CN213325583U

CN213325583U - Mechanical gripper for grabbing sheet metal

Info

Publication number: CN213325583U
Application number: CN202021289612.4U
Authority: CN
Inventors: 赵伟; 简思鑫; 牟彬
Original assignee: Chongqing Artop Intelligent Technology Research Institute Co Ltd
Current assignee: Chongqing Artop Intelligent Technology Research Institute Co Ltd
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2021-06-01
Anticipated expiration: 2030-07-03

Abstract

The utility model relates to the technical field of metal plate bending, and discloses a mechanical gripper for gripping metal plate materials, which comprises a mechanical arm moving in space, wherein two guide rail strips arranged in parallel and a plurality of mounting plates are arranged on the mechanical arm, the mounting plates are arranged in parallel at intervals, and a track extending along the length direction of the guide rail strips is arranged in the guide rail strips; the mounting plate is arranged perpendicular to the guide rail strips, two convex blocks are arranged on the back of the mounting plate, and the two convex blocks are movably arranged in the tracks of the two guide rail strips respectively; the front surface of the mounting plate is provided with a plurality of grabbing suckers which extend along the length direction of the mounting plate; the arm can be in the space removal, snatchs the metal plates material through the sucking disc that snatchs of mounting panel, does not need artifical transport metal plates material, improves operating efficiency greatly, and the interval between a plurality of mounting panels can be adjusted, according to the size of metal plates material, can adjust and snatch the scope.

Description

Mechanical gripper for grabbing sheet metal

Technical Field

The patent of the utility model relates to a technical field that the panel beating was bent particularly, relates to a mechanical tongs for snatching panel beating material.

Background

The sheet metal bending is a main process of sheet metal manufacturing, and is commonly used in production processes of elevator door plates, electric control cabinet shells and the like, and the bent sheet metal finally becomes a part of a product through processes of welding, spraying and the like.

In the prior art, during the metal plate bending process, the metal plate is manually conveyed to a cutter of a bending machine to complete the bending work. Workers undertake the carrying work in the whole bending process, the labor intensity is high, particularly in the large-scale metal plate bending process, 2-4 persons are often required to carry the plates due to the large plates, the labor cost is high, and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical tongs for snatching panel beating material aims at solving prior art, and the panel beating material relies on artifical transport, has the problem that operating efficiency is too low.

The utility model discloses a realize like this for snatch metal plate material's mechanical tongs, including the arm of space removal, be provided with two guide rail strips and a plurality of mounting panel that arrange in parallel on the arm, a plurality of the parallel interval arrangement of mounting panel, be provided with the track of extending the arrangement along guide rail strip length direction in the guide rail strip; the mounting plate is arranged perpendicular to the guide rail strips, two convex blocks are arranged on the back of the mounting plate, and the two convex blocks are movably arranged in the tracks of the two guide rail strips respectively; the front of mounting panel is provided with a plurality of suckers that snatch, and a plurality of suckers that snatch are followed the length direction of mounting panel extends and arranges.

Further, the front of mounting panel is connected with the skew board, the one end of skew board is connected on the front of mounting panel, the skew mounting panel of the other end of skew board outwards extends, forms the levitation section, it connects to snatch the sucking disc on the levitation section of skew board.

Furthermore, the mounting plate is connected with a plurality of deviation plates, the deviation plates are arranged at intervals along the length direction of the mounting plate, and the deviation plates are arranged in the same direction in a deviation mode.

Furthermore, the mechanical arm is connected with a fixing plate, and the fixing plate is connected to the back surfaces of the two guide rail strips.

Furthermore, a fixing head arranged away from the guide rail bar is connected to the fixing plate, and the mechanical arm is connected to the fixing head.

Further, the back surface of the guide rail bar is provided with an adjusting groove bar, and the adjusting groove bar extends along the length direction of the guide rail bar; the fixed plate is provided with a connecting column which is movably embedded in the adjusting groove strips.

