CN209209806U

CN209209806U - The feeding device in face is changed for plate

Info

Publication number: CN209209806U
Application number: CN201822019592.8U
Authority: CN
Inventors: 候金江; 高智; 刘长柏; 武发德; 王鹏起; 陈坤; 黄翔
Original assignee: Kasen Robot (shanghai) Co Ltd; Beijing New Building Material Group Co Ltd
Current assignee: Kasen Robot (shanghai) Co Ltd; Beijing New Building Material Group Co Ltd
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2019-08-06
Anticipated expiration: 2028-12-04

Abstract

The utility model discloses a kind of feeding devices that face is changed for plate, comprising: turntable is arranged to rotatable and has surface for placing sheet material；Support frame is removably installed in the surface of the turntable and turntable is divided into left storing station and right storing station；Overturn component, it is removably installed in the top of the support frame, the overturning component includes the accommodating structure for placing panel material to be changed and the turnover mechanism for overturning the accommodating structure, the top for making the accommodating structure adjustably be located at left storing station or right storing station by overturning the accommodating structure.Using the feeding device for changing face for plate of the utility model, it solves turn-over demand of the industrial robot when grabbing sheet material: on the one hand plate can be supported to change face, the product that face crawl, production different size are changed in the case where not conversion unit and supplied materials define, on the other hand can cooperate robot gripper to grab with the angle of the most comfortable.

Description

The feeding device in face is changed for plate

Technical field

The utility model relates to a kind of automatic producing technology fields, more particularly, to a kind of feeding for changing face for plate Device.

Background technique

In existing automatic producing technology, the design of feeding system is particularly critical.According to the characteristic of material such as ruler itself Very little, weight, material and environmental sensitivity, feeding system need to complete the screening, storage, pose adjustment to supplied materials, design Quality directly affect the beat upper limit of whole system.

For the material such as large-sized sheet material of some larger sizes, feeding system is not only wanted can be defeated by its in an appropriate manner It send to production line, also needs to carry out it positioning and pose adjustment sometimes.It is related in the production process of plate often because of life The requirement of production. art or end properties and distinguish plate front and back sides and carry out processing assembling.When to have exceeded robot direct for board dimension When changing the range of face crawl, then corresponding device is needed to cooperate the posture in the face of changing to accelerate productive temp, reduces robot Redundancy movement.Simultaneously in view of the standby of automated production line material changes problem, feeding system often uses the rotation of multiple stations To eliminate influence of the link to entire productive temp.

However the sheet material of larger size will accomplish double-station within the scope of the crawl of single medium-scale industry robot It is standby to change material, positioning, overturning (pose adjustment), relatively high requirement is proposed to integral layout and space utilization.Do not increasing It extras and is not take up under conditions of exceptional space, needs a kind of feeding device solution of height optimization subsequent to cooperate Production activity.

Utility model content

The shortcomings that the purpose of the utility model is to overcome the above-mentioned prior arts provides a kind of duplex that can complete supplied materials The standby of position is changed, positions and the feeding device for changing face for plate that multi-pose crawl prepares.

To achieve the goals above, the feeding device that face is changed for plate of the utility model has following constitute: described Device include:

Turntable is arranged to rotatable and has surface for placing sheet material；

Support frame is removably installed in the surface of the turntable and the turntable is divided into left storing work Position and right storing station；

Component is overturn, is removably installed in the top of the support frame, the overturning component includes for placing The accommodating structure of plate and turnover mechanism for overturning the accommodating structure, make institute by the accommodating structure for overturning described The accommodating structure stated adjustably is located at the top of left storing station or right storing station.

Preferably, the turnover mechanism includes horizontally disposed shaft, with one end of the shaft is connected and uses In the driving motor of the driving shaft, the accommodating structure includes along the axially extending number perpendicular to the shaft A extension, has preset interval distance between adjacent extension, and the turntable is by the storing station rotary with material To robot gripper side, the turnover mechanism overturning accommodating structure is on the storing station of robot gripper Side adjusts accommodating structure and relative to the angle of turntable the robot gripper is carried out according to the board dimension Forward direction crawl or reversed crawl.

