CN210282341U - A pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board - Google Patents
A pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board Download PDFInfo
- Publication number
- CN210282341U CN210282341U CN201920742881.2U CN201920742881U CN210282341U CN 210282341 U CN210282341 U CN 210282341U CN 201920742881 U CN201920742881 U CN 201920742881U CN 210282341 U CN210282341 U CN 210282341U
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- Prior art keywords
- pneumatic
- waste
- polyurethane foam
- processing
- claw
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- 239000002699 waste material Substances 0.000 title claims abstract description 119
- 229920005830 Polyurethane Foam Polymers 0.000 title claims abstract description 30
- 239000011496 polyurethane foam Substances 0.000 title claims abstract description 30
- 238000012545 processing Methods 0.000 title claims abstract description 29
- 206010066054 Dysmorphism Diseases 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 210000000078 claw Anatomy 0.000 claims description 81
- 238000003825 pressing Methods 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000002615 epidermis Anatomy 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 210000003491 skin Anatomy 0.000 description 40
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 7
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000010985 leather Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005187 foaming Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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Abstract
The utility model relates to a pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board, including link and a pair of work unit that sets up side by side on the link, the work unit is including setting up the pneumatic clamping jaw mechanism that colludes at the link one end and get the mechanism and set up at the link other end. Compared with the prior art, the utility model discloses taking "colluding", "grabbing" the mode that combines, realizing snatching of multiple remaining waste material in the polyurethane foam board course of working, can realizing snatching of epidermis and side waste material about the polyurethane foam board through a grabbing device, mechanical structure is simple and compact, has improved work efficiency, has reduced manufacturing cost.
Description
Technical Field
The utility model belongs to the technical field of marine insulating casing polyurethane foam board of LNG processing, a pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board is related to.
Background
When the LNG marine insulating box polyurethane foam board is produced by automatic cutting, upper and lower surface skin waste materials and side waste materials are produced. In order to improve the automation processing level, the waste materials produced in continuous production need to be automatically grabbed. Due to the particularity of the foaming process of the polyurethane foam board, the waste material has various shapes and is often uneven in surface, and the technical requirements of an automatic production line cannot be met by adopting a common 'grabbing' or 'sucking' mode.
At present, the mode of artifical snatching is mostly adopted to the waste material in this kind of dysmorphism polyurethane foam board processing domestically and abroad, and this mode mainly has following technical problem:
1. the problem that the waste materials with special shapes are grabbed by the same grabbing device cannot be reasonably solved, the design difficulty of the automatic production line is increased, and the equipment quantity and the purchasing cost of the automatic production line are increased.
2. In the material taking process of manual work participation, operators need to be exposed in the machine to work, so that great potential safety hazards exist, and safety protection of workers is not facilitated.
3. The manual material taking mode has low efficiency and is not suitable for large-scale industrial production.
In addition to manual gripping, some conventional automated gripping methods mainly include vacuum chuck type and pneumatic jaw type, but these two methods have the following disadvantages:
1. due to the fact that the surface of the special-shaped polyurethane foam plate workpiece is uneven, the vacuum suction cup cannot suck smoothly, and reliability is poor. Especially, when the surface of the workpiece is rough and has dust, the suction reliability is further reduced, the sucker is easy to age, and the service life is short.
2. The upper and lower surfaces of the workpiece are completely covered on the surface of the workpiece after being cut, and the common pneumatic clamping jaw can not realize grabbing.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pneumatic type waste material grabbing device that is used for special-shaped polyurethane foam board processing in order to overcome the defect that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides a pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board, this grabbing device includes link and a pair of work unit that sets up side by side on the link, work unit including set up the pneumatic mechanism of getting and set up the pneumatic clamping jaw mechanism at the link other end of colluding in link one end. The two working units work simultaneously, and the stability of the grabbing process is guaranteed. The distance between the two working units is smaller than the width of the upper and lower surface skin waste of the minimum workpiece. The pneumatic hooking mechanism and the pneumatic clamping jaw mechanism are respectively arranged at two ends of the connecting frame, so that the pneumatic hooking mechanism and the pneumatic clamping jaw mechanism can work independently and do not interfere with each other. The waste material grabbing device is used in cooperation with the PLC.