Furthermore, a vacuum generator is arranged on the fixing plate and connected with the grabbing sucker through a pipeline.

Further, a through pipe is arranged between the two guide rail bars, the through pipe extends along the length direction of the guide rail bars, and the pipeline is embedded in the through pipe.

Further, the through pipe is respectively connected with a plurality of mounting plates.

Further, be provided with on the mounting panel and hide the pipe groove, hide the pipe groove along the length direction extension of mounting panel arranges, pipeline in the siphunculus wears to in hiding the pipe groove.

Compared with the prior art, the utility model provides a mechanical tongs for snatching panel metal material, the arm can remove in the space, snatchs the panel metal material through the sucking disc that snatchs of mounting panel, does not need artifical transport panel metal material, improves operating efficiency greatly, and the interval between a plurality of mounting panels can be adjusted, according to the size of panel metal material, can adjust and snatch the scope.

Drawings

Fig. 1 is a schematic perspective view of a full-automatic sheet metal bending apparatus provided by the present invention;

fig. 2 is a schematic perspective view of a mechanical gripper for gripping sheet metal provided by the present invention;

fig. 3 is a schematic top view of a stack tray and electromagnet arrangement provided by the present invention;

fig. 4 is a schematic perspective view of a sheet metal detecting structure provided by the present invention;

fig. 5 is a schematic perspective view of a side positioning structure provided by the present invention;

fig. 6 is a schematic front view of the plate turnover auxiliary structure provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following describes the implementation of the present invention in detail with reference to specific embodiments.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

Referring to fig. 1-6, the preferred embodiment of the present invention is shown.

The full-automatic sheet metal bending equipment provided by the embodiment is used for respectively bending the front surface and the back surface of the sheet metal 600.

The full-automatic sheet metal bending equipment comprises a stacker 400 for placing sheet metal 600, a mechanical arm 300 which is used for grabbing the front side of the sheet metal 600 on the stacker 400 and moves spatially, a sheet metal detection structure 700 for detecting whether the sheet metal 600 on the mechanical arm 300 is single sheet metal, a side positioning structure 200 for performing side positioning on the sheet metal 600 on the mechanical arm 300, and a bending machine for performing bending operation on the sheet metal 600; according to the bending operation procedure of the sheet metal 600, the stacking tray 400, the side positioning structure 200 and the bending machine are sequentially arranged in a surrounding manner at intervals to form a processing surrounding ring, and the mechanical arm 300 is located in the processing surrounding ring.

The sheet metal 600 can be placed in batches on the stacker 400 by a forklift or the like, and the robot 300 is a common spatial moving structure, such as a robot and the like which are conventional at present and can move in three degrees of freedom in space and rotate in three degrees of freedom; after the mechanical arm 300 grabs the metal plate 600, the detection is carried out through the metal plate detection structure 700, so that the metal plate 600 grabbed by the mechanical arm 300 is ensured to be a single metal plate 600; after the mechanical arm 300 grabs a single sheet metal 600, the sheet metal 600 is placed on the side positioning structure 200 to position the sheet metal 600, so that the grabbing precision of the mechanical arm 300 to the sheet metal 600 is ensured; the bending machine is a conventional device, and is mainly used for bending the front surface and the back surface of the sheet metal 600.

Above-mentioned full-automatic panel beating equipment of bending that provides utilizes arm 300 to snatch panel metal material 600, and arm 300 is arranged in the processing enclosure of stacking tray 400, side location structure 200 and bender, and the transportation of snatching of arm 300 of being convenient for to realize from the whole full automatic operation of material loading to bending, do not need artifical the participation, operating efficiency is higher.

A sheet metal turnover auxiliary structure 500 is arranged between the bending machine and the stacker 400, after the sheet metal 600 is placed in the bending machine to be bent in the front side by the mechanical arm 300, the sheet metal 600 with the bent in the front side is placed in the sheet metal 600 reverse side auxiliary structure, and then the sheet metal 600 in the sheet metal turnover auxiliary structure 500 is grabbed by the mechanical arm 300, and the sheet metal 600 is placed in the bending machine to be bent in the reverse side.

