CN210285929U

CN210285929U - Feeding positioning manipulator

Info

Publication number: CN210285929U
Application number: CN201921108384.3U
Authority: CN
Inventors: 吴新佳
Original assignee: Wuxi Qiangtong Machinery Co ltd
Current assignee: Wuxi Qiangtong Machinery Co ltd
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-04-10
Anticipated expiration: 2029-07-15

Abstract

The utility model relates to a feeding positioning manipulator, which comprises a suction disc frame; the sucker frame comprises a first speed reducing motor; the suction disc frame is hinged with the z-axis lifting assembly to drive the z-axis lifting assembly to move in the x direction; the z-axis lifting assembly is fixedly connected with the y-direction driving assembly and drives the y-direction driving assembly to do lifting motion; a vacuum pumping device is arranged on the horizontal component; the vacuumizing device comprises a rectangular tube; a threaded tee joint is arranged above a web plate of the rectangular pipe; the main inlet of the threaded tee joint is connected with the air outlet of the fan through a pipeline; the secondary inlet of the threaded tee joint is connected with the first cylinder; the side edges of the flanges of the rectangular pipes are provided with a plurality of through holes; the through hole is communicated with an outlet of the threaded tee joint through a pipeline; the fan supplies and exhausts air to the suction cup device through the through hole. The utility model discloses showing and reducing application energy consumption, the quick release work piece improves operational reliability, avoids the panel landing, realizes high production rate.

Description

Feeding positioning manipulator

Technical Field

The utility model relates to an automation equipment field, in particular to material loading positioning manipulator.

Background

In the sheet metal stamping production of medium and small enterprises, single-process dies are most common. In many cases, the blank is first punched (or formed, bent, etc.). When feeding in the second process, especially thin plate pieces, are inconvenient and unsafe.

Meanwhile, on the construction site, the board decoration materials are often required to be carried, at present, a flat car is usually used for carrying the boards, the boards are horizontally arranged on a transport vehicle during loading, no carrying operation gap exists between the boards which are stacked layer by layer, so that crushing is easily caused during unloading, and the carrying efficiency is low, so that how to carry the boards more safely and more efficiently becomes a technical problem which needs to be solved in the field urgently.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model discloses a material loading positioning manipulator.

The utility model discloses the technical scheme who adopts as follows:

a feeding positioning manipulator comprises a suction disc frame; the sucker frame comprises a horizontal component; the horizontal assembly comprises two first main beams which are parallel to each other; the long side direction of the first main beam is taken as an x axis, the short side direction of the first main beam is taken as a y axis, and the height direction of the first main beam is taken as a z axis; the two first main beams are connected together through a connecting plate arranged at the end part of each first main beam; a fixed secondary beam parallel to the connecting plate is arranged between the two first main beams; an x-direction driving assembly is arranged between the two parallel first main beams; the x-direction driving assembly comprises a first speed reduction motor; an output shaft of the first speed reducing motor penetrates through the fixed secondary beam and is connected with the sliding block; the side wall of the first main beam is provided with a plurality of sections of guide rails; the sliding block is embedded on the guide rail; the top of the sliding block is hinged with the z-axis lifting assembly, and the first speed reduction motor drives the z-axis lifting assembly to move in the x direction; the z-axis lifting assembly is fixedly connected with the y-direction driving assembly, and drives the y-direction driving assembly to perform lifting motion; a vacuumizing device is arranged on the horizontal assembly; the vacuumizing device comprises a rectangular tube; a threaded tee joint is arranged above a web plate of the rectangular pipe; the main inlet of the threaded tee joint is connected with the air outlet of the fan through a pipeline; the secondary inlet of the threaded tee joint is connected with the first cylinder; the side edges of the flanges of the rectangular pipes are provided with a plurality of through holes; the through hole is communicated with an outlet of the threaded tee joint through a pipeline; and the fan supplies and exhausts air to the suction disc device through the through hole.

The method is further characterized in that: the z-axis lifting assembly comprises a lifting frame and a second speed reduction motor; the lifting frame comprises a motor mounting seat; the motor mounting seat comprises a platform plate; the platform plate is fixed on two parallel fixed beams; a pair of first bearing seats is arranged on the fixed beam; a gasket is arranged at the bottom of the fixed beam; the gasket is fixed on the y-direction driving assembly; the second speed reducing motor comprises a box body and a pair of output shafts; the box body is fixed on the motor mounting seat; the pair of output shafts respectively penetrate through the first bearing seats.

