CN114311005A - End picking device with independently controlled sucking disc - Google Patents
End picking device with independently controlled sucking disc Download PDFInfo
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- CN114311005A CN114311005A CN202111634330.2A CN202111634330A CN114311005A CN 114311005 A CN114311005 A CN 114311005A CN 202111634330 A CN202111634330 A CN 202111634330A CN 114311005 A CN114311005 A CN 114311005A
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Abstract
The invention discloses a plate end effector with independently controllable suckers, which comprises end pickup longitudinal beams, end pickup cross beams, beam connecting pieces, limiting anti-collision blocks, a separating mechanism, a thickness measuring induction mounting plate, a thickness measuring mechanism, a plate induction mechanism and a sucker control assembly. Every sucking disc of the plate end effector of this application can independent control, cooperates branch mechanism and thickness measuring mechanism simultaneously, can effectively reduce the mistake and pick up when picking up the panel of different specifications, has improved work efficiency and accuracy, has reduced the amount of labour, has saved the cost.
Description
Technical Field
The invention relates to the field of separated picking, in particular to an end picking device with independently controlled suckers.
Background
At present, numerical control turret punch press, laser cutting machine, intelligent warehouse and the like all adopt manual feeding, and common plates are all of various specifications and various thicknesses, and are large in danger coefficient and low in production efficiency in the handling process. Or a common feeding and discharging mechanism is adopted, feeding and discharging are carried out simultaneously, the occupied space of the equipment is large, the structure is complex, and the enterprise cost is increased. The existing plate picking technology generally adopts a fixed sucker type structure to pick up plates with different specifications, so that the plates with different specifications cannot be effectively picked up by mistake in the same tray, and the plates cannot be efficiently adaptive to feeding, discharging and warehousing of diversified plates. There is a great need for a plate end effector with independently controllable suction cups.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide an end effector with independently controllable suction cups, which can solve the problems of complicated structure and increased enterprise cost.
One of the purposes of the invention is realized by adopting the following technical scheme:
a plate end effector with independently controlled suckers comprises end pickup longitudinal beams (100), end pickup cross beams (200), beam connecting pieces (300) and limit anti-collision blocks (400), the thickness measuring device comprises a separating mechanism (500), a thickness measuring induction mounting plate (600), a thickness measuring mechanism (700), a plate induction mechanism (800) and a plurality of sucker control assemblies (900), wherein an end picking beam (200) is fixed to an end picking beam (100) through a beam connecting piece (300), the separating mechanism (500) is fixed to the head end of the end picking beam (100), the thickness measuring induction mounting plate (600) is connected between two end picking beams (200), the thickness measuring mechanism (700) and the plate induction mechanism (800) are fixed to two sides of the thickness measuring induction mounting plate (600) respectively, a limiting anti-collision block (400) is fixed to the end picking beam (100), and the sucker control assemblies (900) are fixed to the end picking beam (200).
Furthermore, two end picking cross beams (200) which are arranged in parallel are arranged at the joint of each sucker control assembly (900), and the air cylinder is clamped between the two end picking cross beams (200) through an air cylinder connecting piece (600).
Further, the number of the end pickup longitudinal beams (100) is two, and the end pickup cross beam (200) is fixed to the bottom of the end pickup longitudinal beam (100) by the beam connecting member (300).
Further, the separating mechanism (500) comprises an air cylinder mounting plate (501), a separating air cylinder (502), an air cylinder connecting block (503), a sucker bracket mounting beam (504), a sucker bracket (505) and a separating sucker (506).
