CN215710019U - Self-positioning carrying equipment for plates - Google Patents
Self-positioning carrying equipment for plates Download PDFInfo
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- CN215710019U CN215710019U CN202121137732.7U CN202121137732U CN215710019U CN 215710019 U CN215710019 U CN 215710019U CN 202121137732 U CN202121137732 U CN 202121137732U CN 215710019 U CN215710019 U CN 215710019U
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Abstract
The utility model relates to the technical field of steel plate processing, and provides a self-positioning plate carrying device.A carrying structure, a carrying structure and a plate positioning device are arranged to establish an automatic plate carrying mechanism, and the carrying structure and the plate positioning device can be driven to synchronously move to a preset carrying destination through the mutual cooperation of a moving track and a moving platform in the carrying structure, so that the plate carrying efficiency is improved; the plate positioning device is fixed at the mounting position of the conveying side of the conveying structure, the no-load moving times of the conveying structure can be reduced, and the plate to be conveyed borne on the positioning support plate can be controlled to realize secondary positioning according to the self-positioning characteristic of the positioning support plate, so that efficient secondary positioning and conveying are achieved.
Description
Technical Field
The utility model relates to the technical field of steel plate processing, in particular to a self-positioning carrying device for plates.
Background
In recent years, the nations vigorously develop the transformation and upgrade of the manufacturing industry, and the exploration of industrial six-axis robots for automatic production is introduced in a plurality of traditional manufacturing industries. In the steel structure manufacturing industry, due to the non-standard characteristics of steel structure parts, such as differences of part sizes, groove types and hole site characteristics in non-standard steel plate parts, identification and accurate positioning of non-standard parts are particularly important.
In current steel plate part machining processes, steel plate parts are generally placed in a part tray in a stacked manner, and then the steel plate parts in the tray are conveyed to a machining station by a conveying device. Wherein, owing to pile up the in-process, placing of steel sheet spare part is in irregular state, and for the accurate positioning of guaranteeing the handling in-process, then need be before transporting the steel sheet part to the processing station, extra carry out a location.
At present, the most advanced scheme for correcting and positioning parts in the industry mainly depends on sensing positioning, such as photographing identification positioning, laser scanning identification positioning and the like, and mainly utilizes a sensor to measure a deviation value and feed the deviation value back to a transfer robot to adjust a transfer program. In an actual application scene, due to the interference of strong light, strong magnetism and tiny dust in a workshop and the limitation that a targeted algorithm needs to be developed on the nonstandard characteristic of a part, the existing part deviation rectifying and positioning technology is high in difficulty and high in cost.
Disclosure of Invention
The utility model provides a self-positioning carrying device for plates, which solves the technical problems that in the existing steel plate part processing technology, the carrying of steel plate parts needs additional positioning and the carrying efficiency is low.
In order to solve the technical problems, the utility model provides a self-positioning plate carrying device which comprises a carrying structure, a carrying structure and a plate positioning device, wherein the carrying structure comprises a carrying frame and a carrying frame; the carrying structure comprises a moving track and a moving platform movably mounted on the moving track; the conveying structure is fixed on the moving platform, and a mounting position is arranged on the conveying side of the conveying structure to fix the plate positioning device; the plate positioning device comprises an installation support and a positioning support plate, wherein the bottom of the installation support is fixed on the installation position, and the positioning support plate is installed on the top surface of the installation support.
The basic scheme is provided with a carrying structure, a carrying structure and a plate positioning device to establish an automatic plate carrying mechanism, and the carrying structure and the plate positioning device can be driven to synchronously move to a preset carrying destination through the mutual cooperation of a moving track and a moving platform in the carrying structure, so that the plate carrying efficiency is improved; the plate positioning device is fixed at the mounting position of the conveying side of the conveying structure, the no-load moving times of the conveying structure can be reduced, and the plate to be conveyed borne on the positioning support plate can be controlled to realize secondary positioning according to the self-positioning characteristic of the positioning support plate, so that efficient secondary positioning and conveying are achieved.