Preferably, the other end of the shaft is provided with the safe spacing of the flip angle for limiting the shaft Mechanism and Horizontal limiting mechanism for the accommodating structure to be limited to horizontal position, the safety spacing mechanism include The position-arresting disk being connected with the end of the other end of the shaft, the limited block being connected with the position-arresting disk；Described Horizontal limiting mechanism includes sliding block and the cylinder that is connected with the sliding block.

Preferably, the limited block is provided with for the detection plate in default limit angle triggering close to switch；It is described Shaft be provided with the baffle matched with the sliding block, the baffle is weight body.

Preferably, the accommodating structure includes for connecting several extensions on the axial direction perpendicular to the extension The lateral reinforcing beam of pipe is provided with Fluency strip between the shaft and lateral reinforcing beam；The uniform edge of several extensions It is uniformly distributed perpendicular to the axial direction of the shaft.

Preferably, the accommodating structure includes the positioning mechanism for positioning plate, the positioning mechanism includes point It is not set to the screw rod positioning component and guide rod cylinder component of outermost extension, the screw rod positioning component includes along vertical The screw rod being axially arranged in the extension and the positioning plate for being fixed on the screw rod, the guide rod cylinder component packet It includes along perpendicular to the cylinder of the extension being axially arranged and push plate, the positioning plate and push plate are about extension Axis face is symmetrical.

Preferably, the overturning component includes mounting rack, one end of the mounting rack is installed on the support frame Top, the other end of the mounting rack is equipped with accommodating structure.

Preferably, the support frame includes vertical support tube and the lateral reinforcement being connected with the vertical support tube Pipe.

Preferably, the support frame includes 4 vertical support tubes and 4 lateral reinforced pipes, each transverse direction reinforced pipe connects Connect two vertical support tubes.

Preferably, the support frame includes the conduit for accommodating conducting wire, the conduit is set along the vertical direction It sets.

Using the feeding device for changing face for plate of the utility model, solves industrial robot in crawl plate object Turn-over demand when material: on the one hand can support plate to change face, changed in the case where not conversion unit and supplied materials define face crawl, On the other hand the product for producing different size can cooperate robot gripper to grab with the angle of the most comfortable.Simultaneously by feeding, standby The movements such as material, turn-over are integrated into a function platform, and valuable production space is greatly saved, particular avoids biggish The beat delay and potential (fall, interfere) risk that plate may cause in a wide range of interior turnover, are made using modular design Simple installation.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the feeding device that face is changed for plate of the utility model.

Fig. 2 is the structural schematic diagram of the overturning component of the feeding device that face is changed for plate of the utility model.

Fig. 2A is the structural schematic diagram of overturning component one end of the feeding device that face is changed for plate of the utility model.

Fig. 3~6 are the overturning variation diagram of the feeding device that face is changed for plate of the utility model.

Appended drawing reference

1 turntable

2 support frames

3 overturning components

4 accommodating structures

5 turnover mechanisms

6 shafts

7 driving motors

8 extensions

9 position-arresting disks

10 limited blocks

11 sliding blocks

12 cylinders

13 detection plates

14 baffles

15 lateral reinforcing beams

16 screw rod positioning components

17 guide rod cylinder components

18 screw rods

19 positioning plates

20 guide rod cylinders

21 push plates

22 mounting racks

23 Fluency strips

24 vertical support tubes

25 lateral reinforced pipes

26 conduits

Specific embodiment

In order to be more clearly understood that the technology contents of the utility model, spy lifts following embodiment and is described in detail.

It as shown in figs. 1 to 6, is the specific embodiment of the feeding device that face is changed for plate of the utility model, wherein institute The device stated includes: turntable 1, is arranged to rotatable and has surface turntable for placing sheet material, including duplex Position storing position, power and control assembly, centrosymmetric double-station storing position can complete spatial position according to turntable spinning movement On exchange, i.e., by the 180 degree spinning movement of turntable realize feeding region and robot work region zero load/it is fully loaded Switching；Support frame 2 is removably installed in the surface of the turntable and the turntable is divided into left storing station With right storing station；Component 3 is overturn, the top of the support frame is removably installed in, the overturning component includes using It is described by overturning in the accommodating structure 4 for placing panel material to be changed and turnover mechanism 5 for overturning the accommodating structure Accommodating structure makes the accommodating structure adjustably be located at the top of left storing station or right storing station.

