CN215401655U

CN215401655U - A self-adaptation tongs for sheet material automatic sorting

Info

Publication number: CN215401655U
Application number: CN202121747063.5U
Authority: CN
Inventors: 乐杨; 杨斌
Original assignee: Shanghai Ti Re Zhi Cymbal Technology Co ltd
Current assignee: Shanghai Ti Re Zhi Cymbal Technology Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2022-01-04
Anticipated expiration: 2031-07-29

Abstract

The utility model discloses a self-adaptive gripper for automatically sorting plates, relates to the technical field of automatic feeding, and aims to solve the problems that most of existing solutions of an automatic feeding system stop taking out the whole plate, but sorting is carried out by people or is still carried out in a gantry type multi-shaft manner, and the automatic feeding system is large in occupied area, high in investment, limited in layout, low in flexibility, low in speed, large in mechanism and not suitable for flexible picking and sorting and stacking of small plates. The top and the below of mounting flange inner wall all are provided with the guide bar, the fixing base is installed to the one end of guide bar, the seat of sliding is installed to the other end of guide bar, it is connected with mounting flange through the seat of sliding to remove the support, the fixed bolster passes through the fixing base and is connected with mounting flange, two-way trapezoidal lead screw guiding mechanism is all installed to the inside of removing support and fixed bolster, all install two sets of point mechanisms of picking up on the two-way trapezoidal lead screw guiding mechanism of removing support and fixed bolster.

Description

A self-adaptation tongs for sheet material automatic sorting

Technical Field

The utility model relates to the technical field of automatic feeding, in particular to a self-adaptive gripper for automatically sorting plates.

Background

At present, cutting machine tools such as laser, plasma, engraving machines and the like basically have automatic feeding systems. The system comprises modular products and systems such as plate standardized conveying, positioning, magnetic force tension separation, sucker or electromagnet suction gripping apparatus, comb-tooth type gripping apparatus feeding and the like, and mainly moves in a gantry type truss robot structure. However, in the field of cut-off sorting, there are fewer and less established products and solutions on the market. Mainly in view of unpredictability and expansibility of a finished plate after cutting and forming.

Most of the existing solutions stop taking out the whole plate, but sorting is carried out by people or is still carried out in a gantry type multi-shaft manner, so that the large-area multi-shaft sorting machine has the defects of large occupied area, high investment, limited layout, low flexibility, low speed and huge mechanism, is not suitable for flexible picking and sorting stacking of small plates, has limited later expansibility and is not beneficial to staging upgrading and planning; we propose an adaptive gripper for the automatic sorting of slabs in order to solve the problems set out above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a self-adaptive gripper for automatically sorting plates, which solves the problems that most of the existing automatic feeding systems proposed in the background technology stop taking out the whole plate, but the sorting is carried out by people or the plates are still taken out in a gantry type multi-shaft manner, the occupied area is large, the investment is high, the layout is limited, the flexibility is low, the speed is low, the mechanism is huge, and the flexible gripper is not suitable for flexibly picking and classifying and stacking small plates.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a self-adaptation tongs for sheet material automatic sorting, includes mounting flange, transmission support, fixed bolster, removes support and pick up some mechanism, the top and the below of mounting flange inner wall all are provided with the guide bar, the fixing base is installed to the one end of guide bar, the seat of sliding is installed to the other end of guide bar, it is connected with mounting flange through the seat of sliding to remove the support, the fixed bolster passes through the fixing base and is connected with mounting flange, remove the inside of support and fixed bolster and all install two-way trapezoidal lead screw guiding mechanism, all install two sets of pick up some mechanisms on the two-way trapezoidal lead screw guiding mechanism of removal support and fixed bolster, the transmission support is installed at the rear end of removing the support, and transmission support and mounting flange fixed connection, the internally mounted of transmission support has trapezoidal lead screw guiding mechanism.

Preferably, a movable support servo motor is installed at one end of the movable support, a fixed support servo motor is installed at one end of the fixed support, and the output ends of the movable support servo motor and the fixed support servo motor are in transmission connection with the bidirectional trapezoidal screw rod guide mechanisms on the movable support and the fixed support respectively.

Preferably, the picking point mechanism comprises a pressure plate support, a pressure plate, a guiding cylinder and an adsorption mechanism, wherein the pressure plate is arranged on the pressure plate support and is fixedly connected with the guiding cylinder, and the adsorption mechanism is arranged at the output end of the guiding cylinder.

Preferably, the adsorption mechanism is a suction cup or an electromagnet.

Preferably, a D camera lens module assembly is mounted in the middle of the inner wall of the mounting flange.

Preferably, a transmission bracket servo motor is installed at one end of the transmission bracket, and the output end of the transmission bracket servo motor is in transmission connection with the trapezoidal screw rod guide mechanism.