In a further embodiment, the positioning support plate comprises a positioning platform, a limiting structure and a transmission assembly, wherein the upper surface of the positioning platform is inclined relative to the horizontal plane, and the horizontal height of the positioning platform is slowly reduced to one side; the limiting structure is fixed at the edge position of the positioning platform in the declination direction; the transmission assembly is fixed on the upper surface of the positioning platform.
According to the scheme, a positioning platform, a limiting structure and a transmission assembly are designed to form a plate positioning device based on the carrying and processing requirements of plate parts; wherein, set up the upper surface of locating platform into the cooperation transmission assembly of relative horizontal plane slope, the potential energy of usable panel spare part self for the panel spare part of placing optional position on locating platform all automatic landing to predefined transport position, and under limit structure's limiting displacement, resume stable the state of waiting to carry, thereby realize the self-moving of panel, automatic positioning under the prerequisite that does not need other braking equipment (or manual work), further improve the machining efficiency of panel, reduction in production cost.
In a further embodiment, the transmission assembly comprises a plurality of transmission members arranged in combination, and the distribution density of the plurality of transmission members arranged in combination gradually increases along the inclination direction of the positioning platform.
This scheme combines the actual panel landing in-process, because the actual conditions that its slip velocity of self gravity accelerates gradually, the distribution density of design driving medium increases gradually along positioning platform's incline direction, increases the frictional force that panel removed through the contact surface of increase with panel, controls the removal speed of panel, still can effectively reduce panel and appear dropping, the risk of card pause in transmission process to improve the yields and the production efficiency of product.
In a further embodiment, a plurality of said transmission members are arranged in combination to form at least two transmission matrices, wherein the distribution density of said transmission members in said transmission matrices is proportional to the actual distance of the predefined carrying positions on said positioning platform; the distance between the transmission pieces which are adjacent to each other in the same group in the transmission matrix is equal.
This scheme has set up the corresponding transmission matrix and has controlled the sliding speed and the adjustment slip direction of panel according to each stage of panel slip to predefined transport position in-process for panel removes more steadily, and the location is more stable, accurate, reduces the loss of panel and improve equipment's durability.
In a further embodiment, the spacing structure comprises a first positioning member and a second positioning member; the first positioning piece and the second positioning piece are respectively arranged on the edges of two sides of the positioning platform in the inclined direction, and an anti-collision gap is reserved in the inclined direction.
According to the scheme, the first positioning piece and the second positioning piece are respectively arranged on the edges of the two sides of the positioning platform in the inclined direction to serve as limiting structures, the plate can slide to be tightly attached to the first positioning piece under the action of the self gravity of the plate, namely, one side surface of the plate is tightly attached to the first positioning piece, and the other side surface of the plate is tightly attached to the second positioning piece, so that the plate is limited to slide and can be stably positioned at a predefined carrying position;
reserve out the anticollision clearance between the first setting element of incline direction and second setting element, panel removes to when colliding with limit structure, and four angles of panel all can not contact with limit structure, and when first setting element or second setting element were hugged closely to panel promptly, an angle of panel was located the clearance department between first setting element and the second setting element, when confirming that panel location is known, still avoided the angle of panel to damage because of colliding with limit structure.
In a further embodiment, the handling structure comprises a base, a robotic arm, and an electromagnet; the bottom of the mechanical arm is fixed on the base, and the tail end of the mechanical arm is provided with the electromagnet; the mounting bracket is fixed on the mounting position on the carrying side of the base.
According to the scheme, the movable mechanical arm is arranged on the base and used for carrying the plate, and the plate can be freely conveyed in space by utilizing the freedom degrees of the mechanical arm in multiple directions; the electromagnet for electrically controlling grabbing is used for grabbing the plate, the equipment is simple, the grabbing reliability is high, and the plate cannot be damaged.