Device provided by the utility model can with auxiliary robot complete in addition to crawl all preparatory functions (feeding, Change face, positioning), it is only necessary to the occupied area of individual feature can be applied to new building materials production industry, glass relevant industries, steel aluminium Profile industry, macromolecule new material and packaging industry.

In a kind of preferably embodiment, the turnover mechanism includes horizontally disposed shaft 6 and the shaft One end be connected and for driving the driving motor 7 of the shaft, the accommodating structure includes along perpendicular to described Axially extending several extensions 8 of shaft, have preset interval distance between adjacent extension, and the turntable will have The storing station rotary of material is to robot gripper side, and the turnover mechanism overturning accommodating structure is to close to machine Above the storing station of people's handgrip, according to the board dimension, accommodating structure is adjusted relative to the angle of turntable and makes institute The robot gripper stated carries out positive crawl or reversed crawl.

Wherein, by being mounted on the mounting rack of overturning component with vertical bearing seat, one end of shaft is worn at the both ends of shaft 6 It crosses bearing and overturning component offer power is connected to by diaphragm coupling and servo deceleration motor, the other end of shaft passes through bearing It is connect with position-arresting disk by three threaded holes.Wherein position-arresting disk is linked together with limited block by four threaded holes, buffer stopper It is mounted on the end face of the support frame of overturning component by threaded hole, defines maximum with limited block cooperating for shaft and permit Perhaps angular range.

Wherein, have centainly fixed distance between adjacent extension, can equably carry in this way plate weight and So that robot sucker gripper is extended through pipe interval crawl plate from the negative, then exit in parallel, it is dynamic to complete pickup taking and placing Make.

As illustrated in figures 3-6, it is shown that the switching process of turnover mechanism overturning accommodating structure, comprising:

Feed bin switching action, when the storing station of object manipulator as shown in Figure 3 is sky, other side storing station is full When, then the device executes primary rotation feeding movement: accommodating structure as shown in Figure 4 is holded up, and switch operating quadrant, turntable are prepared Rotate 180 degree, storing station exchanges position, at this time the storing station of object manipulator be full, other side storing station be it is empty, adjust The flip angle for saving accommodating structure, as shown in Fig. 5~6, depending on production requirement, it is complete that one mode of the optional crawl of robot grabs this At the material of positioning；At this point, fork truck can continue to prepare crawl and life of the filling next batch material without influencing robot Production activity.

When overturning component keeps in a vertical state and reserves enough motion spaces for storing position, robot gripper can With movement, the first sheet material is grabbed from material heap top, component to be flipped is fallen to horizontal position, and sheet material is placed on overturning On component, it is ready for location action close to switch to system confirmation from adjustment height with the overturning component of material, in weight Plate long side can be close to downwards be parallel to the Fluency strip of shaft under the action of power, and the cylinder in positioning mechanism inwardly acts drive and pushes away Plate leans against the another side that resists on one side of plate in adjusting screw limit, completes positioning operation.It is following that crawl may be selected in robot Mode grabs the material of completion positioning,

Reverse side crawl: as shown in fig. 6, the material of positioning is completed to place obliquely, such as 45 degree, when being grabbed, Accommodating structure holding position is motionless, and gripping surface is close from below for robot gripper, and sucker group is protruded into the gap for extending through pipe, Crawl is established, accommodating structure is exited with material along the direction that extension rises, into next production link.

Front crawl: as shown in figure 5, complete positioning material be it is horizontal positioned, when being grabbed, robot gripper from The position that positioning is completed directly is grabbed from upper surface.

When handled sheet material long edge size grabs range diameter slightly beyond robot, such material can not pass through Robot itself movement is grabbed and is changed face, it is also difficult to which in space, the production scene of anxiety is had enough to meet the need on a large scale, at this time It can reversely be grabbed.

