309) is movably mounted on a front baffle (306) of the shearing machine, the detection mounting plate (307) is fixedly arranged on the front baffle (306) of the shearing machine, the front micro travel switch (305) is mounted on the detection mounting plate (307) and is triggered by pressing the linkage rod (309) through a plate, and a return spring (308) is arranged on the linkage rod (309).
CN201711246810.5A 2017-12-01 2017-12-01 Automatic plate shearing machine system based on double-arm robot Active CN109865874B (en)

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CN205519854U (en) * 2016-01-21 2016-08-31 宁波浩泰紧固件制造有限公司 Bolt raw materials blanking machine
CN105729218A (en) * 2016-05-05 2016-07-06 江苏金铁人自动化科技有限公司 PCB (printed circuit board) cutting device with double manipulators
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