Further, the thickness measuring mechanism (700) comprises a horizontal pushing cylinder (701), a vertical cylinder mounting plate (702), a vertical cylinder (703), a clamping jaw cylinder support (704), a guide piece (705), a side plate (706), a thickness measuring sensor (707), a flexible clamping jaw (708) and a clamping jaw cylinder (709), wherein the horizontal pushing cylinder (701) is arranged on the thickness measuring induction mounting plate (600), the vertical cylinder mounting plate (702) is arranged at the driving end of the horizontal pushing cylinder (701), the vertical cylinder (703) is arranged on the vertical cylinder mounting plate (702), the clamping jaw cylinder support (704) is arranged at the driving end of the vertical cylinder (703), one side surface of the clamping jaw cylinder (709) is fixed on the inner side plate surface of the clamping jaw cylinder support (704), and the driving end of the clamping jaw cylinder (709) is upwards connected to the lower surface of the flexible clamping jaw (708), the thickness measuring sensor (707) is vertically arranged on a thickness measuring support of the guide piece (705), the side plates (706) are arranged on two sides of the guide piece (705), and a feeding gap is arranged between the side plates (706) and a bottom plate of the guide piece (705).
Further, the plate sensing mechanism comprises a plate sensing mechanism mounting frame (801), an air cylinder (802), a detection sensor support (803), a sensing rod (804) and a detection sensor (805); panel response mechanism mounting bracket (801) sets up on thickness measurement response mounting panel (600), cylinder (802) set up on panel response mechanism mounting bracket (801), panel response mechanism mounting bracket (801) sets up the drive end at cylinder (802), sensing rod (804) and detection sensor (805) set up on panel response mechanism mounting bracket (801).
Further, sucking disc control assembly (900) includes cylinder connecting piece (901), the fixed panel beating of cylinder (902), cylinder (903), sucking disc (904) are connected to the bottom of cylinder (903), and cylinder (903) are fixed to the inboard of the fixed panel beating of cylinder (902), and the fixed panel beating of cylinder (902) is connected to on the end picks up crossbeam (200) through cylinder connecting piece (901).
Compared with the prior art, the invention has the beneficial effects that:
the utility model provides a panel end effector can pick up the panel of the different thickness of multiple different specifications, and the limited operation through the branch sucking disc of tip divides the piece more easily, can accurately provide exact sola panel through thickness measuring mechanism, provides work efficiency and accuracy, has reduced the amount of labour, has saved the cost.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a suction cup independently controllable plate end effector of the present invention;
FIG. 2 is a schematic structural view of end pick-up rails and stringers;
FIG. 3 is a schematic structural view of a limiting anti-collision block;
FIG. 4 is a schematic structural view of the separating mechanism;
FIG. 5 is a schematic structural diagram of a thickness measuring mechanism;
FIG. 6 is a schematic structural diagram of a plate sensing mechanism;
fig. 7 is a schematic structural diagram of a chuck control assembly.
In the figure: 100. end pickup stringers; 200. an end pickup beam; 300. a beam connector; 400. a limiting anti-collision block; 401. a support for mounting the anti-collision block; 402. an anti-collision block; 500. a separating mechanism; 501. a cylinder mounting plate; 502. a split cylinder; 503. a cylinder connecting block; 504. the sucker bracket is provided with a beam; 505. a suction cup holder; 506. separating a sucker; 600. a thickness measuring induction mounting plate; 700. a thickness measuring mechanism; 701. a horizontal pushing cylinder; 702. a vertical cylinder mounting plate; 703. a vertical cylinder; 704. a clamping jaw cylinder support; 705. a guide member; 706. a side plate; 707. a thickness measuring sensor; 708. a flexible jaw; 709. a clamping jaw cylinder; 800. a plate sensing mechanism; 801. a plate sensing mechanism mounting frame; 802. a cylinder; 803. detecting a sensor holder; 804. an induction rod; 805. a detection sensor; 900. a suction cup control assembly; 901. a cylinder connecting piece; 902. fixing a metal plate by using the cylinder; 903. controlling the cylinder; 904. and (4) sucking discs.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 7, a plate end effector with independently controllable suction cups comprises an end pickup longitudinal beam 100, an end pickup cross beam 200, a beam connector 300, a limiting anti-collision block 400, a separating mechanism 500, a thickness measuring induction mounting plate 600, a thickness measuring mechanism 700, a plate induction mechanism 800 and a suction cup control assembly 900. The limiting anti-collision block 400 is provided with an anti-collision block mounting bracket 401, the limiting anti-collision block 400 comprises an anti-collision block 402, and the separating mechanism 500 comprises an air cylinder mounting plate 501, a separating air cylinder 502, an air cylinder connecting block 503, a sucking disc bracket mounting beam 504, a sucking disc bracket 505 and a separating sucking disc 506.