In a kind of preferably embodiment, the other end of the shaft is provided with for limiting turning over for the shaft The safety spacing mechanism of gyration and Horizontal limiting mechanism for the accommodating structure to be limited to horizontal position, it is described Safety spacing mechanism includes the position-arresting disk 9 being connected with the end of the other end of the shaft, is connected with the position-arresting disk The limited block 10 connect；The Horizontal limiting mechanism includes sliding block 11 and the cylinder being connected with the sliding block 12.

In a kind of preferably embodiment, the limited block is provided with for triggering close open in default limit angle The detection plate 13 of pass；The shaft is provided with the baffle 14 matched with the sliding block, and the baffle is counterweight Body.Since sheet material size is larger, weight is larger, corresponding extension length of tube is longer, and the center of gravity of the two is right far from shaft The torque that drive system provides proposes high requirement.The setting of clump weight largely counteract rollover stand from gravity because The lower torque generated of element, greatly optimizes the dynamic response and load state of system.And the weight of counter weight construction proximal ends itself Amount influences very little for the intensity of entire base support and supporting mechanism.Weight body can be with strip steel construction, by quarter bend It is welded in the one side of shaft square tube, the length stretched out can just form interference engagement, and the unlikely influence other side with sliding block The material stack height of storing position.Sliding block is installed on the outside of vertical support tube by ring flange, and cylinder band movable slider passes through vertical support Pipe inwardly stretches out, and reaches the restricted angle when work for controlling entire accommodating structure by limiting the path of weight body.

Control system is responsible for overturning the position feedback information of component, and shaft band accommodating structure is mobile and triggers in assigned altitute Close to switch, system is equipped with the mounting plate with long slot hole, allows to be adjusted flexibly the height close to switch according to demand.

In a kind of preferably embodiment, the accommodating structure includes in the axis perpendicular to the extension The lateral reinforcing beam 15 of several extensions is connected up, is provided with Fluency strip 23 between the shaft and lateral reinforcing beam；Institute The several extensions stated uniformly are uniformly distributed along the axial direction perpendicular to the shaft.Two Fluency strips are separately mounted to accommodating knot The front and back sides of structure are parallel to shaft, and in the position between shaft and web beam, plate long side is close under the effect of gravity Fluency strip.Position other than lateral reinforcing beam does not have any structure to link adjacent two extensions, which ensure that machine The path that device people's handgrip reverse side exits when grabbing.

In a kind of preferably embodiment, the accommodating structure includes the positioning for positioning the plate on accommodating face Mechanism, the positioning mechanism include the screw rod positioning component 16 and guide rod cylinder component for being respectively arranged at outermost extension 17, the screw rod positioning component includes along the screw rod 18 being axially arranged perpendicular to the extension and being fixed on described The positioning plate 19 of screw rod, the guide rod cylinder component include along the guide rod cylinder being axially arranged perpendicular to the extension 20 and push plate 21, the positioning plate and push plate are symmetrical about the axis face of extension, therefore same set of positioning expanding-contracting action The front and back sides of accommodating structure can be taken into account.Screw rod positioning component and guide rod cylinder component dispose in opposite directions, are respectively arranged in accommodating knot The two sides of structure, opposite direction clamps the short side of plate when movement.

In a kind of preferably embodiment, the overturning component includes mounting rack 22, one end of the mounting rack It is installed on the top of the support frame, the other end of the mounting rack is equipped with accommodating structure.

In a kind of preferably embodiment, the support frame include vertical support tube 24 and with the vertical support The lateral reinforced pipe 25 that pipe is connected.

In a kind of preferably embodiment, the support frame includes 4 vertical support tubes and 4 lateral reinforced pipes, Each transverse direction reinforced pipe connects two vertical support tubes.The top of the vertical support tube of every side of support frame is welded with mounting plate use To accept the overturning assembly module on top.

Similarly with support frame structure, the two sides for overturning the mounting rack of component are symmetrical channel steel, and channel steel lower part two sides are each There is a mounting plate to be connected with the mounting plate on support frame top.Channel steel punching is interlinked by lateral reinforcement square tube becomes rigid Property it is whole.Entirely overturning component can be co-mounted to turntable and base support after assembly and adjustment is completed on ground again in this way On, the difficult point that the installation of rollover stand bearing and the installation of support frame carry out simultaneously is taken into account at the scene of avoiding.Modular design is also So that the system has certain repacking multipurpose potential: the turntable and support frame device for not installing upper layer overturning component can quilts Double-station finished stacking blanking system for plate.