The sheet metal turnover auxiliary structure 500 is used as a transfer structure and comprises a longitudinal frame which is longitudinally arranged, the longitudinal frame comprises two transverse strips 502 which are vertically arranged at intervals, and turnover suckers 503 are arranged on the transverse strips 502; after the mechanical arm 300 abuts the front surface of the plate 600 to be turned on the reverse side sucker, the mechanical arm 300 releases the plate 600, moves to the reverse side of the plate 600, grabs the reverse side of the plate 600, and then sends the grabbed plate 600 to a bending machine for reverse side bending.

The longitudinal frame comprises vertical columns 501 which are arranged longitudinally, the two transverse strips 502 are arranged on the vertical columns 501 at intervals up and down, one ends of the transverse strips 502 are movably connected to the vertical columns 501, the other ends of the transverse strips extend outwards and are arranged in a vacant mode, the other ends of the two transverse strips 502 extend in the same direction, openings are formed in the other ends of the two transverse strips 502, and therefore the mechanical arm 300 can move conveniently.

An electromagnet 401 is disposed on the outside of the stacker 400, and when the sheet 600 is placed on the stacker 400, the side of the sheet 600 contacts the electromagnet 401. Thus, after the sheet metal 600 is placed on the stacker 400, the side edges of the sheet metal 600 are in contact with the electromagnets 401 for magnetization, the magnetized side edges of the sheet metal 600 have the same magnetism and repel each other, so that the side edges of the adjacent sheet metal 600 are separated, and when the mechanical arm 300 grabs the sheet metal 600, air enters between the two sheet metal 600 from the side edges of the adjacent sheet metal 600 to break the vacuum between the sheet metal 600, and the sheet metal 600 below is prevented from being grabbed simultaneously.

After the plate 600 is magnetized by the electromagnet 401, it is demagnetized naturally in the later high-temperature spraying.

The stack 400 has an upper surface facing upward, and the upper surface of the stack 400 is provided with an electromagnetic sensor, so that when no sheet material 600 is present on the stack 400, the electromagnetic sensor detects the absence of the sheet material 600 and gives an alarm to prompt replacement of the sheet material 600.

The stacker 400 is square and arranged obliquely; in the oblique direction of the stacker 400, the lower portion of the stacker 400 has two oblique sides which are adjacently arranged, and the outer sides of the two oblique sides are respectively provided with the electromagnets 401, so that after the sheet metal 600 is placed on the stacker 400, the sheet metal 600 moves downwards to a proper position due to the oblique arrangement of the stacker 400, and the side of the sheet metal 600 abuts against the electromagnets 401.

On the outer side of stacker 400, magnetic switch 402 is arranged, when sheet material 600 is placed on stacker 400, the side edge of sheet material 600 abuts against magnetic switch 402, magnetic switch 402 outputs a signal, and electromagnet 401 is energized and conducts magnetism.

Sheet sensing structure 700 includes a longitudinal arm 707 disposed outside of stomp tray 400, the top of longitudinal arm 707 being formed with a top block 704 disposed downwardly; a moving shaft 701 moving up and down is arranged right below the upper top block 704, a moving plate 702 driven by the moving shaft 701 to move up and down is connected to the moving shaft 701, a lower top block 703 is arranged at the top of the moving plate 702, and the lower top block 703 is arranged up and down just opposite to the upper top block 704; a photoelectric sensor 705 is arranged on the outer side of the moving plate 702, and a shading plate 706 is arranged on the moving plate 702; when the gap between the upper top block 704 and the lower top block 703 is smaller than the thickness of the two sheet metal 600, the light shielding plate 706 shields the photoelectric sensor 705.