The method is further characterized in that: the y-direction driving component comprises a walking trolley; the traveling trolley is arranged on the portal frame; the walking trolley comprises a walking frame; the walking frame comprises two second main beams which are parallel to each other; connecting beams are arranged at the end parts of the two sides of the second main beam and connect the two second main beams together; a plurality of first secondary beams are arranged between the two second main beams; a sliding column is arranged between every two adjacent first secondary beams; the two sides of the sliding column are symmetrically provided with angle braces; one end of the angle brace is fixed on the inner wall of the second main beam, and the other end of the angle brace is fixed on the outer wall of the sliding column; the two sides of the walking frame are respectively provided with a walking component; the walking assembly on one side is driven by a third speed reducing motor to move along the y-axis direction; a z-axis lifting assembly is arranged above the walking frame; the fan is fixed on the walking frame.

The method is further characterized in that: the walking assembly comprises a connecting rod; two ends of the connecting rod are sleeved with second bearing blocks; the second bearing seat is fixed on the walking frame; driven wheels are arranged at two ends of the connecting rod; the driven wheel moves along the y-axis direction; and the connecting rod at one side is connected with a rotating shaft of the third speed reduction motor through a coupler.

The method is further characterized in that: a plurality of first pulleys are symmetrically arranged on the sliding column.

The utility model has the advantages as follows:

the utility model discloses a full automatization production line's panel feeding process designs, at this in-process, the utility model discloses at first pick up metal sheet (magnetism and non-magnetism nature), plastic slab, plank or cardboard that laminate together, then with panel input production line. The fan, the air cylinder and the suction disc are the best choices for picking or separating the plates, and the most suitable suction disc is selected to ensure the efficient separation of the plates and avoid the sliding of the plates in the carrying process.

The utility model discloses showing and reducing application energy consumption, the quick release work piece improves operational reliability, avoids the panel landing, realizes high production rate.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the suction cup holder.

FIG. 3 is a schematic view of a z-axis lift assembly.

Fig. 4 is a schematic structural diagram of the y-direction driving assembly.

Fig. 5 is a side view of fig. 4.

In the figure: 1. a suction cup holder; 11. a first main beam; 12. a connecting plate; 13. fixing the secondary beam; 14. a rectangular tube; 15. a threaded tee; 16. a first cylinder; 17. a through hole; 18. a fan; 21. a first reduction motor; 22. a slider; 23. a guide rail; 31. a hoisting frame; 32. a platform plate; 33. a fixed beam; 34. a first bearing housing; 35. a second reduction motor; 41. a walking trolley; 411. a traveling frame; 412. a second main beam; 413. a tie-beam; 414. a first secondary beam; 415. a sliding post; 416. a corner brace; 417. a first pulley; 42. a gantry; 43. a walking assembly; 431. a connecting rod; 432. a second bearing housing; 433. a driven wheel; 44. and a third reduction motor.

Detailed Description

The foregoing and other features, aspects and utilities of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings. Directional terms as referred to in the following examples, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Therefore, the directional terminology used is for the purpose of describing, but not limiting, the invention, and moreover, like reference numerals designate like elements throughout the embodiments.

The following describes a specific embodiment of the present embodiment with reference to the drawings.

Fig. 1 is a schematic structural view of the present invention, and fig. 2 is a schematic structural view of a suction cup holder. Referring to fig. 1 and 2, a feeding positioning manipulator includes a suction cup holder 1. The suction cup holder 1 comprises a horizontal assembly. The horizontal assembly comprises two first main beams 11 parallel to each other. The longitudinal direction of the first main beam 11 is defined as an x-axis, the short-side direction of the first main beam 11 is defined as a y-axis, and the height direction of the first main beam 11 is defined as a z-axis. The two first main beams 11 are connected together by a connecting plate 12 provided at the end thereof. A fixed secondary beam 13 parallel to the connecting plate 12 is arranged between the two first main beams 11. An x-direction driving assembly is arranged between the two parallel first main beams 11.

The x-direction drive assembly includes a first reduction motor 21. The output shaft of the first reduction motor 21 passes through the fixed sub-beam 13 and is connected with the slider 22. The side wall of the first main beam 11 is provided with a plurality of sections of guide rails 23. The slider 22 is fitted to the guide rail 23. The top of the slide block 22 is hinged with the z-axis lifting assembly, and the first speed reduction motor 21 drives the z-axis lifting assembly to move in the x direction. The z-axis lifting assembly is fixedly connected with the y-direction driving assembly, and the z-axis lifting assembly drives the y-direction driving assembly to do lifting motion. The first speed reduction motor 21 drives the output shaft to rotate, and when the output shaft rotates, the suction disc frame 1 is driven to move along the X direction relative to the first main beam 11, so that the position of the suction disc frame 1 in the X direction is adjusted, namely the X-direction suction position of a suction plate is adjusted. A rack (not shown) on one side of the suction cup holder 1 in the X direction is provided with a travel switch (not shown) for detecting the X-direction position of the suction cup holder 1, and when the X direction is adjusted to a proper position, the travel switch stops the operation of the first reduction motor 21.

