CN111975795A

CN111975795A - Suction plate manipulator

Info

Publication number: CN111975795A
Application number: CN202010836980.4A
Authority: CN
Inventors: 郭晓宁
Original assignee: Guangdong Yingdaslie Intelligent Technology Co ltd
Current assignee: Guangdong Yingdaslie Intelligent Technology Co ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2020-11-24

Abstract

The invention provides a suction plate manipulator, and belongs to the technical field of manipulators. Wherein, the suction plate manipulator includes: a robot arm that is a five-axis or higher robot arm; the fixing frame is fixedly connected to the free end of the mechanical arm; the adsorption component is used for adsorbing the plate, is fixedly connected to the fixed frame and is positioned at the rear side of the free end of the mechanical arm; and the counterweight block can be connected with the fixed frame in a front-back sliding manner and is positioned on the front side of the free end of the mechanical arm. The suction plate manipulator provided by the invention can be applied to the carrying work of dies and plates of a press, particularly veneer after hot pressing treatment, has the advantages of stability, reliability and good balance performance, and aims to solve the technical problem of high difficulty in replacing dies in the existing hot press.

Description

Suction plate manipulator

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a suction plate manipulator.

Background

The melamine board has the advantages of high hardness, wear resistance and good heat resistance, and is commonly used for indoor buildings and the decoration of various furniture and cabinets. In the production process of melamine boards, hot pressing work is generally completed by using a hot press.

For example, the invention patent with application publication number CN110315603A discloses a production line of double-sided synchronous register embossed decorative panels, wherein a slidable feeding and conveying mechanism and a slidable discharging and conveying mechanism are respectively and correspondingly arranged at the feeding end and the discharging end of a hot press, and are respectively used for conveying panels to the hot press and conveying the panels after hot pressing; the upper die and the lower die of the hot press are respectively and correspondingly fixedly connected with the upper die and the lower die through die locking mechanisms, so that the hot press is convenient to disassemble and replace.

However, the feeding and conveying mechanism and the discharging and conveying mechanism are installed at the inlet and outlet end of the hot press, and the plate is conveyed through horizontal movement, so that when the upper die and the lower die which are heavy are disassembled, the feeding and conveying mechanism or the discharging and conveying mechanism needs to be disassembled, and the die can be replaced. Therefore, the problems of great difficulty, time and labor are existed.

It is seen that improvements and enhancements to the prior art are needed.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a suction plate manipulator which can be applied to plate conveying and die replacement of a hot press, has the advantages of stability, reliability and good balance performance, and aims to solve the technical problem of high difficulty in die replacement in the conventional hot press.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

a suction plate robot, comprising:

a robot arm that is a five-axis or higher robot arm;

the fixing frame is fixedly connected to the free end of the mechanical arm;

the adsorption component is used for adsorbing the plate, is fixedly connected to the fixed frame and is positioned at the rear side of the free end of the mechanical arm;

and the counterweight block can be connected with the fixed frame in a front-back sliding manner and is positioned on the front side of the free end of the mechanical arm.

In the plate sucking manipulator, the adsorption part comprises a flat vacuum sucker and a corrugated vacuum sucker which are fixedly connected with the fixed frame; the corrugated vacuum chuck is arranged on the outer side of the flat vacuum chuck.

In the plate sucking mechanical arm, the flat vacuum suckers are arranged in an array; the corrugated vacuum chucks are arranged in an array.

In the plate sucking manipulator, the corrugated vacuum chucks are respectively arranged on the left side and the right side of the flat vacuum chuck.

In the suction plate manipulator, more than two linear guide rail modules are arranged below the fixed frame; the sliding table of the linear guide rail module is fixedly connected with the fixed frame; and the guide rail of the linear guide rail module is fixedly connected with the balancing weight.

In the suction plate manipulator, the left end and the right end of the balancing weight are respectively and fixedly connected with a guide rail, and the fixed frame is correspondingly and fixedly connected with a guide seat; the guide rail is connected with the guide seat in a sliding manner and can move back and forth relative to the fixed frame; the fixing frame is provided with a mounting hole suitable for being connected with a bolt, the mounting hole is arranged along the length direction of the guide rail, and the guide rail is provided with a through hole suitable for the bolt to penetrate through and be connected with the mounting hole.