In a further embodiment, the transmission member is a bull's eye universal wheel, and comprises a frame-shaped bracket and a ball body which are fixed on the positioning platform; the frame-shaped bracket is provided with an accommodating cavity which is opened upwards, and the inner diameter of the accommodating cavity is gradually reduced upwards; the diameter of the ball is larger than the inner diameter of the top of the containing cavity.
The universal ball is used as a core device for driving the plates, the plates can be driven to move automatically by gravity, and the plates which are randomly placed can be conveyed to a predefined carrying position without manually applying power; the resistance of the universal ball is small, so that the time consumed by moving the plate can be shortened, and the positioning efficiency is improved.
In a further embodiment, the upper surface of the positioning platform is inclined at a predetermined angle with respect to the horizontal plane, the predetermined angle being between 1 ° and 10 °.
The upper surface of the limiting and positioning platform is inclined relative to the horizontal plane by a preset angle of 1-10 degrees, so that when the plate can move under the influence of self gravitational potential energy, the plate is prevented from being collided and damaged due to too high speed when the plate is contacted with the limiting structure.
In a further embodiment, the distance between the transmission members is between 50 mm and 130 mm.
This scheme is through the minimum spacing distance between the restriction driving medium, when the purpose of the stationarity that realizes optimizing panel and remove, has guaranteed that the resistance that the driving medium produced influences the moving speed and the location efficiency of panel at the removal in-process.
Drawings
Fig. 1 is a perspective structural view of a self-positioning carrying device for a plate provided in an embodiment of the present invention;
FIG. 2 is a perspective view of the positioning support plate of FIG. 1 according to an embodiment of the present invention;
FIG. 3 is a side view of the transmission member of FIG. 2 provided by an embodiment of the present invention;
wherein: 1-carrying structure, 11-base, 12-mechanical arm, 13-electromagnet; 2-carrying structure (not shown in the figure), 21-moving track (not shown in the figure), 22-moving platform (not shown in the figure); 3-a plate positioning device, 31-a mounting bracket; 32-positioning support plate, 321-positioning platform; 322-limit structure, 322 a-first positioning element, 322 b-second positioning element; 323-drive assembly, a-drive member, B-sheet material.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the utility model, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the utility model, since many variations thereof are possible without departing from the spirit and scope of the utility model.
As shown in fig. 1 to 3, the self-positioning conveying apparatus for plates according to an embodiment of the present invention includes a conveying structure 1, a carrying structure 2, and a plate positioning device 3; the carrying structure 2 comprises a moving track 21 and a moving platform 22 movably mounted on the moving track 21; the conveying structure 1 is fixed on the moving platform 22, and the conveying side of the conveying structure is provided with a mounting position for fixing the plate positioning device 3; the plate positioning device 3 comprises a mounting bracket 31 and a positioning support plate 32, wherein the bottom of the mounting bracket 31 is fixed on the mounting position, and the positioning support plate 32 is arranged on the top surface.
In this embodiment, the moving platform 22 is fixedly connected to a driving device (e.g. a motor, an air cylinder, etc.), and can reciprocate along the moving rail 21 under the control of the driving device, so as to drive the conveying structure 1 and the plate positioning device 3 fixed on the moving platform 22 to synchronously move to the target position.
Wherein, the mounting bracket 31 is formed by welding high-strength square pipes; the mounting bracket 31 in this embodiment is preferably a right-angled ladder-type bracket extending slowly outward from bottom to top, the top of which extends to the conveying side to form a placement position for fixing and positioning the support plate 32, and the bottom of which is fixed to the base 11 of the conveying structure 1 by screws.
The carrying structure 2 (the moving track 21 and the moving platform 22) in this embodiment is a common carrying device, and therefore, the description thereof is omitted in this embodiment.
In this embodiment, the positioning support plate 32 includes a positioning platform 321, a limiting structure 322 and a transmission assembly 323, wherein the upper surface of the positioning platform 321 is inclined with respect to the horizontal plane, and the horizontal height of the positioning platform is gradually reduced toward one side; the limiting structure 322 is fixed at the edge position of the positioning platform 321 in the downward inclination direction; the driving assembly 323 is fixed on the upper surface of the positioning platform 321.