And a vacuum pumping device is arranged on the horizontal component. The evacuation device comprises a rectangular tube 14. And a threaded tee 15 is arranged above the web of the rectangular pipe 14. The main inlet of the threaded tee 15 is connected with the air outlet of the fan 18 through a pipeline. The secondary inlet of the threaded tee 15 is connected to a first cylinder 16. The flange side of the rectangular pipe 14 is provided with a plurality of through holes 17. The through hole 17 is communicated with the outlet of the thread tee 15 through a pipeline. The blower 18 supplies and exhausts air to and from the suction cup device through the through hole 17. The suction cup means comprises a second cylinder communicating with the through hole 17. And a piston rod of the second cylinder is connected with the vacuum chuck.

Fig. 3 is a schematic structural view of a z-axis lifting assembly, and fig. 4 is a schematic structural view of a y-direction driving assembly. Referring to fig. 3 and 4, the z-axis lift assembly includes a lift frame 31. The lifting frame 31 includes a pair of vertical guide rods. A pair of vertical guide rods are connected together by a transverse guide rod. The sliding post 415 fits over the vertical guide bar. The lifting frame 31 further comprises a motor mount. The motor mount includes a platform plate 32. The platform plate 32 is fixed to two mutually parallel fixed beams 33. A pair of first bearing seats 34 are mounted on the fixed beam 33. The bottom of the fixed beam 33 is provided with a gasket. The spacer is fixed to the y-direction drive assembly. The second reduction motor 35 includes a case and a pair of output shafts. The box is fixed on the motor mounting seat. A pair of output shafts respectively pass through the first bearing blocks 34. A first belt pulley is sleeved on the pair of output shafts, a second belt pulley is sleeved on the transverse guide rod of the lifting frame 31, and a circle of closed belt is tensioned on the first belt pulley and the second belt pulley. When the z-axis lifting assembly drives the whole y-direction driving assembly to move downwards to the plate through the belt transmission of the second speed reducing motor 35, the travel switch of the lifting limit detection device detects that the descending distance of the lifting frame 31 receives a signal, and then the lifting frame 31 stops descending.

Fig. 5 is a side view of fig. 4. Referring to fig. 4 and 5, the y-direction drive assembly includes a traveling carriage 41. The traveling trolley 41 is mounted on a gantry 42. Gantry 42 includes a cantilevered beam that is parallel to the y-axis. The traveling carriage 41 includes a traveling frame 411. The walking frame 411 comprises two second main beams 412 parallel to each other. The two ends of the second main beam 412 are provided with connecting beams 413, and the connecting beams 413 connect the two second main beams 412 together.

A plurality of first secondary beams 414 are disposed between the two second main beams 412. A lifting limit detection device is fixed below the first secondary beam 414; the lifting limit detection device comprises a plurality of travel switches arranged in a ladder manner. A sliding column 415 is arranged between two adjacent first secondary beams 414. A plurality of first pulleys 417 are symmetrically mounted on the sliding column 415. The first pulley 417 is movable in the z-axis direction. The angle braces 416 are symmetrically disposed on both sides of the sliding column 415. One end of the angle brace 416 is fixed to the inner wall of the second main beam 412, and the other end of the angle brace 416 is fixed to the outer wall of the sliding post 415. The traveling assemblies 43 are respectively installed at both sides of the traveling frame 411. The traveling unit 43 on one side is moved in the y-axis direction by the third reduction motor 44. A z-axis lifting assembly is disposed above the traveling frame 411. The fan 18 is fixed to the traveling frame 411.

The end of the tie beam 413 secures the secondary horizontal displacement assembly. The auxiliary horizontal moving assembly comprises a T-shaped plate. The web of the T-bar is secured to the tie beam 413. And a limiting plate is fixed at the bottom of the flange of the T-shaped plate. And the limiting plate is provided with a second pulley. The second pulley moves in the y-axis direction.

Undercarriage assembly 43 includes a link 431. The connecting rod 431 is sleeved with a second bearing seat 432 at two ends. The second bearing housing 432 is fixed to the traveling frame 411. Both ends of the connecting rod 431 are provided with driven wheels 433. The driven wheel 433 moves in the y-axis direction. The one-side link 431 is connected to a rotation shaft of the third reduction motor 44 through a coupling. The third gear motor 44 drives the walking assembly 43 on one side to move in the y-axis direction, and the walking assembly 43 on one side drives the horizontal walking assembly 43 on the other side to move in the y-axis direction. Thus, the y-direction driving assembly drives the suction cup frame 1 and the z-axis lifting assembly to move in the y-axis direction.

First, the sheet material is picked up. After x direction drive assembly and y direction drive assembly move to the panel top of a station through appointed route, z axle lifting unit drive x direction drive assembly and y direction drive assembly descend, and after sucking disc device laminating panel, the air in the pipeline of fan 18 extraction and vacuum chuck intercommunication for vacuum chuck adsorbs panel.