Connection relation: the end picking beam 200 is fixed to the end picking longitudinal beam 100 through the beam connecting piece 300, the split mechanism (500) is fixed to the head end of the end picking longitudinal beam 100, the thickness measuring induction mounting plate 600 is connected between the two end picking beams 200, the thickness measuring mechanism 700 and the plate induction mechanism 800 are respectively fixed to two sides of the thickness measuring induction mounting plate 600, the limiting anti-collision block 400 is fixed to the end picking longitudinal beam 100, and the sucker control assembly 900 is fixed to the end picking beam 200.
Specifically, two end picking beams 200 arranged in parallel are adopted at the joint of each sucker control assembly 900, and the sucker control assembly 900 is clamped between the two end picking beams 200.
Two end pickup longitudinal beams 100 are adopted, and the end pickup cross beam 200 is fixed to the bottom of the end pickup longitudinal beam 100 by the beam connecting member 300.
In one embodiment, the bottom surface of the cylinder and the distracting cup 506 on one set of end pick-up beams 200 on which the thickness measuring mechanism is mounted is lower than the bottom surface of the distracting cup 506 on the other end pick-up beams 200. So that it preferentially attracts one end of the sheet or plate for separation. The plate sensing mechanism comprises a plate sensing mechanism mounting frame 801, an air cylinder 802, a detection sensor support 803, a sensing rod 804 and a detection sensor 805; plate response mechanism mounting bracket 801 sets up on thickness measurement response mounting panel 600, cylinder 802 sets up on plate response mechanism mounting bracket 801, plate response mechanism mounting bracket 801 sets up the drive end at cylinder 802, sensing rod 804 and detection sensor 805 set up on plate response mechanism mounting bracket 801. The sucking disc control assembly 900 comprises a cylinder connecting piece 901, a cylinder fixing metal plate 902, a control cylinder 903 and a sucking disc 904, wherein the sucking disc 904 is connected to the bottom of the control cylinder 903, the control cylinder 903 is fixed to the inner side of the cylinder fixing metal plate 902, and the cylinder fixing metal plate 902 is connected to the end picking beam 200 through the cylinder connecting piece 901.
In another embodiment, not shown, the cylinders on the end pickup beams 200 adjacent to the thickness measuring mechanism 700 are disposed obliquely, and the corresponding plate surfaces of the split suction cups 506 are disposed horizontally or obliquely, so that the split suction cups 506 can better hold the horizontally disposed plate or sheet end when approaching the plate or sheet. Through this setting, can be better with panel or panel material priority from the tip absorption, better branch piece.
Further, each of the split suction cups 506 is driven by an independent split cylinder 502, so that an independent control manner can be adopted, and the cylinder 802 on each end pickup beam 200 can be independently controlled to be opened and closed. Therefore, for plates or materials with different specifications, the cylinders with the control parts meeting the specification number of the corresponding plates or materials can be designed to operate, but the cylinders on the side with the thickness measuring mechanism 700 need to participate in operation.
The beam connector 300 and the pipe connector are not limited in form, and may be detachable, for example, by using U-shaped connecting bolts, bolts and baffle plate combined connectors, etc., which are commonly used in the field.