In the present embodiment, the upper surface of the positioning platform 321 is inclined at a predetermined angle of 1 ° to 10 ° with respect to the horizontal plane, for example, the positioning platform 321 is inclined downward along the direction indicated by the arrow in the figure.
In this embodiment:
1) based on the carrying and processing requirements of the plate parts, a positioning platform 321, a limiting structure 322 and a transmission assembly 323 are designed to form a plate positioning device 3; wherein, set up the upper surface of location platform 321 into the cooperation drive assembly 323 of relative horizontal plane slope, the potential energy of usable panel spare part self for the panel spare part of placing optional position on location platform 321 all automatic landing to predefined transport position, and under limit structure 322's limiting displacement, resume stable state of waiting to carry, thereby realize the self-moving, the automatic positioning of panel under the prerequisite that does not need other braking equipment (or manual work), further improve the machining efficiency of panel, reduction in production cost.
2) The upper surface of the limiting and positioning platform 321 is inclined to the horizontal plane by a preset angle of 1-10 degrees, so that the plate can move under the influence of the gravitational potential energy of the plate, and the collision and damage of the plate caused by too high speed when the plate is contacted with the limiting structure 322 are avoided.
In this embodiment, the transmission assembly 323 includes a plurality of transmission members a arranged in combination, and the distribution density of the plurality of transmission members a arranged in combination gradually increases along the inclination direction of the positioning platform 321.
In this embodiment, the transmission member a is a bull's eye universal wheel, and includes a frame-shaped bracket and a sphere fixed on the positioning platform 321; the frame-shaped bracket is provided with an accommodating cavity which is opened upwards, and the inner diameter of the accommodating cavity is gradually reduced upwards; the diameter of the ball is larger than the inner diameter of the top of the containing cavity.
In the embodiment, the distance between the transmission pieces A is 50 mm to 130 mm.
In this embodiment:
1) combine the actual panel landing in-process, because the actual conditions that its slip velocity of self gravity accelerates gradually, the distribution density of design driving medium A increases gradually along the incline direction of locating platform 321, increases the frictional force that panel removed through the contact surface of increase with panel, controls the removal rate of panel, still can effectively reduce panel and appear dropping, the risk of card pause at the transmission in-process to improve the yields and the production efficiency of product.
2) The universal ball is used as a core device for driving the plates, the plates can be driven to move automatically by gravity, and the plates which are randomly placed can be conveyed to a predefined carrying position without manually applying power; the resistance of the universal ball is small, so that the time consumed by moving the plate can be shortened, and the positioning efficiency is improved.
3) Through the minimum spacing distance between the limiting transmission pieces A, the purpose of optimizing the moving stability of the plate is achieved, and meanwhile the fact that the resistance generated by the transmission pieces A in the moving process influences the moving speed and the positioning efficiency of the plate is guaranteed.
In the embodiment, the plurality of combined and arranged transmission members A form at least two transmission matrixes; the distribution density of the transmission members a in the transmission matrix is proportional to the actual distance between the transmission members a and the predefined carrying positions on the positioning platform 321; the intervals between the adjacent transmission pieces A in the same group in the transmission matrix are equal. For example, the transmission members a form 3 transmission matrixes a, b and c with different densities, and the transmission matrix c closest to the conveying position has the highest density.
This embodiment slides each stage to predefined transport position in-process according to panel, has set up the corresponding transmission matrix and has controlled the sliding speed and the adjustment slip direction of panel for panel removes more steadily, and the location is more stable, accurate, reduces the loss of panel and improve equipment's durability.
In this embodiment, the position-limiting structure 322 includes a first positioning element 322a and a second positioning element 322 b; the first positioning element 322a and the second positioning element 322b are respectively disposed at two side edges of the positioning platform 321 in the inclined direction, and an anti-collision gap is reserved in the inclined direction.