Thus, after the mechanical arm 300 grabs the sheet metal 600, the sheet metal 600 is placed between the upper top block 704 and the lower top block 703, the moving shaft 701 drives the lower top block 703 to move upwards until the upper top block 704 and the lower top block 703 abut against the upper end and the lower end of the sheet metal 600 respectively, at this time, if two or more sheet metal 600 are grabbed, the light shielding plate 706 cannot shield the photoelectric sensor 705, and thus, the plurality of sheet metal 600 grabbed by the mechanical arm 300 can be known; when the robot 300 grasps a single sheet 600, the photo-sensor 705 is shielded by the photo-mask 706.

The side edge positioning structure 200 comprises a square positioning plate 202 which is obliquely arranged, the lower part of the positioning plate 202 is provided with two adjacent positioning side edges according to the oblique direction of the top plate, the positioning side edges are provided with barrier strips 204, and the barrier strips 204 extend along the length direction of the positioning side edges; a plurality of balls 203 rolling in situ are projected on the positioning plate 202.

Thus, the sheet metal 600 placed on the positioning plate 202 is pressed against the rolling balls 203, and under the action of the gravity of the sheet metal 600, the sheet metal 600 moves downwards along the inclined direction of the positioning plate 202 until two adjacent side edges of the sheet metal 600 are respectively abutted against the blocking strips 204, so that the sheet metal 600 can be accurately positioned.

The positioning plate 202 has a lower end surface arranged downwards, a longitudinal column 201 arranged longitudinally is connected to the lower end surface of the positioning plate 202, and the top of the longitudinal column 201 is hinged with the lower end surface of the positioning plate 202. Thus, the inclination angle of the positioning plate 202 relative to the longitudinal column 201 can be adjusted according to different requirements.

The mechanical gripper for gripping sheet metal materials provided by the embodiment further comprises the mechanical arm moving in space, two guide rails 301 arranged in parallel and a plurality of mounting plates 302 are arranged on the mechanical arm 300, the mounting plates 302 are arranged in parallel at intervals, and a track extending along the length direction of the guide rails 301 is arranged in the guide rails 301; the mounting plate 302 is arranged perpendicular to the guide rail strips 301, two convex blocks are arranged on the back of the mounting plate 302, and the two convex blocks are respectively movably arranged in the tracks of the two guide rail strips 301; the front surface of the mounting plate 302 is provided with a plurality of gripping suckers 303, and the plurality of gripping suckers 303 are arranged to extend along the length direction of the mounting plate 302.

Above-mentioned a mechanical tongs for snatching panel beating material that provides, arm 300 can move in the space, snatchs panel beating 600 through the sucking disc 303 that snatchs of mounting panel 302, does not need artifical transport panel beating 600, improves operating efficiency greatly, and the interval between a plurality of mounting panels 302 can be adjusted, according to the size of panel beating 600, can adjust and snatch the scope.

The front of mounting panel 302 is connected with skew board 310, and the one end of skew board 310 is connected on the front of mounting panel 302, and the skew mounting panel 302 of the other end of skew board 310 extends outwards, forms the levitation section, snatchs sucking disc 303 and connects on the levitation section of skew board 310, is convenient for snatch the installation and the maintenance of sucking disc 303.

A plurality of offset plates 310 are attached to the mounting plate 302, the plurality of offset plates 310 are spaced apart along the length of the mounting plate 302, and the plurality of offset plates 310 are offset in the same direction.

The robot arm 300 is connected with a fixing plate 304, and the fixing plate 304 is connected to the back of the two guide rails 301, thereby facilitating the connection of the robot arm 300. The fixing plate 304 is connected with a fixing head 305 arranged away from the guide rail bar 301, the mechanical arm 300 is connected to the fixing head 305, and the fixing head 305 is directly embedded into the connecting end of the mechanical arm 300, so that the operation is simple and convenient.