Referring to fig. 4 and 5, the thickness measuring mechanism 700 includes a horizontal push cylinder 701, a vertical cylinder mounting plate 702, a vertical cylinder 703, a jaw cylinder bracket 704, a guide 705, a side plate 706, a thickness measuring sensor 707, a flexible jaw 708, and a jaw cylinder 709. Horizontal push cylinder 701 sets up on thickness measurement response mounting panel 600, vertical cylinder mounting panel 702 sets up the drive end at horizontal push cylinder 701, vertical cylinder 703 sets up on vertical cylinder mounting panel 702, clamping jaw cylinder support 704 sets up the drive end at vertical cylinder 703, a side of clamping jaw cylinder 709 is fixed extremely on the inboard face of clamping jaw cylinder support 704 to make clamping jaw cylinder 709's drive end upwards be connected to the lower surface of flexible clamping jaw 708, the vertical setting of thickness measurement sensor 707 is in on the thickness measurement support that sets up on guide 705, curb plate 706 sets up guide 705's both sides and with guide 705's bottom plate sets up the feeding clearance.
The application also provides a material picking method adopting the plate end effector, which comprises the following steps.
The end pick-up is fed, the driving device is not shown, if the plate end pick-up is driven to move right above the material tray by adopting conventional driving modes such as chain driving, guide rail driving and the like, the distance between the end pick-up and the plate on the uppermost layer of the material tray is measured by the distance sensor, and the plate end pick-up is adjusted to the picking distance by the driving device.
When a plate is picked up, all the separating cylinders 502 drive the separating suckers 506 to descend and suck the upper surface of the plate, the cylinder on the end picking beam 200 with the thickness measuring mechanism 700 moves upwards for a certain distance, and the cylinders on the other end picking beams 200 move upwards again and finally move upwards synchronously to the same height.
And thickness detection, namely actuating a horizontal pushing air cylinder (701) of a thickness measuring mechanism (700), inserting a guide piece (705) into the edge of the picked plate, moving the clamping jaw air cylinder (709) upwards to clamp the plate, and measuring the thickness hn of the clamped plate by a thickness measuring sensor (707).
Pick up and judge, compare the panel thickness hn of test and the single panel thickness ho of storage:
if hn is 0, the plate is not picked up or no plate is on the material tray;
if 0< hn < ho, the picked plate is proved to have different specifications from the set plate, an alarm is sent out, and the plate is manually checked and reset;
if hn is ho, grabbing a correct plate, and transferring the plate by using a plate end picking device;
if hn > ho, it indicates that a plurality of adhered plates or one plate with a specification which does not correspond to the adhered plates are picked up, an alarm is sent, and manual check and resetting are carried out.
The plates are transferred, and the plate end picking device transfers the plates which are judged to be correct through picking.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. The utility model provides a panel end effector that sucking disc can independent control which characterized in that: the end picking-up device comprises an end picking-up longitudinal beam (100), an end picking-up transverse beam (200), a beam connecting piece (300), a limiting anti-collision block (400), a separating mechanism (500), a thickness measuring induction mounting plate (600), a thickness measuring mechanism (700), a plate induction mechanism (800) and a plurality of sucker control assemblies (900), wherein the end picking-up transverse beam (200) is fixed to the end picking-up longitudinal beam (100) through the beam connecting piece (300), the separating mechanism (500) is fixed to the head end of the end picking-up longitudinal beam (100), the thickness measuring induction mounting plate (600) is connected between the two end picking-up transverse beams (200), the thickness measuring mechanism (700) and the plate induction mechanism (800) are respectively fixed to two sides of the thickness measuring induction mounting plate (600), the limiting anti-collision block (400) is fixed to the end picking-up longitudinal beam (100), and the sucker control assemblies (900) are fixed to the end transverse beam (200).
2. The sheet end effector of claim 1, wherein: two end picking cross beams (200) which are arranged in parallel are arranged at the joint of each sucker control assembly (900), and the air cylinder is clamped between the two end picking cross beams (200) through an air cylinder connecting piece (600).