In other embodiments, to avoid collision damage between the plate and the position-limiting structure 322, a buffer structure, such as a flexible structure like sponge, may be further disposed on the first positioning element 322a and the second positioning element 322 b.
In this embodiment, the first positioning element 322a and the second positioning element 322b are respectively disposed at two side edges of the positioning platform 321 in the inclined direction as the limiting structure 322, and the plate will slide to be tightly attached to the first positioning element 322a under the action of its own gravity, that is, one side surface of the plate is tightly attached to the first positioning element 322a, and the other side surface of the plate is tightly attached to the second positioning element 322b, so as to limit the plate from sliding and being stable at the predefined carrying position;
the anti-collision gap is reserved between the first positioning piece 322a and the second positioning piece 322b in the inclined direction, when the plate is moved to collide with the limiting structure 322, four corners of the plate cannot contact with the limiting structure 322, namely when the plate is tightly attached to the first positioning piece 322a or the second positioning piece 322b, one corner of the plate is located in the gap between the first positioning piece 322a and the second positioning piece 322b, and when the plate is confirmed to be positioned, the damage of the corner of the plate due to collision with the limiting structure 322 is avoided.
In the present embodiment, the handling structure 1 comprises a base 11, a robot arm 12 and an electromagnet 13; the bottom of the mechanical arm 12 is fixed on the base 11, and the tail end of the mechanical arm is provided with an electromagnet 13; the mounting bracket 31 is fixed to a mounting position on the carrying side of the base 11.
The electromagnet 13 is preferably a lifting electromagnet 13, which is electrically connected to a main control module (e.g., an MCU or a main control computer), and is powered on to generate an electromagnet under the control of the main control module, so as to suck the sheet material in the tray and transport the sheet material to the positioning support plate 32.
In the embodiment, the movable mechanical arm 12 is mounted on the base 11 for carrying the plate, and the plate can be freely conveyed in space by using the degrees of freedom of the mechanical arm 12 in multiple directions; the electromagnet 13 for electrically controlling grabbing is used for grabbing the plate, so that the equipment is simple, the grabbing reliability is high, and the plate cannot be damaged.
The specific working process of the carrying equipment provided by the embodiment is as follows:
firstly, the mechanical arm 12 is electrically connected with a main control module, and the mobile platform 22 is connected with a driving device; the carrying structure 1 is at the initial position of the moving rail 21, and the pallet on which the plate material B is placed is at one side of the initial position of the moving rail 21, and the plate material B is a steel plate part.
The mechanical arm 12 moves to the position above the tray under the control of the main control module, the electromagnet 13 is electrified, and a steel plate part is sucked and conveyed to the positioning support plate 32. At this time, the steel plate parts slide on the plurality of conveyors to a predefined carrying position by their own weight under the influence of the inclined positioning platform 321.
The moving platform 22 moves the carrying structure 1 and the plate positioning device 3 to the target position synchronously under the driving of the driving device. At this time, the mechanical arm 12 moves to a position above the conveying position under the control of the main control module, the electromagnet 13 is electrified, and the steel plate parts are sucked and conveyed to the next processing station.
Thus, the self-positioning carrying of the current steel plate parts is completed.
