CN111037536B - Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot - Google Patents
Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot Download PDFInfo
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- CN111037536B CN111037536B CN201911287192.8A CN201911287192A CN111037536B CN 111037536 B CN111037536 B CN 111037536B CN 201911287192 A CN201911287192 A CN 201911287192A CN 111037536 B CN111037536 B CN 111037536B
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- rod
- steering
- connecting rod
- seat
- telescopic mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The invention provides a grabbing device and a grabbing method for a tail gate outer plate discharging robot. The automatic rotation of the lower sheet of the outer plate of the tail door is met, the labor cost is saved, and the installation and production are guaranteed.
Description
Technical Field
The invention relates to the technical field of tail door outer plate processing, in particular to a tail door outer plate discharging robot material grabbing device and a material grabbing method.
Background
In the prior art, before an upper sheet and a lower sheet of a tail door outer plate enter a press, due to the function limitation of a plate washing machine, a placing position needs to be determined on a primary positioning table, then the upper sheet and the lower sheet are sent to the plate washing machine, enter a secondary positioning table through the plate washing machine, and are sent to the press for processing through a robot grabbing device on the secondary positioning table. Because of the interval of washing between two running rollers of trigger is 1100mm, and the sheet width is 595mm under the tail gate, is less than the interval of washing the trigger, consequently need be at a location platform tail gate lower plate and will follow the vertical direction and wash the trigger, then need have the special messenger to do the rotation work of lower plate at the secondary location platform, increased the manpower, and had great potential safety hazard.
Disclosure of Invention
The invention provides a material grabbing device and a material grabbing method for a tail door outer plate sheet discharging robot, which can meet the requirement of automatic sheet discharging rotation of a tail door outer plate, save labor cost and ensure installation and production.
The technical scheme of the invention is realized as follows: a material grabbing device of a robot under a tail door outer plate comprises a connecting rod, wherein one end of the connecting rod is hinged to a steering seat, a steering rod perpendicular to the connecting rod is arranged below the steering seat, one side of the connecting rod is provided with a telescopic mechanism for controlling the steering rod to rotate in a 90-degree reciprocating mode, the working end of the telescopic mechanism is hinged to the steering seat, one end, far away from the steering seat, of the telescopic mechanism is hinged to the connecting rod through a first connecting seat, and suckers used for grabbing materials are arranged on the lower sides of the two ends of the steering rod.
Furthermore, the steering seat comprises an L-shaped connecting seat, one end of the L-shaped connecting seat is hinged to the connecting rod, the other end of the L-shaped connecting seat is hinged to the telescopic mechanism, a second connecting seat is fixed to the lower end of the corner of the L-shaped connecting seat, and the steering rod is fixedly connected with the second connecting seat.
Furthermore, the two ends of the telescopic mechanism, which are close to one side of the connecting rod, are respectively provided with a first proximity switch and a second proximity switch, the first proximity switch is located at one end close to the steering seat, one end of the connecting rod, which is close to the steering rod, is provided with a first limiting rod and a second limiting rod which are matched with the steering seat in a reciprocating rotation manner, the first limiting rod is arranged along the axis direction of the connecting rod, and the second limiting rod is arranged along the direction perpendicular to the axis of the connecting rod.
Furthermore, the telescopic mechanism is a telescopic cylinder, and a piston rod of the telescopic cylinder is hinged with the steering seat.
The material grabbing method adopting the material grabbing device of the tail door outer plate chip unloading robot comprises the following steps:
(1) The connecting rod is installed on a mechanical arm of the robot, the telescopic mechanism extends, the steering rod is driven to rotate through the steering seat, the first proximity switch senses the connecting rod, the telescopic mechanism stops extending, meanwhile, the first limiting rod limits the rotation of the steering seat, and the steering rod is perpendicular to the connecting rod;
(2) After the lower sheet of the outer plate of the tail door is conveyed to the secondary positioning table through the plate washing machine, the mechanical arm drives the connecting rod to move downwards, the lower sheet is grabbed through the sucking disc, and then the mechanical arm drives the connecting rod to reset;
(3) The telescopic mechanism contracts and is driven to rotate by the steering seat, when the second proximity switch does not sense the connecting rod, the telescopic mechanism stops contracting, and meanwhile, the second limiting rod limits the rotation of the steering seat, so that the steering rod is parallel to the connecting rod, and the 90-degree rotation of the steering rod is completed;
(4) The mechanical arm sends the lower piece of the tail door outer plate to the press for processing, then the mechanical arm resets, the telescopic mechanism extends, and the lower piece of the tail door outer plate of the next round is grabbed.
