CN209797768U - Positioning equipment for positioning center line of plate - Google Patents
Positioning equipment for positioning center line of plate Download PDFInfo
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- CN209797768U CN209797768U CN201822149477.2U CN201822149477U CN209797768U CN 209797768 U CN209797768 U CN 209797768U CN 201822149477 U CN201822149477 U CN 201822149477U CN 209797768 U CN209797768 U CN 209797768U
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Abstract
The utility model discloses a positioning device for sheet material central line location belongs to lathe equipment technical field, include: the device comprises an execution mechanism, a driving mechanism, a pressure detection device and a control mechanism, wherein the execution mechanism is provided with at least three groups of mechanical arm devices, at least one group of mechanical arm devices and other mechanical arm devices are symmetrical along a cutting line and are used for fixing a cut plate; the utility model discloses a positioning device sets up the manipulator device in the line of cut both sides through the symmetry, carries out synchronous movement towards the line of cut direction, contacts with the both sides border of placing the sheet material in the middle of the actuating mechanism respectively, if the sheet material has the skew, then through the mode that promotes towards one side, makes the central line of sheet material and line of cut well to be convenient for cut the central line of sheet material.
Description
Technical Field
The utility model belongs to the technical field of machine tool equipment.
Background
The sheet material is a flat sheet material with a preset size, at least one group of parallel edges are arranged, a line with equal distance from the two parallel edges is generally taken as a center line of the sheet material, and when the center line of the sheet material is cut, the center line of the sheet material needs to be moved to a cutting position of a cutting machine.
in the prior art, the center line of the sheet is determined by counting from one of the parallel edges of the sheet through an encoder, determining the center line according to the preset size of the sheet, and then aligning the center line with the cutting position for cutting.
however, in actual production, because there is an error in the size of the sheet material, the actual size of the sheet material is not always completely matched with the preset size, so that counting from one side of the sheet material by using an encoder easily causes the cut central line to be inconsistent with the actual central line.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the sheet material central line location among the prior art, because the actual size of sheet material is not accorded with the size of predetermineeing easily, and the central line location that leads to is out of alignment's defect to a positioning apparatus for sheet material central line location is provided.
the utility model provides a positioning device for sheet material central line location, include:
The execution mechanism is provided with at least three groups of mechanical hand devices, wherein at least one group of mechanical hand devices and other mechanical hand devices are symmetrical along a cutting line and are used for fixing the cut plate;
The driving mechanism is connected with the executing mechanism and is used for driving the manipulator device to synchronously move towards the direction of the cutting line;
The pressure detection device is arranged on the mechanical hand device and is used for detecting the pressure between the cut plate and the mechanical hand device;
and the control mechanism is respectively electrically connected with the driving mechanism and the pressure detection device and is used for controlling the driving mechanism to drive the actuating mechanism to reach a central positioning position and carrying out pressure detection so as to determine that the central line of the plate material is aligned with the cutting line.
further, the robot apparatus includes: the connecting rod is connected with the positioning block in a sliding mode, and a pressure detection device is arranged between the connecting rod and the positioning block;
The positioning block is provided with a contact surface suitable for being in contact with the side wall of the plate.
Further, the pressure detection device is a pressure switch embedded on the connecting rod.
Further, the actuator further comprises:
The horizontal traveling device is connected with the manipulator device and used for guiding the manipulator device to move along a preset track;
And the synchronous connecting device is used for connecting each horizontal walking device to ensure that the horizontal walking devices synchronously move.
Furthermore, the horizontal walking device is a horizontal sliding table driven by a screw rod, and one end of the horizontal walking device is connected with the manipulator device;
The synchronous connection device includes: and the connecting shaft is used for synchronously connecting the horizontal walking devices positioned on the same side of the cutting line.
Further, the actuator further comprises:
And the vertical walking device is connected with the manipulator device and used for guiding the manipulator device to vertically move along a preset track.
further, the vertical walking device is a vertical sliding table, and the sliding end of the vertical walking device is connected with the connecting rod.
Further, the drive mechanism includes:
The horizontal driving device is connected with the horizontal walking device and used for driving the mechanical hand device to move towards the cutting line direction;
and the vertical driving device is connected with the vertical walking device and used for driving the mechanical hand device to move in a telescopic manner.
Further, the horizontal driving device is a servo motor, and the vertical driving device is a driving cylinder.
Further, the manipulator device has four groups which are arranged two by two symmetrically.