The embodiment of the utility model is provided with the carrying structure 1, the carrying structure 2 and the plate positioning device 3 to establish an automatic plate carrying mechanism, and the carrying structure 1 and the plate positioning device 3 can be driven to synchronously move to a preset carrying destination through the mutual cooperation of the moving track 21 and the moving platform 22 in the carrying structure 2 so as to improve the plate carrying efficiency; the plate positioning device 3 is fixed at the mounting position of the conveying side of the conveying structure 1, so that the no-load moving times of the conveying structure 1 can be reduced, and the plate to be conveyed borne on the positioning support plate 32 can be controlled to realize secondary positioning according to the self-positioning characteristic of the positioning support plate, so that efficient secondary positioning and conveying are achieved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. The utility model provides a from haulage equipment of positioning of panel which characterized in that: comprises a carrying structure (1), a carrying structure (2) and a plate positioning device (3); the carrying structure (2) comprises a moving track (21) and a moving platform (22) movably mounted on the moving track (21); the carrying structure (1) is fixed on the moving platform (22), and a mounting position is arranged on the carrying side of the carrying structure to fix the plate positioning device (3); the plate positioning device (3) comprises a mounting bracket (31) and a positioning support plate (32), wherein the bottom of the mounting bracket (31) is fixed on the mounting position, and the positioning support plate (32) is mounted on the top surface of the mounting bracket.
2. A self-positioning handling device for panels according to claim 1, characterised in that: the positioning support plate (32) comprises a positioning platform (321), a limiting structure (322) and a transmission assembly (323), wherein the upper surface of the positioning platform (321) inclines relative to the horizontal plane, and the horizontal height of the positioning platform is slowly reduced towards one side; the limiting structure (322) is fixed at the edge position of the positioning platform (321) in the declination direction; the transmission assembly (323) is fixed on the upper surface of the positioning platform (321).
3. A self-positioning handling device for panels according to claim 2, characterised in that: the transmission component (323) comprises a plurality of transmission pieces (A) which are arranged in a combined mode, and the distribution density of the plurality of transmission pieces (A) which are arranged in a combined mode is gradually increased along the inclination direction of the positioning platform (321).
4. A self-positioning handling device for panels according to claim 3, characterised in that: a plurality of transmission pieces (A) are arranged in a combined manner to form at least two transmission matrixes; the distribution density of the transmission elements (A) in the transmission matrix is in direct proportion to the actual distance of the predefined carrying positions on the positioning platform (321); the intervals between the adjacent transmission pieces (A) in the same group in the transmission matrix are equal.
5. A self-positioning handling device for panels according to claim 2, characterised in that: the limiting structure (322) comprises a first positioning piece (322a) and a second positioning piece (322 b); the first positioning piece (322a) and the second positioning piece (322b) are respectively arranged on the edges of two sides of the positioning platform (321) in the inclined direction, and an anti-collision gap is reserved in the inclined direction.
6. A self-positioning handling device for panels according to claim 1, characterised in that: the carrying structure (1) comprises a base (11), a mechanical arm (12) and an electromagnet (13); the bottom of the mechanical arm (12) is fixed on the base (11), and the tail end of the mechanical arm is provided with the electromagnet (13); the mounting bracket (31) is fixed on the mounting position on the conveying side of the base (12).
7. A self-positioning handling device for panels according to claim 3, characterised in that: the transmission part (A) is a bull's eye universal wheel and comprises a frame-shaped support and a sphere which are fixed on the positioning platform (321); the frame-shaped bracket is provided with an accommodating cavity which is opened upwards, and the inner diameter of the accommodating cavity is gradually reduced upwards; the diameter of the ball is larger than the inner diameter of the top of the containing cavity.
8. A self-positioning handling device for panels according to claim 2, characterised in that: the upper surface of the positioning platform (321) is inclined at a preset angle relative to the horizontal plane, and the preset angle is 1-10 degrees.
9. A self-positioning handling device for panels according to claim 3, characterised in that: the distance between the transmission pieces (A) is 50-130 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121137732.7U CN215710019U (en) | 2021-05-25 | 2021-05-25 | Self-positioning carrying equipment for plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121137732.7U CN215710019U (en) | 2021-05-25 | 2021-05-25 | Self-positioning carrying equipment for plates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215710019U true CN215710019U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121137732.7U Active CN215710019U (en) | 2021-05-25 | 2021-05-25 | Self-positioning carrying equipment for plates |
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| CN (1) | CN215710019U (en) |
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2021
- 2021-05-25 CN CN202121137732.7U patent/CN215710019U/en active Active
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