Compared with the prior art, the utility model has the beneficial effects that:

1. the utility model improves the structure of the traditional gripper aiming at the function and the use characteristic of a robot sorting system, improves the adaptability of the shape types of the parts which can be picked up, utilizes a transmission bracket to drive two groups of picking point mechanisms on a movable bracket to realize transverse movement, simultaneously realizes opposite equidistant movement of the two groups of picking point mechanisms on the movable bracket and a fixed bracket through a bidirectional trapezoidal screw rod guide mechanism, greatly improves the moving range of the picking point mechanisms, overcomes the defects of single and insufficient flexibility of the traditional gripper, is more suitable for small parts, thin plate parts and a mode of blanking after cutting with a micro-connecting mechanism, reduces the number of grippers during automatic layout, and is convenient for quick implementation and arrangement.

2. The 2D camera lens module assembly is arranged in the middle of the inner wall of the mounting flange, the 2D visual system is introduced into the 2D camera lens module assembly, the selection of the resolution and the focal distance range can be carried out according to the shape and the size of an actually picked plate, meanwhile, the mounting position is located in the center of the mounting flange and is coaxial with the joint of a flange at the tail end of the robot, and the coordinate axis of the mounting flange is consistent with the sixth-axis coordinate system of the robot, so that the algorithm for acquiring photo data and matching theoretical workpiece graphs and the conversion precision of pose fitting are simplified, the pose during picking can be corrected in real time during shooting, the picking process is more stable and reliable, and the 2D camera lens module assembly can play an important role in some occasions when micro-connection sucking is processed.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic bottom view of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a partial schematic view of the utility model at A;

FIG. 5 is a schematic view of micro-link workpiece capture according to the present invention;

in the figure: 1. installing a flange; 2. a guide bar; 3. a fixed seat; 4. a sliding seat; 5. a transmission bracket; 6. a trapezoidal lead screw guide mechanism; 7. a transmission bracket servo motor; 8. fixing a bracket; 9. a fixed support servo motor; 10. moving the support; 11. a moving support servo motor; 12. a bidirectional trapezoidal lead screw guide mechanism; 13. a pick-up point mechanism; 131. a platen bracket; 132. pressing a plate; 133. a guide cylinder is provided; 134. an adsorption mechanism; 14. a 2D camera lens module assembly; 15. micro-connecting the workpieces; 16. peripheral transition excess material; 17. a micro-junction.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, an embodiment of the present invention is shown: a self-adaptive gripper for automatically sorting plates comprises a mounting flange 1, a transmission support 5, a fixed support 8, a movable support 10 and a point picking mechanism 13, guide rods 2 are arranged above and below the inner wall of the mounting flange 1, a fixed seat 3 is arranged at one end of each guide rod 2, a sliding seat 4 is arranged at the other end of each guide rod 2, the movable support 10 is connected with the mounting flange 1 through the sliding seat 4, the fixed support 8 is connected with the mounting flange 1 through the fixed seat 3, two-way trapezoidal lead screw guide mechanisms 12 are arranged in the movable support 10 and the fixed support 8, two groups of point picking mechanisms 13 are arranged on the two-way trapezoidal lead screw guide mechanisms 12 of the movable support 10 and the fixed support 8, the transmission support 5 is arranged at the rear end of the movable support 10, and the transmission bracket 5 is fixedly connected with the mounting flange 1, and a trapezoidal screw rod guide mechanism 6 is arranged in the transmission bracket 5.

Further, a movable support servo motor 11 is installed at one end of a movable support 10, a fixed support servo motor 9 is installed at one end of a fixed support 8, output ends of the movable support servo motor 11 and the fixed support servo motor 9 are in transmission connection with two-way trapezoidal lead screw guide mechanisms 12 on the movable support 10 and the fixed support 8 respectively, the two-way trapezoidal lead screw guide mechanisms 12 are adopted, under the driving action of the servo motors, two groups of picking point mechanisms 13 on the movable support 10 and the fixed support 8 move equidistantly from the middle point of a lead screw to two sides simultaneously, and the positions of the picking point mechanisms 13 are convenient to regulate and control.

Further, the pick-up point mechanism 13 includes a pressing plate bracket 131, a pressing plate 132, a belt guiding cylinder 133 and an adsorption mechanism 134, the pressing plate 132 is installed on the pressing plate bracket 131 and is fixedly connected with the belt guiding cylinder 133, the adsorption mechanism 134 is installed on the output end of the belt guiding cylinder 133, and the pressing plate 132 and the adsorption mechanism 134 are on the same plane in the state that the belt guiding cylinder 133 extends out, so that the workpiece can be adsorbed and loaded.

Further, the adsorption mechanism 134 is a suction cup or an electromagnet, the suction cup or the electromagnet is installed on the belt guide cylinder 133 as a pickup action part, and in actual use, the suction cup or the electromagnet can be selected according to the material of the plate to be picked up or a corresponding quick-change structure is added in the middle for manual or automatic replacement.