In a kind of preferably embodiment, the support frame includes the conduit 26 for accommodating conducting wire, described Conduit is arranged along the vertical direction, as the superstructure constrained layout of gas-to-electric pipeline.

The above is only the preferred embodiment of the present invention, in the substantial technological being not intended to limit the utility model Hold range, the substantial technological content of the utility model is broadly defined in the protection scope of application, it is any other people complete Technology entities or method, if identical with defined in the protection scope of the application, also or a kind of equivalent change, It will be considered as being covered by among the protection scope.

Claims

1. a kind of feeding device for changing face for plate, which is characterized in that the device includes:

Support frame, be removably installed in the surface of the turntable and by the turntable be divided into left storing station and Right storing station；

Component is overturn, is removably installed in the top of the support frame, the overturning component includes for placing plate Accommodating structure and turnover mechanism for overturning the accommodating structure, by overturn the accommodating structure make it is described Accommodating structure is adjustably located at the top of left storing station or right storing station.

2. according to claim 1 change the feeding device in face for plate, which is characterized in that the turnover mechanism includes Horizontally disposed shaft, the driving motor for being connected with one end of the shaft and being used to drive the shaft, it is described Accommodating structure includes axially extending several extensions of the edge perpendicular to the shaft, is had between presetting between adjacent extension Gauge is from the turntable turns over the storing station rotary with material to robot gripper side, the turnover mechanism Accommodating structure to the storing station top close to robot gripper for turning described adjusts accommodating knot according to the board dimension Structure makes the robot gripper carry out positive crawl or reversed crawl relative to the angle of turntable.

3. the feeding device according to claim 2 for changing face for plate, which is characterized in that the other end of the shaft It is provided with the safety spacing mechanism of the flip angle for limiting the shaft and for the accommodating structure to be limited to The Horizontal limiting mechanism of horizontal position, the safety spacing mechanism include being connected with the end of the other end of the shaft Position-arresting disk, the limited block that is connected with the position-arresting disk；The Horizontal limiting mechanism include sliding block and with the cunning The cylinder that block is connected.

4. the feeding device according to claim 3 for changing face for plate, which is characterized in that the limited block is provided with For the detection plate in default limit angle triggering close to switch；The shaft is provided with supports with what the sliding block matched Block, the baffle are weight body.

5. according to claim 2 change the feeding device in face for plate, which is characterized in that the accommodating structure includes For connecting the lateral reinforcing beam of several extensions on the axial direction perpendicular to the extension, the shaft adds with lateral Fluency strip is provided between brutal；Several extensions are uniformly uniformly distributed along the axial direction perpendicular to the shaft.

6. according to claim 2 change the feeding device in face for plate, which is characterized in that the accommodating structure includes For positioning the positioning mechanism of plate, the positioning mechanism includes the screw rod positioning component for being respectively arranged at outermost extension With guide rod cylinder component, the screw rod positioning component includes along the screw rod being axially arranged perpendicular to the extension and consolidating Due to the positioning plate of the screw rod, the guide rod cylinder component includes along being axially arranged perpendicular to the extension Cylinder and push plate, the positioning plate and push plate are symmetrical about the axis face of extension.

7. according to claim 2 change the feeding device in face for plate, which is characterized in that the overturning component includes Mounting rack, one end of the mounting rack are installed on the top of the support frame, and the other end of the mounting rack is equipped with Accommodating structure.

8. the feeding device according to claim 1 or 2 for changing face for plate, which is characterized in that the support frame packet The lateral reinforced pipe for including vertical support tube and being connected with the vertical support tube.

9. the feeding device according to claim 8 for changing face for plate, which is characterized in that the support frame includes 4 Root vertical support tube and 4 lateral reinforced pipes, each transverse direction reinforced pipe connect two vertical support tubes.

10. according to claim 8 change the feeding device in face for plate, which is characterized in that the support frame includes For accommodating the conduit of conducting wire, the conduit is arranged along the vertical direction.