The technical scheme provided by the utility model, following advantage has:
1. the utility model provides a positioning device for sheet material central line location through the mechanical hand device of symmetry setting in the line of cut both sides, moves synchronously towards the line of cut direction, contacts with the both sides border of the sheet material of placing in the middle of the actuating mechanism respectively, if the sheet material has the skew, through the mode of promoting towards one side, makes the central line of sheet material align with the line of cut to be convenient for cut the central line of sheet material;
when the mechanical hand device is used for pushing the plate, the pressure detection device is used for detecting the contact pressure between the mechanical hand device and the plate, so that the control mechanism can determine whether the central line of the plate is aligned with the cutting line or not through the judgment of the pressure.
2. the utility model provides a positioning device for sheet material central line location, wherein pressure detection device is equipped with pressure upper limit value and pressure lower limit value, when manipulator device promoted the sheet material towards one side, pressure between manipulator device and sheet material can not surpass the pressure upper limit value, the effect of pressure upper limit value lies in: when the mechanical hand devices on the two sides of the cutting line are all in contact with the edge of the plate in the moving process, further moving, wherein according to the principle of an interaction force, the pressure between all the mechanical hand devices and the plate is kept consistent and rises synchronously, and when the pressure between the mechanical hand devices and the plate reaches the upper limit value of the pressure, the plate is positioned;
the lower pressure limit has the following effects: when the mechanical hand device is not in contact with the plate, or does not generate thrust although the mechanical hand device is in contact with the plate, or the generated thrust is not enough to fix the plate, the pressure between the mechanical hand device and the plate cannot reach the lower limit value of the pressure, and the plate is judged not to be positioned at this moment.
3. The utility model provides a positioning device for sheet material central line location, wherein pressure detection device is pressure switch, is a simple pressure control device, and when being surveyed pressure and reaching the rated value, pressure switch can send out alarm or control signal.
4. The utility model provides a positioning device for sheet material central line location, pressure switch inlay on manipulator device, can guarantee the pressure measurement precision to between manipulator device and the sheet material.
5. The utility model provides a positioning device for sheet material central line location, wherein, actuating mechanism includes manipulator device, horizontal running gear and synchronous connecting device, and horizontal running gear has the same quantity with manipulator device, connects respectively on each manipulator device for provide the removal track for manipulator device, guide manipulator device along presetting the track and carry out horizontal migration;
And the synchronous connecting device is used for connecting each horizontal walking device and ensuring that the horizontal walking devices can perform synchronous movement, so that the manipulator devices positioned on two sides of the cutting line can synchronously perform horizontal movement towards the cutting line, and the centers of the manipulator devices on two sides of the cutting line are always aligned with the cutting line.
6. The utility model provides a positioning equipment for sheet material central line location, wherein, actuating mechanism still includes vertical running gear, has the quantity the same with manipulator device, connects respectively at each manipulator device is last for manipulator device provides the removal track, guide manipulator device carries out vertical removal along predetermineeing the track.
7. The utility model provides a positioning device for sheet material central line location, wherein, the manipulator device includes locating piece and connecting rod, the locating piece be used for providing with the contact surface that the border of sheet material contacted, the contact surface can be surface contact with the sheet material, also can be line contact or point contact, wherein, the contact surface on all locating pieces that are located the line of cut homonymy, under free state, the point, line or the face that are used for contacting with the border of sheet material all are in same and cutting line alignment parallel straight line;
The connecting rod is used for being connected with the positioning block and can keep relative sliding with the positioning block, after the positioning block is contacted with the plate, certain displacement can be generated between the positioning block and the connecting rod in the interaction with the plate, and the pressure detection device can detect the pressure between the positioning block and the plate according to the displacement.
8. the utility model provides a positioning device for sheet material central line location, manipulator device have four groups that two bisymmetry set up, when fixing a position rectangle sheet material, removal and location rectangle sheet material that can be better.
9. the utility model provides a positioning device for sheet material central line location, wherein, actuating mechanism includes horizontal drive arrangement and vertical drive arrangement, horizontal drive arrangement is used for driving manipulator device towards the horizontal migration of line of cut direction, is the main drive arrangement who guarantees to carry out the location to the central line of sheet material; the vertical driving device is used for driving the mechanical arm device to move in a telescopic mode towards the vertical direction, so that when the mechanical arm device is driven to position the center line of the plate, the horizontal conveying path of the plate can be avoided, and the plate can be conveniently fed and output.