In the suction plate manipulator, the guide rail is a slide rail of a linear guide rail; the guide seat is a slide block of a linear guide rail.

In the suction plate manipulator, the balancing weight is arranged below the fixing frame.

In the suction plate manipulator, the fixed frames are bilaterally symmetrical; the fixing frame is fixedly connected with a mounting plate which is located on the symmetrical center line of the fixing frame, and the mounting plate is fixedly connected with the free end of the mechanical arm.

In the plate sucking manipulator, the fixed frame is convex from the view of looking up.

Has the advantages that:

compared with the prior art, the invention provides the suction plate manipulator which can be applied to the carrying work of dies and plates of a hot press, particularly veneer after hot pressing treatment, has the advantages of stability, reliability and good balance performance, and aims to solve the technical problem of high difficulty in replacing dies in the existing hot press.

The fixing frame with the adsorption part is arranged on the mechanical arm, the joint of the mechanical arm and the fixing frame is positioned outside the adsorption part, so that the fixing frame can extend into a position between an upper die and a lower die of a hot press, a hot-pressed plate is taken away and placed elsewhere, and the plate discharging is completed, and the traditional discharging conveying mechanism is completely replaced. In addition, the mould can be adsorbed and carried to the mould position of the hot press, so that the mould can be quickly and easily replaced, and after the mechanical arm returns to the original position, the hot press can be used as a sheet product, so that the defect that the discharging conveying mechanism needs to be disassembled in the existing hot press is overcome.

Moreover, the plate can be turned over by utilizing the mechanical characteristics of the mechanical arm, so that workers can conveniently check the appearance of the bottom surface of the hot-pressed plate; meanwhile, when the mechanical arm works, the bottom plate and the cover plate can be conveniently adsorbed in the plate stacking work after hot pressing, and the bottom surface and the top surface of the stacked plates are arranged for protection.

On the other hand, the setting of balancing weight lies in the balanced state of adjustment mount for horizontal adsorption element can stably adsorb panel, mould.

Drawings

Fig. 1 is a perspective view of a suction plate robot according to an embodiment of the present invention.

Fig. 2 is a perspective view of a structure of a fixing frame in a plate suction robot according to an embodiment of the present invention, the fixing frame being in a plate suction state.

Fig. 3 is a bottom view of the fixing frame provided in fig. 2.

Fig. 4 is a right side view of the fixture provided in fig. 2.

Fig. 5 is a perspective view of a structure of a fixing frame in a suction robot in a state of sucking a mold according to an embodiment of the present invention.

100, a mechanical arm; 110. controlling an electric box; 200. a fixed mount; 210. a flat vacuum chuck; 220. a corrugated vacuum chuck; 230. mounting a plate; 300. a balancing weight; 310. a guide seat; 320. a guide rail; 330. a through hole; 340. a first connection block; 350. a second connecting block; 400. an adsorption member.

Detailed Description

The present invention provides a suction plate robot, which will be described in further detail below with reference to the accompanying drawings and examples in order to make the objects, technical solutions and effects of the present invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", "front", "rear", "top", "bottom", etc. indicate orientations or positional relationships based on the drawings, and are only for convenience of description and simplicity of description. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Referring to fig. 1, an embodiment of the invention provides a suction plate robot, which includes a robot arm 100, a fixing frame 200, a suction component 400, and a weight 300.

The mechanical arm 100 is a five-axis or more mechanical arm, and is logically controlled by the control electronic box 110, so as to control the position of the free end of the mechanical arm 100; in addition, in application, the base of the robot arm 100 may be fixed to the ground by a ground blasting bolt or the like and located at one side of the outlet end of the hot press.

The fixing frame 200 is fixedly connected to the free end of the robot arm 100 in a bolt connection manner, and the robot arm 100 drives the fixing frame 200 to move so as to accurately adjust the position of the fixing frame.

The suction member 400 for sucking a panel (or a veneer) and a mold is fixedly coupled to the fixing frame 200 by a bolt installation method and is located at a rear side of a free end of the robot arm 100.