The panel is then unloaded. After x direction drive assembly and y direction drive assembly pass through the panel top of appointed route motion to another station, z axle lift assembly drives x direction drive assembly and the decline of y direction drive assembly, and after panel was close the station platform, the inside vacuum of sucking disc can be released fast to the automatic release function of first cylinder 16 to release the work piece fast.

The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made without departing from the basic structure of the invention.

Claims

1. The utility model provides a material loading positioning manipulator which characterized in that: comprises a suction cup frame (1); the suction cup frame (1) comprises a horizontal component; the horizontal assembly comprises two first main beams (11) which are parallel to each other; the long side direction of the first main beam (11) is taken as an x axis, the short side direction of the first main beam (11) is taken as a y axis, and the height direction of the first main beam (11) is taken as a z axis; the two first main beams (11) are connected together through connecting plates (12) arranged at the ends of the first main beams; a fixed secondary beam (13) parallel to the connecting plate (12) is arranged between the two first main beams (11); an x-direction driving assembly is arranged between the two parallel first main beams (11); the x-direction drive assembly comprises a first speed reduction motor (21); an output shaft of the first speed reducing motor (21) penetrates through the fixed secondary beam (13) and is connected with the sliding block (22); the side wall of the first main beam (11) is provided with a plurality of sections of guide rails (23); the slide block (22) is embedded on the guide rail (23); the top of the sliding block (22) is hinged with the z-axis lifting assembly, and the first speed reducing motor (21) drives the z-axis lifting assembly to move in the x direction; the z-axis lifting assembly is fixedly connected with the y-direction driving assembly, and drives the y-direction driving assembly to perform lifting motion; a vacuumizing device is arranged on the horizontal assembly; the vacuum-pumping device comprises a rectangular tube (14); a threaded tee joint (15) is arranged above a web plate of the rectangular pipe (14); the main inlet of the threaded tee joint (15) is connected with the air outlet of the fan (18) through a pipeline; the secondary inlet of the threaded tee joint (15) is connected with a first cylinder (16); the side edges of the flanges of the rectangular pipe (14) are provided with a plurality of through holes (17); the through hole (17) is communicated with an outlet of the threaded tee joint (15) through a pipeline; and the fan (18) supplies and exhausts air to and from the suction disc device through the through hole (17).

2. The feeding positioning manipulator according to claim 1, characterized in that: the z-axis lifting assembly comprises a lifting frame (31) and a second speed reduction motor (35); the lifting frame (31) comprises a motor mounting seat; the motor mounting base comprises a platform plate (32); the platform plate (32) is fixed on two parallel fixed beams (33); a pair of first bearing seats (34) is mounted on the fixed beam (33); a gasket is arranged at the bottom of the fixed beam (33); the gasket is fixed on the y-direction driving assembly; the second speed reducing motor (35) comprises a box body and a pair of output shafts; the box body is fixed on the motor mounting seat; a pair of the output shafts respectively pass through the first bearing seats (34).

3. The feeding positioning manipulator according to claim 1, characterized in that: the y-direction driving component comprises a walking trolley (41); the traveling trolley (41) is arranged on the portal frame (42); the walking trolley (41) comprises a walking frame (411); the walking frame (411) comprises two second main beams (412) which are parallel to each other; connecting beams (413) are arranged at the end parts of two sides of the second main beam (412), and the connecting beams (413) connect the two second main beams (412) together; a plurality of first secondary beams (414) are arranged between the two second main beams (412); a sliding column (415) is arranged between every two adjacent first secondary beams (414); the two sides of the sliding column (415) are symmetrically provided with angle braces (416); one end of the angle brace (416) is fixed on the inner wall of the second main beam (412), and the other end of the angle brace (416) is fixed on the outer wall of the sliding column (415); two sides of the walking frame (411) are respectively provided with a walking component (43); the walking assembly (43) on one side is driven by a third speed reducing motor (44) to move along the y-axis direction; a z-axis lifting assembly is arranged above the walking frame (411); the fan (18) is fixed on the walking frame (411).

4. The feeding positioning manipulator according to claim 3, characterized in that: the walking assembly (43) comprises a connecting rod (431); two ends of the connecting rod (431) are sleeved with second bearing seats (432); the second bearing seat (432) is fixed on the walking frame (411); both ends of the connecting rod (431) are provided with driven wheels (433); the driven wheel (433) moves along the y-axis direction; and the connecting rod (431) at one side is connected with the rotating shaft of the third speed reducing motor (44) through a coupler.

5. The feeding positioning manipulator according to claim 3, characterized in that: a plurality of first pulleys (417) are symmetrically arranged on the sliding column (415).