10. The utility model provides a positioning device for sheet material central line location, the horizontal drive device of actuating mechanism is servo motor, and vertical drive device is driving cylinder, turns into torque and rotational speed through servo motor with the electric signal in order to drive the control object, can make control speed, position precision very accurate; the driving cylinder guides the piston to do reciprocating linear motion in the cylinder, and the pushing force and the pulling force on the piston rod can be determined according to the force required by work.
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 embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the structure of the present invention.
fig. 2 is a schematic top view of the structure of fig. 1.
Fig. 3 is a left side view of the structure of fig. 1.
Fig. 4 is a schematic perspective view of the present invention.
Fig. 5 is a schematic view of the installation structure of the present invention.
Fig. 6 is a front sectional structural view of the robot device.
Description of reference numerals:
1. A manipulator device; 101. a connecting rod; 102. positioning blocks; 103. a contact surface; 2. a horizontal traveling device; 3. a synchronous connection device; 4. a vertical traveling device; 5. a horizontal driving device; 6. a vertical drive device; 7. a pressure detection device; 8. and (5) plate materials.
Detailed Description
the technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
in the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
in the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 6, the positioning apparatus for positioning the center line of a sheet material provided in this embodiment includes an actuating mechanism, a driving mechanism, a pressure detecting device, and a control mechanism.
The actuator includes: the manipulator device comprises four groups of manipulator devices 1, a horizontal walking device 2, a synchronous connecting device 3 and a vertical walking device 4.
The manipulator device 1, wherein two sets of settings are in the line of cut one side of cutting board, and two sets of symmetry setting are in the opposite side of line of cut to the contact surface 103 of two sets of manipulator device 1 that are located the line of cut same side all is in the coplanar, the coplanar is parallel with the line of cut, specifically, the manipulator device 1 includes: the positioning block 102 extends vertically upwards, a contact surface 103 on the side edge of the positioning block 102 can be in contact with the edge of the plate 8, and the positioning block 102 pushes the plate 8 through the contact surface 103 in the horizontal movement process of the positioning block 102; the connecting rod 101 is slidably connected with the positioning block 102, the pressure detection device is arranged between the connecting rod 101 and the positioning block 102, the pressure detection device is a pressure switch and is embedded in the connecting rod 101, when the positioning block 102 moves towards the connecting rod 101 in the transverse direction, the pressure switch is in contact with the positioning block 102, so that the pressure when the manipulator device 1 is in contact with the plate 8 is detected, the pressure detection device 7 is provided with an upper pressure limit value and a lower pressure limit value, and the control mechanism judges that the center line of the plate 8 is aligned with the cutting line according to the fact that the contact pressure of the positioning blocks 102 of all the manipulator devices 1 and the plate 8 is between the upper pressure limit value and the lower pressure limit value.
The pressure switch is a mechanical pressure switch and is connected with the connecting rod 101 in a threaded connection mode, when pressure is increased, a piston on the mechanical pressure switch is stressed to move, and when the piston moves to a preset threshold value, a spring structure connected with the piston starts the micro switch to output an electric signal, so that the pressure signal is transmitted to the control mechanism.
In addition, in other embodiments, the pressure switch can be an electronic pressure switch, a precise pressure sensor is arranged in the pressure switch, a high-precision instrument amplifier is used for amplifying pressure signals, data are collected and processed through a high-speed MCU, the pressure is digitally displayed in real time through an LED, the relay signal output is realized, the upper limit control point and the lower limit control point can be freely set, the hysteresis is small, the vibration is resistant, the response is fast, the stability and the reliability are realized, the precision is high (the precision is generally +/-0.5% F.S, and +/-0.2% F.S is realized), the repeated action caused by pressure fluctuation can be effectively protected through the return difference setting, the control equipment is protected, the electronic pressure switch is compared with a mechanical pressure switch, the electronic pressure switch is visual in electronic display screen, the precision is high, the service life is long, and.
The horizontal traveling devices 2 are four groups of sliding table modules driven by threads, wherein each group of sliding table modules is connected with one group of manipulator devices 1 respectively and used for guiding the manipulator devices 1 to horizontally move along a preset track.
the synchronous connection device 3 comprises a connection shaft for synchronously connecting the horizontal traveling devices 2 positioned on the same side of the cutting line, and also comprises a synchronous belt device for synchronously connecting the horizontal traveling devices 2 positioned on the opposite sides of the cutting line, and the four groups of horizontal traveling devices 2 can synchronously move by connecting the horizontal traveling devices 2.
The vertical traveling device 4 is four sets of sliding table modules capable of sliding freely, wherein each set of sliding table module is connected with one set of manipulator device 1 respectively and used for guiding the positioning block 102 of the manipulator device 1 to move vertically along a preset track.