When the robot arm 100 is in operation, the rear end of the fixing frame 200 is inserted between the upper and lower molds of the hot press, so that the adsorption member 400 can adsorb the veneer subjected to the hot pressing process. At this time, the free end of the robot arm 100 is positioned outside the dies of the hot press, and the adsorption member 400 is positioned between the upper and lower dies of the hot press. And using the motion of the robot arm 100 after the veneer is sucked, the suction unit 400 is caused to move the veneer elsewhere such as a stacking area, and stack it neatly.

The connecting position of the adsorption part 400 and the mechanical arm 100 on the fixing frame 200 adopts the design of an eccentric acting point, so that the problem of limitation of the height distance between an upper die and a lower die is well solved, under the condition of a smaller height distance between the upper die and the lower die, the position of the adsorption part 400 can be adjusted to enable the adsorption part to adsorb a veneer, and therefore the situation that the free end of the mechanical arm 100 can stretch into the area between the upper die and the lower die due to the increase of the height distance between the upper die and the lower die is avoided, and the energy consumption of a hot press in the lifting work of the heavier upper die is greatly improved.

The weight 300 is slidably connected to the fixing frame 200 in a front-rear direction and located at a front side of the free end of the robot arm 100.

Except replacing the veneer ejection of compact work of present ejection of compact conveying mechanism in order to accomplish the hot press, this suction disc manipulator also can be applied to mould change work, adsorbs heavier mould and carries to the mould position of hot press through adsorption element, labour saving and time saving, the degree of difficulty of greatly reduced mould change work.

The arrangement of the weight 300 aims to utilize the lever principle to enable the fixing frame 200 to be in a balanced (or horizontal) state before adsorbing the veneer and when adsorbing the mold, so that the veneer and the mold can be stably adsorbed by the adsorption part 400 conveniently, and the phenomenon that the rear side of the fixing frame 200 is overweight when the adsorption part 400 positioned at the rear side of the fixing frame 200 adsorbs the mold, so that the free end of the mechanical arm 100 is damaged easily due to the fact that the free end of the mechanical arm 100 is subjected to great torque, can be avoided.

When the state of the adsorption veneer is switched to the state of the adsorption mold, after the adsorption mold, the counterweight block 300 slides relative to the fixing frame 200 to be adjusted to a proper position, so that the fixing frame 200 is always in a balanced state in the process that the subsequent mechanical arm 100 drives the fixing frame 200 to move, the torque received by the free end of the mechanical arm 100 is reduced to the minimum, and the long-term stable work of the plate adsorption manipulator is further ensured.

When the state of the adsorption mold is switched to the adsorption veneer, the counterweight block 300 slides relative to the fixing frame 200 to be adjusted to a proper position before the adsorption veneer, so that the fixing frame 200 is always in a balanced state in the process that the subsequent mechanical arm 100 drives the fixing frame 200 to move, and the adsorption part 400 can be stably adsorbed on the upper surface of the veneer.

In addition, because the mechanical arm 100 is arranged on the fixing frame 200, the fixing frame 200 is driven to overturn by utilizing the mechanical characteristics of the mechanical arm 100, so that a worker can check whether the appearance of the bottom surface of the adsorbed veneer is qualified. Moreover, compared with the existing discharging conveying mechanism, the veneer sucking manipulator can adsorb and stack the veneers neatly, can adsorb the bottom plate and the cover plate, and is placed on the bottom surface and the top surface of the stacked plates for protection, so that the damage to the surfaces of the stacked veneers is avoided.

Moreover, when the mechanical arm 100 is in a reset standby state, the sheet product can be pressed by the hot press, and the sheet product is easily damaged due to the adsorption of the sucker, so that after the mechanical arm 100 is in a reset state, the sheet can be manually taken out from the hot press, and the problem that manual discharging is hindered when the sheet product is manufactured by the conventional discharging and conveying mechanism is solved.

Since the veneer, the mold, and the fixing frame 200 are heavy, for example, the veneer is heavy 80 kg, the mold is heavy 350 kg, and the fixing frame is heavy 180 kg, the robot arm 100 may be, but not limited to, a japanese smart robot arm, and an ancha model MPL800 palletizing robot.

As shown in fig. 1 and 2, in particular, the suction member 400 includes a flat vacuum chuck 210 and a corrugated vacuum chuck 220 both fixedly connected to the fixing frame 200; the corrugated vacuum chuck 220 is disposed outside the flat vacuum chuck 210. The tops of the flat vacuum chuck 210 and the corrugated vacuum chuck 220 are detachably connected to the fixing frame 200 by means of bolts.