The invention has the beneficial effects that:
the material grabbing device provided by the invention can meet the requirement of automatic rotation of the lower sheet of the outer plate of the tail door, saves labor cost, ensures installation and production, can meet the requirement by slightly changing the mechanical arm of the existing robot, and has low change cost.
The telescopic mechanism drives the steering seat and the steering rod to rotate in a reciprocating way at 90 degrees, so that the automatic rotation of the lower piece is realized; the first proximity switch is matched with the first limiting rod, so that the steering rod and the connecting rod are vertically and automatically positioned; the cooperation of second proximity switch and second gag lever post realizes the automatic positioning that steering column and connecting rod are parallel, through the cooperation of above-mentioned structure, realizes rotation angle's accurate control, reaches the production requirement, satisfies automated production.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of the steering rod parallel to the connecting rod;
FIG. 3 is a schematic structural view of a steering seat;
fig. 4 is a schematic structural diagram of a lower sheet conveying station.
The device comprises a connecting rod 1, a steering seat 2, a steering rod 3, an L-shaped connecting seat 4, a second connecting seat 5, a telescopic mechanism 6, a first connecting seat 7, a sucker 8, a first proximity switch 9, a second proximity switch 10, a first limiting rod 11, a second limiting rod 12, a mechanical arm 13, an upper sheet grabbing rod 14, a lower sheet 15 and a secondary positioning table 16.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example one
As shown in fig. 1-3, the tail door outer plate unloading robot material grabbing device comprises a connecting rod 1, wherein one end of the connecting rod 1 is hinged with a steering seat 2, and a steering rod 3 perpendicular to the connecting rod 1 is arranged below the steering seat 2. The steering seat 2 comprises a horizontal L-shaped connecting seat 4, one end of the L-shaped connecting seat 4 is hinged to the connecting rod 1, the other end of the L-shaped connecting seat 4 is hinged to the telescopic mechanism 6, a second connecting seat 5 is fixed to the lower end of a corner of the L-shaped connecting seat 4, and the steering rod 3 is fixedly connected with the second connecting seat 5.
One side of the connecting rod 1 is provided with a telescopic mechanism 6 for controlling the steering rod to rotate in a reciprocating way at 390 degrees, the telescopic mechanism 6 is a telescopic cylinder, and a piston rod of the telescopic cylinder is hinged with the steering seat 2. One end of the telescopic mechanism 6, which is far away from the steering seat 2, is hinged with the connecting rod 1 through the first connecting seat 7, the lower sides of the two ends of the steering rod 3 are both provided with suckers 8 for grabbing materials, and the suckers 8 are pneumatic suckers 8.
First proximity switch 9 and second proximity switch 10 are installed respectively to the both ends that telescopic machanism 6 is close to connecting rod 1 one side, first proximity switch 9 is located telescopic machanism 6 and is close to the one end that turns to seat 2, second proximity switch 10 is located telescopic machanism 6 and keeps away from the one end that turns to seat 2, connecting rod 1 is close to the one end of steering column and is fixed with and turns to seat 2 first gag lever post 11 and the second gag lever post 12 of reciprocal rotation fit, first gag lever post 11 is fixed along the parallel direction of connecting rod 1 axis, second gag lever post 12 is fixed along the direction of perpendicular to connecting rod 1 axis.
The tail door outer plate discharging robot material grabbing device further comprises a PLC controller, and the telescopic mechanism 6, the first proximity switch 9 and the second proximity switch 10 are all connected with the PLC controller.