The drive mechanism has two kinds, including: and the horizontal driving device 5 and the vertical driving device 6 are used for being connected with an actuating mechanism and driving the manipulator device 1. Specifically, the horizontal driving device 5 is a servo motor, and the horizontal driving device 5 is connected with the horizontal traveling device 2 of the executing mechanism and used for driving the manipulator device 1 to horizontally and synchronously move towards the cutting line direction; the vertical driving device 6 is a driving cylinder, and the vertical driving device 6 is connected with the vertical walking device 4 of the executing mechanism and used for driving the manipulator device 1 to move in a telescopic mode towards the vertical direction.
The control mechanism is respectively electrically connected with the driving mechanism and the pressure detection device and is used for receiving a detection signal of the pressure detection device and sending a control signal towards the driving mechanism.
application method
When carrying out the central line cutting to the glass board, place the glass board on the cutting board, the utility model discloses a positioner sets up in the below of cutting board, and glass-cutting equipment is the opposite sex cutting, and cutting board size is great, the cutting of compatible not unidimensional glass.
The method comprises the steps of firstly setting the size of cut glass through a control interface of a control mechanism, simultaneously setting a glass incoming material allowable error compensation value, setting a standard center positioning size through parameters, simultaneously setting the center positioning compensation of a servo motor, and matching with a pressure detection device to jointly and accurately complete center positioning.
After the glass is conveyed to the cutting machine, the photoelectric detection device detects the position of the glass, and then the conveying of the glass is stopped, which is equivalent to the coarse positioning of the glass. Then, controlling a driving device according to a PLC program: the vertical driving device 6 is started to lift the positioning block 102 to be higher than the surface of the conveying belt of the glass, and the horizontal driving device 5 is started to drive the mechanical arm devices 1 to synchronously move towards each other.
An embedded pressure detection device is added in the positioning block, and the glass positioning is judged whether to be in place or not by setting the upper peak value and the lower peak value of a pressure switch and comparing the pressure value with the actually detected pressure value: when the relative movement of the servo motors does not reach the set central size, the positioning block is in contact with the glass, the pressure detection switch reaches the set upper limit value of the pressure, at the moment, the servo motors stop moving to complete the central positioning, and whether the glass size is abnormal or not is detected according to the walking distance of the servo motors, if so, an alarm is given out, and the machine is stopped.
When the servo motor reaches the central positioning size, but the positioning block does not contact the glass at the moment, and the pressure detection side switch does not reach the pressure setting lower limit value, the servo motor continuously moves oppositely to the compensation distance according to the compensation value, so that the central positioning is completed, and if the servo motor still cannot meet the positioning completion condition in the compensation range, the equipment alarms and stops.
When the servo motor is in the central positioning size or the compensation range, the positioning block is in contact with the glass, and the detection values of all the pressure switches are between the upper pressure limit value and the lower pressure limit value, so that the central positioning of the glass is completed, at the moment, the central line of the glass plate is aligned with the cutting line of the cutting machine table, and the cutting work of the central line of the glass plate can be performed.
After the cutting process is finished, the positioning block moves in the opposite direction, the glass moves to the original position, the lifting cylinder descends, the next piece of glass is waited for feeding, and the circular positioning cutting action is continued.
Adopt the utility model discloses a positioning device can fix a position fast, realizes that glass is divided into two, is particularly useful for pinpointing the glass after the thermal deformation to can reduce because glass supplied materials dimensional deviation causes the product damaged greatly.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. A positioning device for sheet material central line location, its characterized in that includes:
the execution mechanism is provided with at least three groups of mechanical hand devices (1), wherein at least one group of mechanical hand devices (1) is symmetrical to other mechanical hand devices (1) along a cutting line and is used for fixing the cut plate (8);
The driving mechanism is connected with the executing mechanism and is used for driving the manipulator device (1) to synchronously move towards the direction of the cutting line;
The pressure detection device is arranged on the manipulator device (1) and is used for detecting the pressure between the cut plate (8) and the manipulator device (1);
And the control mechanism is respectively electrically connected with the driving mechanism and the pressure detection device and is used for controlling the driving mechanism to drive the actuating mechanism to reach a central positioning position and carrying out pressure detection so as to determine that the central line of the plate (8) is aligned with the cutting line.