When the veneer is adsorbed, the flat vacuum chuck 210 is used for carrying out vacuum adsorption on the middle position of the veneer, and the corrugated vacuum chuck 220 is used for carrying out vacuum adsorption on the two ends of the veneer; the corrugated vacuum chuck 220 causes the two ends of the veneer to be higher than the middle position thereof (i.e., the two ends of the veneer slightly tilt up) due to the corrugated structure, and to present a certain radian, so that the bottom surfaces of the two ends of the veneer can be preferentially separated from the hot-pressing table surface of the hot press.

At this moment, air is filled between the bottom surface (i.e. decorative paper) of the veneer and the hot-pressing table surface, and when the manipulator 100 drives the fixing frame 200 to lift, the flat vacuum chuck 210 and the corrugated vacuum chuck 220 drive the adsorbed veneer to lift together; the middle part of the veneer can realize good separation of the decorative paper and the hot pressing table-board under the adsorption action of the flat vacuum chuck 210 and the air pressure filled between the decorative paper and the hot pressing table-board; the flat vacuum chuck 210 and the corrugated vacuum chuck 220 are matched to work, so that the bottom surface of the veneer is intact, and the yield is greatly improved.

In this embodiment, the flat vacuum cups 210 are arranged in an array. The corrugated vacuum cups 220 are arranged in an array. The corrugated vacuum cups 220 are respectively disposed at left and right sides of the flat vacuum cup 210.

As shown in fig. 2, 3, 4, and 5, specifically, the left and right ends of the counterweight 300 are respectively and fixedly connected with a guide rail 320 by a bolt connection manner, and the fixing frame 200 is correspondingly and fixedly connected with a guide seat 310. The guide rail 320 is slidably connected to the guide seat 310 and can move back and forth relative to the fixing frame 200, and applies an acting force to the weight block 300 to move the weight block back and forth relative to the guide seat 310, so as to adjust the position of the weight block 300 relative to the fixing frame 200, thereby ensuring that the fixing frame 200 is balanced in a horizontal position.

The fixing frame 200 is provided with mounting holes (not marked in the figure) suitable for bolt connection, the mounting holes are arranged along the length direction of the guide rail 320, specifically, the first connecting block 340 is fixedly connected to the bottom surface of the fixing frame 200 and provided with the mounting holes, the second connecting block 350 is fixedly connected to the bottom surface of the fixing frame 200 and provided with the mounting holes, and the second connecting block 350 is located at the front side of the first connecting block 340. The guide rail 320 is opened with a through hole 330 for the bolt to pass through and be connected to the mounting hole.

Before adsorbing the decorative board, pass through-hole 330 with the bolt in proper order, the mounting hole of first connecting block 340 is so that guided way 320 and mount 200 fixed connection, at this moment, it orders about mount 200 motion to launch robotic arm 100, and balancing weight 300 is fixed motionless relative mount 200, mount 200 is in balanced (or level) state, consequently, can ensure every flat vacuum chuck 210, ripple vacuum chuck 220 can with the upper surface contact of the decorative board after the hot pressing, adsorb it steadily, be favorable to accomplishing the quick steady ejection of compact work of hot press.

In the process of adsorbing the mold and replacing the mold, when the adsorbing part 400 stably vacuum-adsorbs the surface of the mold, the bolt sequentially passes through the through hole 330 and the mounting hole of the second connecting block 350 so as to fixedly connect the guide rail 320 with the fixing frame 200, at this time, the mechanical arm 100 is started to drive the fixing frame 200 to move so as to lift up the mold, the counterweight 300 is fixed and fixed relative to the fixing frame 200 in the process, and the fixing frame 200 is in a balanced (or horizontal) state, so that the situation that the free end of the mechanical arm 100 is subjected to large torque due to the fact that the adsorbing part adsorbs a heavy counterweight is avoided, and the mechanical arm 100 is damaged.

The guide rail 320 is a slide rail of a linear guide rail; the guide holder 310 is a slider of a linear guide. By adopting the linear guide rail, the weight block 300 can move by applying a small acting force to the weight block 300 due to the advantages of small friction force, less abrasion and capability of simultaneously bearing loads in the vertical and horizontal directions, the position of the weight block is easy to adjust, and the labor is saved. In the present embodiment, a dovetail-type linear guide is used.