Furthermore, the pneumatic hooking mechanism comprises a hooking claw connecting plate movably arranged on the connecting frame, a hooking claw assembly arranged on the hooking claw connecting plate and a hooking claw cylinder arranged on the connecting frame and in transmission connection with the hooking claw assembly. The claw hooking component scrapes the upper and lower surface skin waste materials from the surface of the workpiece under the driving of the claw hooking cylinder.
Furthermore, the connecting frame is provided with a slide rail parallel to the axial direction of the hook claw cylinder, the slide rail is provided with a slide block, and the hook claw connecting plate is arranged on the slide block. The claw connecting plate slides along the slide rail through the slide block under the driving of the claw hooking cylinder.
Furthermore, the hook claw assembly comprises a front hook claw and a rear hook claw which are respectively arranged at two ends of the hook claw connecting plate. After the upper and lower epidermis of work piece is cut, collude the claw with preceding and collude the claw and place in the both ends of upper and lower epidermis waste material respectively, collude the claw cylinder and drive, preceding collude the claw and scrape upper and lower epidermis waste material from the work piece surface.
Furthermore, the front hook claw and the rear hook claw are C-shaped, and the end part of a piston rod of the hook claw cylinder is connected with the top of the front hook claw. The piston rod of the hook claw cylinder stretches out and draws back, and the front hook claw drives the hook claw connecting plate and the rear hook claw to move together.
Furthermore, the connecting frame is also provided with an upper surface skin waste material supporting frame and a lower surface skin waste material supporting frame which are matched with the hook claw components, and the bottom of the rear hook claw is movably arranged between the connecting frame and the upper surface skin waste material supporting frame and the lower surface skin waste material supporting frame. When materials are taken, a piston rod of the hook claw cylinder retracts, the front hook claw scrapes the upper and lower epidermis waste materials from the surface of the workpiece and drives the upper and lower epidermis waste materials to move between the connecting frame and the upper and lower epidermis waste material supporting frames, and therefore the waste materials are grabbed; when the material is discharged, a piston rod of the hook claw cylinder extends out, and the rear hook claw ejects the upper and lower epidermis waste materials out of the connecting frame and the upper and lower epidermis waste material supporting frames, so that the waste materials are released.
The position and the layout of the hook claw assembly need to meet the following requirements: the distance between the rear hook claw and the upper and lower surface skin waste support frames must be smaller than the thickness of the thinnest waste, so that the situation that the waste cannot be ejected out when the waste is discharged and stacked is prevented.
Collude claw cylinder length and position and need satisfy: under the condition that a piston rod of the claw hooking cylinder extends out, most of the waste materials are ensured to be out of the range of the upper and lower surface skin waste material support frames; under the condition that the piston rod of the claw hooking cylinder retracts, most of the waste materials are ensured to be within the range of the upper and lower surface skin waste material support frames.
Furthermore, the connecting frame is also provided with an upper surface skin waste material pressing cylinder and a lower surface skin waste material pressing cylinder which are matched with the upper surface skin waste material supporting frame and the lower surface skin waste material supporting frame, and the axial direction of the upper surface skin waste material pressing cylinder and the axial direction of the lower surface skin waste material pressing cylinder are perpendicular to the axial direction of the hook claw cylinder. When taking materials, the piston rods of the upper and lower surface skin waste material pressing cylinders extend out and press the surfaces of the upper and lower surface skin waste materials between the upper and lower surface skin waste material connecting frames and the upper and lower surface skin waste material supporting frames to fix the upper and lower surface skin waste materials.
Furthermore, the pneumatic clamping jaw mechanism comprises a clamping jaw mounting frame arranged on the connecting frame and a pair of clamping plate assemblies arranged at two ends of the clamping jaw mounting frame in parallel. The two clamping plate components are symmetrically arranged.