3. The sheet end effector of claim 1, wherein: the number of the end picking longitudinal beams (100) is two, and the end picking cross beam (200) is fixed to the bottom of the end picking longitudinal beams (100) through the beam connecting piece (300).
4. The sheet end effector of claim 1, wherein: the separating mechanism (500) comprises an air cylinder mounting plate (501), a separating air cylinder (502), an air cylinder connecting block (503), a sucker bracket mounting beam (504), a sucker bracket (505) and a separating sucker (506).
5. The sheet end effector of any of claims 1-3, wherein: the thickness measuring mechanism (700) comprises a horizontal pushing cylinder (701), a vertical cylinder mounting plate (702), a vertical cylinder (703), a clamping jaw cylinder support (704), a guide piece (705), a side plate (706), a thickness measuring sensor (707), a flexible clamping jaw (708) and a clamping jaw cylinder (709), the horizontal pushing cylinder (701) is arranged on the thickness measuring induction mounting plate (600), the vertical cylinder mounting plate (702) is arranged at the driving end of the horizontal pushing cylinder (701), the vertical cylinder (703) is arranged on the vertical cylinder mounting plate (702), the clamping jaw cylinder support (704) is arranged at the driving end of the vertical cylinder (703), one side surface of the clamping jaw cylinder (709) is fixed on the inner side plate surface of the clamping jaw cylinder support (704), the driving end of the clamping jaw cylinder (709) is upwards connected to the lower surface of the flexible clamping jaw (708), the thickness measuring sensor (707) is vertically arranged on the thickness measuring support of the guide piece (705), the side plates (706) are arranged on two sides of the guide piece (705), and a feeding gap is formed between the side plates (706) and the bottom plate of the guide piece (705).
6. The sheet end effector of claim 1, wherein: the plate sensing mechanism comprises a plate sensing mechanism mounting frame (801), an air cylinder (802), a detection sensor support (803), a sensing rod (804) and a detection sensor (805); panel response mechanism mounting bracket (801) sets up on thickness measurement response mounting panel (600), cylinder (802) set up on panel response mechanism mounting bracket (801), panel response mechanism mounting bracket (801) sets up the drive end at cylinder (802), sensing rod (804) and detection sensor (805) set up on panel response mechanism mounting bracket (801).
7. The sheet end effector of claim 1, wherein: the sucking disc control assembly (900) comprises an air cylinder connecting piece (901), an air cylinder fixing metal plate (902), a control air cylinder (903) and a sucking disc (904), wherein the sucking disc (904) is connected to the bottom of the control air cylinder (903), the control air cylinder (903) is fixed to the inner side of the air cylinder fixing metal plate (902), and the air cylinder fixing metal plate (902) is connected to the end picking cross beam (200) through the air cylinder connecting piece (901).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111634330.2A CN114311005A (en) | 2021-12-23 | 2021-12-23 | End picking device with independently controlled sucking disc |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111634330.2A CN114311005A (en) | 2021-12-23 | 2021-12-23 | End picking device with independently controlled sucking disc |
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| Publication Number | Publication Date |
|---|---|
| CN114311005A true CN114311005A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111634330.2A Pending CN114311005A (en) | 2021-12-23 | 2021-12-23 | End picking device with independently controlled sucking disc |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589703A (en) * | 2022-04-25 | 2022-06-07 | 北京京东乾石科技有限公司 | Method for controlling end effector, end effector device, transfer robot, and storage medium |
| CN116853808A (en) * | 2023-07-21 | 2023-10-10 | 奔腾激光(浙江)股份有限公司 | Automatic splitting device for plates |
-
2021
- 2021-12-23 CN CN202111634330.2A patent/CN114311005A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589703A (en) * | 2022-04-25 | 2022-06-07 | 北京京东乾石科技有限公司 | Method for controlling end effector, end effector device, transfer robot, and storage medium |
| CN116853808A (en) * | 2023-07-21 | 2023-10-10 | 奔腾激光(浙江)股份有限公司 | Automatic splitting device for plates |
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