As shown in fig. 4, the weight member 300 is disposed under the fixing frame 200.

In addition, in another embodiment, a linear guide module is used to replace the guide rail and the guide seat to automatically adjust the position of the counterweight 300. Specifically, more than two linear guide rail modules are arranged below the fixing frame 200; the sliding table of the linear guide rail module is fixedly connected to the fixed frame 200 through bolts; the guide rail of the linear guide rail module is fixedly connected to the balancing weight 300 through a bolt.

Under the driving motor work of linear guide module, because the slip table and the mount 200 fixed connection of linear guide module, then the guide rail of linear guide module moves rather than its slip table to drive balancing weight 300 back-and-forth movement. The driving motor of the linear guide rail module is a stepping motor, and can accurately control the moving distance of the balancing weight in real time, so that the fixing frame can be ensured to be in a balanced state before adsorbing the veneer or the die, when adsorbing the veneer and carrying, and when adsorbing the die and carrying, and the position of the balancing weight is not required to be manually adjusted.

Of course, a horizontal sensor can be arranged on the fixing frame to measure the horizontal condition of the fixing frame, the fixing frame is matched with the driving motor of the linear guide rail module to work, and the work of the driving motor is controlled by measuring data through the horizontal sensor to ensure that the fixing frame is always kept in a balanced state.

As shown in fig. 2, the fixing frame 200 is symmetrical left and right; the fixing frame 200 is fixedly connected with a mounting plate 230 located at the symmetrical center line of the fixing frame 200, and the mounting plate 230 is fixedly connected with the free end of the robot arm 100. By adopting the design, the mechanical arm 100 is relatively less in stress load, and the fixing frame 200 is easy to reach a balanced state.

From a bottom perspective, the holder 200 is convex.

In conclusion, the invention provides a suction plate manipulator which can be applied to the carrying work of dies and plates of a hot press, particularly veneer after hot pressing treatment, has the advantages of stability, reliability and good balance performance, and aims to solve the technical problem of high difficulty in replacing dies in the existing hot press.

It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.

Claims

1. A suction plate robot, comprising:

a robot arm that is a five-axis or higher robot arm;

the fixing frame is fixedly connected to the free end of the mechanical arm;

2. The suction plate robot as claimed in claim 1, wherein the suction member includes a flat vacuum chuck and a corrugated vacuum chuck both fixedly connected to the fixing frame; the corrugated vacuum chuck is arranged on the outer side of the flat vacuum chuck.

3. The suction plate robot of claim 2, wherein the flat vacuum suction cups are arranged in an array; the corrugated vacuum chucks are arranged in an array.

4. The suction plate robot as claimed in claim 3, wherein the corrugated vacuum chucks are respectively provided on left and right sides of the flat vacuum chuck.

5. The suction plate manipulator of claim 1, wherein more than two linear guide rail modules are arranged below the fixed frame; the sliding table of the linear guide rail module is fixedly connected with the fixed frame; and the guide rail of the linear guide rail module is fixedly connected with the balancing weight.

6. The suction plate manipulator as claimed in claim 1, wherein guide rails are fixedly connected to left and right ends of the counter weight block, respectively, and the guide seats are fixedly connected to the fixing frame correspondingly; the guide rail is connected with the guide seat in a sliding manner and can move back and forth relative to the fixed frame; the fixing frame is provided with a mounting hole suitable for being connected with a bolt, the mounting hole is arranged along the length direction of the guide rail, and the guide rail is provided with a through hole suitable for the bolt to penetrate through and be connected with the mounting hole.

7. The suction plate robot as claimed in claim 6, wherein the guide rail is a slide rail of a linear guide; the guide seat is a slide block of a linear guide rail.

8. The suction plate robot of claim 6, wherein the weight block is disposed below the fixing frame.

9. The suction plate manipulator as claimed in any one of claims 1 to 8, wherein the holder is left-right symmetrical; the fixing frame is fixedly connected with a mounting plate which is located on the symmetrical center line of the fixing frame, and the mounting plate is fixedly connected with the free end of the mechanical arm.

10. The suction plate robot as set forth in claim 9, wherein the holder is convex in a bottom view.