2. The positioning apparatus for slab centreline positioning according to claim 1, characterised in that said robot means (1) comprises: the pressure detection device comprises a connecting rod (101) and a positioning block (102), wherein the connecting rod (101) is connected with the positioning block (102) in a sliding mode, and a pressure detection device (7) is arranged between the connecting rod (101) and the positioning block (102);
The locating block (102) has a contact surface (103) adapted to contact the side wall of the sheet (8).
3. the positioning apparatus for slab centre line positioning according to claim 2, characterized in that said pressure detection means (7) are pressure switches embedded on said connecting rods (101).
4. the apparatus for locating the slab centreline according to claim 2, wherein the actuator further includes:
The horizontal traveling device (2) is connected with the manipulator device (1) and guides the manipulator device (1) to move along a preset track;
And the synchronous connecting device (3) is used for connecting each horizontal walking device (2) to ensure that the horizontal walking devices (2) move synchronously.
5. The positioning equipment for center line positioning of the slabs according to claim 4, characterized in that the horizontal walking device (2) is arranged as a horizontal sliding table driven by a lead screw, and one end of the horizontal walking device is connected with the manipulator device (1);
The synchronous connection device (3) comprises: and the connecting shaft is used for synchronously connecting the horizontal walking devices (2) positioned on the same side of the cutting line.
6. the apparatus for locating the slab centreline according to claim 4, wherein the actuator further includes:
The vertical walking device (4) is connected with the manipulator device (1) and used for guiding the manipulator device (1) to vertically move along a preset track.
7. The positioning equipment for the central line positioning of slabs according to claim 6, characterized in that said vertical walking means (4) are vertical slipways, the sliding ends of which are connected with said connecting rods (101).
8. The apparatus according to claim 6, characterized in that said driving means comprise:
The horizontal driving device (5) is connected with the horizontal walking device (2) and is used for driving the mechanical hand device (1) to move towards the cutting line direction;
And the vertical driving device (6) is connected with the vertical walking device (4) and is used for driving the mechanical arm device (1) to move in a telescopic mode.
9. The positioning apparatus for the slab centre line positioning according to claim 8, characterised in that the horizontal driving means (5) are servomotors and the vertical driving means (6) are driving cylinders.
10. the positioning equipment for the centre line positioning of slabs according to any of the claims from 1 to 9, characterized in that said manipulator means (1) have four groups arranged symmetrically two by two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822149477.2U CN209797768U (en) | 2018-12-20 | 2018-12-20 | Positioning equipment for positioning center line of plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822149477.2U CN209797768U (en) | 2018-12-20 | 2018-12-20 | Positioning equipment for positioning center line of plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209797768U true CN209797768U (en) | 2019-12-17 |
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ID=68818366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822149477.2U Active CN209797768U (en) | 2018-12-20 | 2018-12-20 | Positioning equipment for positioning center line of plate |
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| Country | Link |
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| CN (1) | CN209797768U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114920451A (en) * | 2022-05-30 | 2022-08-19 | 彩虹显示器件股份有限公司 | Cutting mechanism of substrate glass transverse cutting machine and substrate glass transverse cutting machine |
-
2018
- 2018-12-20 CN CN201822149477.2U patent/CN209797768U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114920451A (en) * | 2022-05-30 | 2022-08-19 | 彩虹显示器件股份有限公司 | Cutting mechanism of substrate glass transverse cutting machine and substrate glass transverse cutting machine |
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Address after: 100176 3rd floor, 11th floor, 11 Kangding street, Daxing District, Beijing Patentee after: Beijing Dingrong Photovoltaic Technology Co.,Ltd. Address before: 100176 3rd floor, 11th floor, 11 Kangding street, Daxing District, Beijing Patentee before: BEIJING APOLLO DING RONG SOLAR TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20210329 Address after: Room 201, Building A, 1 Qianwan Road, Qianhai Shenzhen-Hong Kong Cooperation Zone, Shenzhen, Guangdong Province Patentee after: Shenzhen Zhengyue development and Construction Co.,Ltd. Address before: 100176 3rd floor, 11th floor, 11 Kangding street, Daxing District, Beijing Patentee before: Beijing Dingrong Photovoltaic Technology Co.,Ltd. |
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Effective date of registration: 20210830 Address after: No.66210, 3rd floor, Pudong Free Trade Zone, Shanghai, China Patentee after: Shanghai zuqiang Energy Co.,Ltd. Address before: Room 201, Building A, 1 Qianwan Road, Qianhai Shenzhen-Hong Kong Cooperation Zone, Shenzhen, Guangdong Province Patentee before: Shenzhen Zhengyue development and Construction Co.,Ltd. |
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