The back of the guide rail bar 301 is provided with an adjusting groove bar 308, and the adjusting groove bar 308 extends along the length direction of the guide rail bar 301; the fixing plate 304 is provided with a connecting column which is movably embedded in the adjusting groove strips 308. Thus, the position of the fixing plate 304 can be adjusted by the matching of the connecting column and the adjusting groove strip 308.

Be provided with vacuum generator on the fixed plate 304, vacuum generator passes through the pipeline and is connected with grabbing sucking disc 303, like this, through vacuum generator, snatch sucking disc 303 and realize vacuum adsorption.

A through pipe 306 is arranged between the two guide rail bars 304, the through pipe 306 extends along the length direction of the guide rail bar 301, and the pipeline is embedded in the through pipe 306, so that the pipeline is hidden conveniently.

The through-tubes 306 are connected to the plurality of mounting plates 302, respectively. The mounting plate 302 is provided with a hidden pipe groove 307, the hidden pipe groove 307 extends along the length direction of the mounting plate 302, and the pipe in the through pipe 306 penetrates into the hidden pipe groove.

The whole full-automatic metal plate bending equipment is controlled by a controller, the controller can be an upper computer, a PLC (programmable logic controller) element and the like, or can also be other traditional control elements, and the control devices are conventional equipment at present and are not repeated one by one.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The mechanical gripper for gripping sheet metal is characterized by comprising a mechanical arm moving in space, wherein two guide rail strips arranged in parallel and a plurality of mounting plates are arranged on the mechanical arm at intervals in parallel, and a track extending along the length direction of the guide rail strips is arranged in each guide rail strip; the mounting plate is arranged perpendicular to the guide rail strips, two convex blocks are arranged on the back of the mounting plate, and the two convex blocks are movably arranged in the tracks of the two guide rail strips respectively; the front of mounting panel is provided with a plurality of suckers that snatch, and a plurality of suckers that snatch are followed the length direction of mounting panel extends and arranges.

2. A mechanical gripper for gripping sheet metal as claimed in claim 1 wherein a deviation plate is attached to the front face of said mounting plate, one end of said deviation plate being attached to the front face of said mounting plate and the other end of said deviation plate extending outwardly away from said mounting plate to form an overhang, said gripping suction cup being attached to said overhang of said deviation plate.

3. A mechanical gripper for gripping sheet metal as claimed in claim 2 wherein a plurality of said offset plates are attached to said mounting plate, said offset plates being spaced apart along the length of said mounting plate and being offset in the same direction.

4. Mechanical gripper for gripping sheet metal according to any one of claims 1 to 3, characterised in that a fixing plate is connected to said robot arm, said fixing plate being connected to the back of both said guide rails.

5. The mechanical gripper for gripping sheet metal as claimed in claim 4, characterized in that a fixing head arranged away from the guide rail bar is connected to said fixing plate, said mechanical arm being connected to said fixing head.

6. The mechanical gripper for gripping sheet metal as claimed in claim 4, wherein the back surface of said guide rail bar is provided with an adjustment groove strip, said adjustment groove strip is arranged to extend along the length direction of said guide rail bar; the fixed plate is provided with a connecting column which is movably embedded in the adjusting groove strips.

7. A mechanical gripper for gripping sheet metal as claimed in claim 4, characterized in that said fixed plate is provided with a vacuum generator, said vacuum generator being connected to the gripping suction cups by means of a pipe.

8. A mechanical gripper for gripping sheet metal as claimed in claim 7, characterized in that between two said guide rails a through tube is provided, said through tube extending along the length direction of said guide rails, said tube being embedded in said through tube.

9. A mechanical gripper for gripping sheet metal as claimed in claim 8 wherein said through tubes are connected to a plurality of mounting plates respectively.

10. The mechanical gripper for gripping sheet metal as claimed in claim 9, wherein said mounting plate is provided with a hidden pipe groove extending along a length direction of said mounting plate, and a pipe in said through pipe penetrates into said hidden pipe groove.