Further, splint subassembly including set up the fixed splint on the clamping jaw mounting bracket, set up the activity splint cylinder on the clamping jaw mounting bracket and set up at activity splint cylinder tip and with the activity splint of fixed splint looks adaptation. The piston rod in the movable clamping plate cylinder stretches out and draws back to drive the movable clamping plate to move close to or far away from the fixed clamping plate, and then the clamping process is completed.
Furthermore, a robot connecting seat is arranged on the connecting frame. The robot connecting seat is convenient for installing the waste gripping device on the robot.
The utility model discloses in collude with pneumatics and get mechanism and pneumatic clamping jaw mechanism and make up, the pneumatic removal of mechanism mainly used polyurethane foam board epidermis waste material about colluding, the getting of pneumatic clamping jaw mechanism mainly used polyurethane foam board side waste material. The using process is as follows:
firstly, after the upper skin of a workpiece is cut, the next procedure can be carried out only after the lower skin waste is removed by matching a robot with a grabbing device, and the grabbing mode with a hook claw assembly is adopted only when the characteristics of uneven surface and large size error of a foaming material are limited.
Secondly, after the epidermis cutting is accomplished under the work piece, can get into next process after must cooperating grabbing device with the upper epidermis waste material through the robot, this process is in expanded material's bottom, and is level and smooth relatively, structural design go up with the process one the same can.
And finally, after the side waste of the workpiece is cut, the next process can be carried out only after the side waste is removed by the robot matched with the grabbing device, and the thickness of the side waste produced in the process is in the range of 60-300 mm due to different thicknesses of the foam plates of different models, if the maximum waste and the minimum waste are difficult to be compatible by adopting a sucking disc mode, the side waste of different sizes can be removed by adopting a pneumatic clamping jaw mechanism.
Compared with the prior art, the utility model has the characteristics of it is following:
1) the utility model adopts the mode of combining 'hooking' and 'grabbing' to realize the grabbing of various residual wastes in the processing process of the polyurethane foam board, and the grabbing of the upper and lower skins and the side wastes of the polyurethane foam board can be realized through one grabbing device, so that the mechanical structure is simple and compact, the working efficiency is improved, and the production cost is reduced;
2) the pneumatic hooking mechanism is used for scraping the upper and lower surface waste materials of the polyurethane foam plate, so that the sensitivity of the grabbing device to dust is reduced, the grabbing stability of the pneumatic hooking mechanism is higher compared with that of a sucker device, the problem that a common clamping jaw cannot grab the polyurethane foam plate is solved, the efficiency of an automatic production line is improved, and the maintenance cost is reduced;
3) the pneumatic mode is adopted, only compressed air in a workshop needs to be used, the air path is simple, purchase of additional equipment is reduced, and production cost is further reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the pneumatic hooking mechanism after grabbing the upper and lower skin waste materials;
FIG. 3 is a schematic structural view of the pneumatic hooking mechanism of the present invention when releasing the upper and lower epidermis waste materials;
fig. 4 is a schematic structural view of the pneumatic clamping jaw mechanism after grabbing side waste materials;
the notation in the figure is:
the device comprises a connecting frame 1, a connecting plate 2, a hook claw connecting plate 3, a front hook claw 4, a rear hook claw 5, a hook claw cylinder 6, an upper surface skin waste supporting frame, a lower surface skin waste supporting frame 7, an upper surface skin waste compressing cylinder, a lower surface skin waste compressing cylinder 8, a clamping jaw mounting frame 9, a fixed clamping plate 9, a movable clamping plate 10, a movable clamping plate cylinder 11, a robot connecting seat 12, upper surface skin waste, lower surface skin waste 13 and side waste 14.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example (b):
the pneumatic waste grabbing device for processing the special-shaped polyurethane foam board comprises a connecting frame 1 and a pair of working units arranged on the connecting frame 1 in parallel, wherein each working unit comprises a pneumatic hooking mechanism arranged at one end of the connecting frame 1 and a pneumatic clamping jaw mechanism arranged at the other end of the connecting frame 1.