Furthermore, a 2D camera lens module assembly 14 is installed in the middle of the inner wall of the mounting flange 1, the 2D camera lens module assembly 14 can select resolution and focal distance ranges according to the shape and size of an actually picked plate, meanwhile, the mounting position of the 2D camera lens module assembly is located in the center of the mounting flange 1 and is coaxial with the joint of a flange at the tail end of the robot, and the coordinate axis of the 2D camera lens module assembly is consistent with the sixth-axis coordinate system of the robot, so that the algorithm for picture data acquisition and theoretical workpiece graph matching and the conversion precision of pose fitting are simplified, the pose during picking can be corrected in real time during shooting, the picking process is more stable and reliable, and the 2D camera lens module assembly can play an important role in some occasions when micro-connection sucking is processed.

Further, a transmission support servo motor 7 is installed at one end of the transmission support 5, the output end of the transmission support servo motor 7 is in transmission connection with the trapezoidal lead screw guide mechanism 6, and the movable support 10 is driven by the trapezoidal lead screw guide mechanism 6 in the transmission support 5 to perform linear motion under the action of the transmission support servo motor 7.

The working principle is as follows: now, referring to fig. 5, the grabbing process of the micro-connected parts will be described, meanwhile, under the condition that the non-micro-connected thin plate is picked up, the process can also be adopted to avoid the position deviation or influence on the peripheral parts, the specific process is that the gripper is connected with the robot flange through the mounting flange 1, then the system analyzes and calculates the picking program according to the cutting program, the picking position is automatically calculated, the picking point mechanism 13 is moved to the two sides of the micro-connection position by the cooperation of the transmission bracket 5 and the moving bracket 10, so that the pressure plate is as close to the micro-connection point 17 as possible, the pressure plate 132 and the adsorption mechanism 134 are attached to the upper surface of the micro-connected workpiece 15 after the robot action is reduced, at this time, the guiding cylinder 133 is in the extending state, after the system judges that the plate is sucked (the vacuum chuck is established or the workpiece induction sensor senses the workpiece signal), the belt guide air cylinders 133 retract simultaneously or one by one to drive the micro-connecting workpiece 15 to be separated from the base layer plate, meanwhile, peripheral transition excess materials 16 around the part cannot be dragged and kept in the original position under the action of the pressing plate 132, the robot integrally lifts the gripper to complete the picking action after the gripper waits for a part of time to confirm that the part is separated, and the 2D camera lens module assembly 14 is introduced in the whole operation process, so that the picking pose is conveniently corrected, and the picking process is more stable and reliable.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a self-adaptation tongs for sheet material automatic sorting, includes mounting flange (1), transmission support (5), fixed bolster (8), moving support (10) and pick up some mechanism (13), its characterized in that: guide rods (2) are arranged above and below the inner wall of the mounting flange (1), a fixed seat (3) is arranged at one end of the guide rod (2), a sliding seat (4) is arranged at the other end of the guide rod (2), the movable support (10) is connected with the mounting flange (1) through a sliding seat (4), the fixed bracket (8) is connected with the mounting flange (1) through the fixed seat (3), the movable bracket (10) and the fixed bracket (8) are internally provided with a bidirectional trapezoidal screw rod guide mechanism (12), two groups of picking point mechanisms (13) are respectively arranged on the bidirectional trapezoidal screw rod guide mechanisms (12) of the movable bracket (10) and the fixed bracket (8), the transmission bracket (5) is arranged at the rear end of the movable bracket (10), and the transmission bracket (5) is fixedly connected with the mounting flange (1), and a trapezoidal screw rod guide mechanism (6) is arranged in the transmission bracket (5).

2. The adaptive gripper for the automatic sorting of slabs according to claim 1, characterized in that: remove the one end of support (10) and install and remove support servo motor (11), fixed bolster servo motor (9) are installed to the one end of fixed bolster (8), the output that removes support servo motor (11) and fixed bolster servo motor (9) is connected with two-way trapezoidal lead screw guiding mechanism (12) transmission on removing support (10) and fixed bolster (8) respectively.

3. The adaptive gripper for the automatic sorting of slabs according to claim 1, characterized in that: the picking point mechanism (13) comprises a pressing plate support (131), a pressing plate (132), a belt guide cylinder (133) and an adsorption mechanism (134), wherein the pressing plate (132) is installed on the pressing plate support (131) and is fixedly connected with the belt guide cylinder (133), and the adsorption mechanism (134) is installed at the output end of the belt guide cylinder (133).

4. 3-an adaptive gripper for the automatic sorting of slabs according to claim 3, characterized in that: the adsorption mechanism (134) is a sucker or an electromagnet.

5. The adaptive gripper for the automatic sorting of slabs according to claim 1, characterized in that: and a 2D camera lens module assembly (14) is installed in the middle position of the inner wall of the installation flange (1).

6. The adaptive gripper for the automatic sorting of slabs according to claim 1, characterized in that: a transmission support servo motor (7) is installed at one end of the transmission support (5), and the output end of the transmission support servo motor (7) is in transmission connection with the trapezoidal screw rod guide mechanism (6).