Example two
The material grabbing method of the material grabbing device of the tail door outer plate unloading robot in the first embodiment comprises the following steps of:
(1) An upper sheet material grabbing rod 14 of a tail door outer plate is horizontally arranged on one side of the robot mechanical arm 13, the connecting rod 1 is arranged on the other side of the robot mechanical arm 13, and the upper sheet material grabbing rod 14 and the connecting rod 1 are on the same axis; the telescopic mechanism 6 extends, the steering rod 3 is driven to rotate through the steering seat 2, the first proximity switch 9 senses the connecting rod 1 and sends a signal to the PLC, the telescopic mechanism 6 stops extending, and meanwhile, the first limiting rod 11 limits the rotation of the steering seat 2, so that the steering rod 3 is perpendicular to the connecting rod 1;
(2) As shown in fig. 4, after the lower sheet 15 of the outer plate of the tail door is conveyed to the secondary positioning table 16 through the plate washing machine, the mechanical arm 13 drives the connecting rod 1 to move downwards, the lower sheet 15 is grabbed and taken off through the sucking disc 8, and then the mechanical arm 13 drives the connecting rod 1 to reset;
(3) The telescopic mechanism 6 contracts and is driven to rotate through the steering seat 2, when the second proximity switch 10 does not sense the connecting rod 1 and sends a signal to the PLC, the telescopic mechanism 6 stops contracting, meanwhile, the second limiting rod 12 limits the rotation of the steering seat 2, the steering rod 3 is parallel to the connecting rod 1, and the steering rod 3 rotates by 90 degrees;
(4) The mechanical arm 13 sends the lower piece 15 of the tail door outer plate to a press machine for processing, then the mechanical arm 13 resets, the telescopic mechanism 6 extends, and the lower piece 15 of the tail door outer plate of the next round is grabbed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. Tail-gate planking is machine people down grabs material device, its characterized in that: the material grabbing device comprises a connecting rod (1), wherein a steering seat (2) is hinged to one end of the connecting rod (1), a steering rod (3) perpendicular to the connecting rod (1) is arranged below the steering seat (2), a telescopic mechanism (6) for controlling the steering rod (3) to rotate in a reciprocating manner for 90 degrees is arranged on one side of the connecting rod (1), the working end of the telescopic mechanism (6) is hinged to the steering seat (2), one end, far away from the steering seat (2), of the telescopic mechanism (6) is hinged to the connecting rod (1) through a first connecting seat (7), and suckers (8) for grabbing materials are arranged on the lower sides of two ends of the steering rod (3);
the steering seat (2) comprises an L-shaped connecting seat (4), one end of the L-shaped connecting seat (4) is hinged with the connecting rod (1), the other end of the L-shaped connecting seat is hinged with the telescopic mechanism (6), a second connecting seat (5) is fixed at the lower end of the corner of the L-shaped connecting seat (4), and the steering rod (3) is fixedly connected with the second connecting seat (5);
a first proximity switch (9) and a second proximity switch (10) are respectively arranged at two ends of one side, close to the connecting rod (1), of the telescopic mechanism (6), the first proximity switch (9) is located at one end, close to the steering seat (2), of the connecting rod (1), a first limiting rod (11) and a second limiting rod (12) which are in reciprocating rotation fit with the steering seat (2) are arranged at one end, close to the steering rod (3), of the connecting rod (1), the first limiting rod (11) is arranged in the axial direction of the connecting rod (1), and the second limiting rod (12) is arranged in the direction perpendicular to the axial direction of the connecting rod (1);
the telescopic mechanism (6) is a telescopic cylinder, and a piston rod of the telescopic cylinder is hinged with the steering seat (2).
2. The material grabbing method adopting the tail door outer plate and piece discharging robot material grabbing device of claim 1 comprises the following steps:
the connecting rod (1) is installed on a mechanical arm (13) of the robot, the telescopic mechanism (6) extends, the steering rod (3) is driven to rotate through the steering seat (2), the first proximity switch (9) senses the connecting rod (1), the telescopic mechanism (6) stops extending, meanwhile, the first limiting rod (11) limits the rotation of the steering seat (2), and the steering rod (3) is perpendicular to the connecting rod (1);
(2) After a lower sheet (15) of the outer plate of the tail door is conveyed to a secondary positioning table (16) through a plate washing machine, a mechanical arm (13) drives a connecting rod (1) to move downwards, the lower sheet (15) is grabbed through a sucker (8), and then the mechanical arm (13) drives the connecting rod (1) to reset;
(3) The telescopic mechanism (6) contracts and is driven to rotate by the steering seat (2), when the second proximity switch (10) does not sense the connecting rod (1), the telescopic mechanism (6) stops contracting, the second limiting rod (12) limits the rotation of the steering seat (2), the steering rod (3) is parallel to the connecting rod (1), and the steering rod (3) rotates for 90 degrees;
(4) And the mechanical arm (13) sends the lower sheet (15) of the tail door outer plate to a press for processing, then the mechanical arm (13) resets, the telescopic mechanism (6) extends, and the lower sheet (15) of the tail door outer plate of the next round is grabbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911287192.8A CN111037536B (en) | 2019-12-14 | 2019-12-14 | Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911287192.8A CN111037536B (en) | 2019-12-14 | 2019-12-14 | Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111037536A CN111037536A (en) | 2020-04-21 |
| CN111037536B true CN111037536B (en) | 2023-03-03 |
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| CN201911287192.8A Active CN111037536B (en) | 2019-12-14 | 2019-12-14 | Material grabbing device and material grabbing method for tail door outer plate and sheet discharging robot |
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| CN111037536A (en) | 2020-04-21 |
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