The pneumatic hooking mechanism comprises a hooking claw connecting plate 2 movably arranged on the connecting frame 1, a hooking claw assembly arranged on the hooking claw connecting plate 2 and a hooking claw cylinder 5 arranged on the connecting frame 1 and in transmission connection with the hooking claw assembly. The connecting frame 1 is provided with a slide rail which is parallel to the axial direction of the hook claw cylinder 5, the slide rail is provided with a slide block, and the hook claw connecting plate 2 is arranged on the slide block. The hook claw component comprises a front hook claw 3 and a rear hook claw 4 which are respectively arranged at two ends of the hook claw connecting plate 2. The front hook claw 3 and the rear hook claw 4 are C-shaped, and the end part of a piston rod of the hook claw cylinder 5 is connected with the top of the front hook claw 3. Still be equipped with on the link 1 with collude upper and lower epidermis waste material support frame 6 of claw subassembly looks adaptation, the bottom of colluding the claw 4 after moves and sets up between link 1 and upper and lower epidermis waste material support frame 6. The connecting frame 1 is also provided with an upper and lower surface skin waste material pressing cylinder 7 matched with the upper and lower surface skin waste material supporting frames 6, and the axial direction of the upper and lower surface skin waste material pressing cylinder 7 is vertical to the axial direction of the hook claw cylinder 5.
The pneumatic clamping jaw mechanism comprises a clamping jaw mounting frame 8 arranged on the connecting frame 1 and a pair of clamping plate assemblies arranged at two ends of the clamping jaw mounting frame 8 in parallel. The clamping plate assembly comprises a fixed clamping plate 9 arranged on the clamping jaw mounting frame 8, a movable clamping plate cylinder 11 arranged on the clamping jaw mounting frame 8 and a movable clamping plate 10 arranged at the end part of the movable clamping plate cylinder 11 and matched with the fixed clamping plate 9.
The connecting frame 1 is provided with a robot connecting seat 12.
The use process of the waste material gripping device is as follows:
(1) when the first processing is carried out, the upper leather sawing machine enters a dust removal position after the processing is finished, and the robot drives the gripping device to grip the upper leather waste and send the upper leather waste to the waste trolley for stacking. The grabbing device acts as: as shown in fig. 2, when the waste material is grabbed, a piston rod in the claw hooking cylinder 5 extends out, enters a grabbing position after extending out to the right position, and then retracts back; after the waste material pressing cylinder retracts to the right position, the piston rods in the upper and lower surface skin waste material pressing cylinders 7 extend out to press the waste material to the right position, and then the robot acts. As shown in fig. 3, when the waste is released, the piston rods in the upper and lower skin waste pressing cylinders 7 are retracted, and then the piston rods in the claw hooking cylinders 5 are extended to release the waste. After the waste materials are released, a sensor on the pneumatic hooking mechanism detects a waste material-free signal, the piston rod in the claw hooking cylinder 5 is controlled to retract, and the robot returns to the original point or enters the next action.
(2) And during the first processing, after the lower surface skin sawing machine finishes processing, the robot drives the gripping device to grip and convey the lower surface skin waste to the waste trolley and stack the waste. The grabbing device acts the same as (1).
(3) When processing for the first time, after the CNC processing of the side edge is finished, the robot takes the grabbing device to grab and send the side edge waste materials to the waste material trolley, and the side edge waste materials are stacked. The grabbing device acts as: as shown in fig. 4, the clamping plate assemblies on both sides sequentially clamp the side waste, and after the clamping on one side is completed, the clamping device moves a distance to the other side to clamp the waste on the other side.
(4) Follow-up processing snatchs the signal and carries out corresponding operation according to the waste material that processing equipment sent, and when three equipment simultaneously sent the signal, the priority satisfied: 1. removing side waste materials; 2. removing the skin waste; 3. removing the upper surface skin waste.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.
Claims (10)
1. The utility model provides a pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board which characterized in that, this grabbing device includes link (1) and a pair of work unit that sets up side by side on link (1), work unit including set up the pneumatic mechanism of getting and set up the pneumatic gripper mechanism at the link (1) other end of colluding in link (1) one end.
2. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam board as claimed in claim 1, wherein the pneumatic hooking mechanism comprises a hooking claw connecting plate (2) movably arranged on the connecting frame (1), a hooking claw assembly arranged on the hooking claw connecting plate (2), and a hooking claw cylinder (5) arranged on the connecting frame (1) and in transmission connection with the hooking claw assembly.
3. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam plate as claimed in claim 2, wherein a sliding rail parallel to the axial direction of the hook cylinder (5) is arranged on the connecting frame (1), a sliding block is arranged on the sliding rail, and the hook connecting plate (2) is arranged on the sliding block.
4. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam board as claimed in claim 2, wherein the hooking claw assembly comprises a front hooking claw (3) and a rear hooking claw (4) which are respectively arranged at two ends of the hooking claw connecting plate (2).
5. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam board as claimed in claim 4, wherein the front hook claw (3) and the rear hook claw (4) are C-shaped, and the end of a piston rod of the hook claw cylinder (5) is connected with the top of the front hook claw (3).
6. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam board as claimed in claim 4, wherein the connecting frame (1) is further provided with upper and lower surface skin waste supporting frames (6) matched with the hook claw assembly, and the bottom of the rear hook claw (4) is movably arranged between the connecting frame (1) and the upper and lower surface skin waste supporting frames (6).
7. The pneumatic waste grabbing device for processing the special-shaped polyurethane foam board as claimed in claim 6, wherein the connecting frame (1) is further provided with an upper and lower surface skin waste pressing cylinder (7) matched with the upper and lower surface skin waste supporting frames (6), and the axial direction of the upper and lower surface skin waste pressing cylinder (7) is perpendicular to the axial direction of the hook claw cylinder (5).
8. The pneumatic waste gripping device for profiled polyurethane foam board processing according to claim 1, wherein the pneumatic clamping jaw mechanism comprises a clamping jaw mounting frame (8) arranged on the connecting frame (1) and a pair of clamping plate assemblies arranged at two ends of the clamping jaw mounting frame (8) in parallel.
9. The pneumatic waste gripping device for profiled polyurethane foam board processing according to claim 8 is characterized in that the clamping plate assembly comprises a fixed clamping plate (9) arranged on the clamping jaw mounting rack (8), a movable clamping plate cylinder (11) arranged on the clamping jaw mounting rack (8) and a movable clamping plate (10) arranged at the end of the movable clamping plate cylinder (11) and matched with the fixed clamping plate (9).
10. The pneumatic waste gripping device for processing profiled polyurethane foam boards as claimed in claim 1, wherein the connecting frame (1) is provided with a robot connecting seat (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920742881.2U CN210282341U (en) | 2019-05-22 | 2019-05-22 | A pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920742881.2U CN210282341U (en) | 2019-05-22 | 2019-05-22 | A pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210282341U true CN210282341U (en) | 2020-04-10 |
Family
ID=70070192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920742881.2U Expired - Fee Related CN210282341U (en) | 2019-05-22 | 2019-05-22 | A pneumatic type waste material grabbing device for processing of dysmorphism polyurethane foam board |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210282341U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125961A (en) * | 2019-05-22 | 2019-08-16 | 上海交通大学 | A kind of pneumatic type waste material grabbing device for the processing of special-shaped polyurethane foam board |
-
2019
- 2019-05-22 CN CN201920742881.2U patent/CN210282341U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125961A (en) * | 2019-05-22 | 2019-08-16 | 上海交通大学 | A kind of pneumatic type waste material grabbing device for the processing of special-shaped polyurethane foam board |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |