CN215824104U

CN215824104U - 90-degree turning and positioning station for plates

Info

Publication number: CN215824104U
Application number: CN202120181411.0U
Authority: CN
Inventors: 冯逍; 钱思圣; 郁道远
Original assignee: Anhui Kingpower Equipment and Mould Manufacture Co Ltd
Current assignee: Anhui Kingpower Equipment and Mould Manufacture Co Ltd
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2022-02-15
Anticipated expiration: 2031-01-22

Abstract

The utility model discloses a 90-degree turning and positioning station for a plate, which comprises a plate platform, a plate turning mechanical arm and a positioning device. The plate material turning mechanical arm is used for turning the plate material by 90 degrees. The positioning device is used for pushing the sheet material placed after the sheet material is turned by 90 degrees to a specified centering center position and comprises a longitudinal edge aligning frame, a longitudinal push plate mechanism and two transverse push plate mechanisms which are oppositely arranged. And the longitudinal push plate mechanism is used for longitudinally pushing the plate on the flitch table to the longitudinal edge alignment frame. And the transverse push plate mechanism is used for pushing the plate transversely on the plate when the plate on the plate platform is longitudinally pushed to the position limited by the longitudinal edge alignment frame, and pushing the plate to the longitudinal center line, so that the plate is centered and positioned. Under the structure of the utility model, the plate centering operation and the plate 90-degree steering synchronous operation are carried out.

Description

90-degree turning and positioning station for plates

Technical Field

The utility model relates to a 90-degree turning and centering positioning operation for a plate on a plate processing line.

Background

Patent document CN 206952035U discloses a 90-degree turning station for sheet material. The station comprises a material plate platform and a 90-degree turning floor type mechanical arm arranged below the material plate platform, wherein a lifting hole is formed in the middle of the material plate platform, the 90-degree turning floor type mechanical arm extends out of the table top of the material plate platform through the lifting hole, the material plate on the material plate platform is grabbed through a sucker, and the material plate is returned after turning 90 degrees. The 90-degree turning station is mainly convenient for the spatial layout of each plate processing device in a plate processing line. For example, when the sheet material needs to be subjected to short-side edge folding after the long-side edge folding, if the sheet material is not turned, the edge folding machine for the short-side edge folding is difficult to arrange.

Some equipment in the sheet processing line, such as the flanging machine, does not require the robot to be precisely aligned with the position of the sheet, because the flanging machine itself can adjust the position of the sheet by means of the sheet edge pushing plate. Some devices require precise alignment of the position of the sheet, such as a bending machine. The bending machine needs a mechanical arm to be placed on the bending machine after the mechanical arm accurately aligns to the position of the plate, and the plate can be bent only, and because the bending machine bends the edge of the plate, the problem that the plate edge pushes a plate does not exist, and the position of the plate cannot be adjusted. In this case, if the next station of the 90-degree turning station of the plate is a bending machine, the plate needs to be accurately centered by the manipulator. On one hand, the manipulator cannot accurately center the plate, and on the other hand, even if the position of the plate is accurate before 90-degree steering, the position of the plate after 90-degree steering is not accurate enough, so that the plate needs to be centered after 90-degree steering.

Disclosure of Invention

The problems to be solved by the utility model are as follows: the plate centering function is added for a CN 206952035U plate 90-degree turning station, so that the plate can be accurately turned at the 90-degree turning position.

In order to solve the problems, the utility model adopts the following scheme:

a90-degree turning and positioning station for a plate comprises a plate table, a plate turning mechanical arm and a positioning device;

the material plate table is used for placing a material plate;

the plate material turning mechanical arm is used for turning the plate material by 90 degrees and then placing the plate material back on the plate material platform after grabbing the plate material on the plate material platform;

the positioning device is used for pushing the plate which is turned by 90 degrees on the plate table to a specified centering center position

Further, the plate steering manipulator comprises a fixed frame, a lifting frame and a suction disc frame; the lifting frame is connected with the fixed frame through a lifting mechanism, so that the lifting frame can be driven by the lifting mechanism to lift; the sucker frame is connected with the lifting frame through a steering mechanism, so that the sucker frame can lift along with the lifting frame and can turn 90 degrees under the driving of the steering mechanism; the sucking disc frame is provided with a plurality of sucking discs for grabbing the plate.

Further, the plate material steering mechanical arm is arranged above the plate material platform and is arranged on a cross beam above the plate material platform through the fixing frame.

Furthermore, the positioning device comprises a longitudinal edge alignment frame, a longitudinal push plate mechanism and two transverse push plate mechanisms which are oppositely arranged;

the longitudinal edge alignment rack comprises a longitudinal baffle mechanism arranged on the longitudinal edge fixing rack;

the longitudinal plate pushing mechanism is used for longitudinally pushing the plate on the flitch platform to the longitudinal edge aligning frame and comprises a longitudinal baffle mechanism arranged on the longitudinally arranged pushing mechanism;

the transverse pushing plate mechanism is used for pushing the plate transversely on the plate when the plate on the plate platform is longitudinally pushed to the position limited by the longitudinal edge aligning frame, and pushing the plate to the longitudinal center line.

Further, the longitudinal baffle mechanism comprises a plurality of stop blocks arranged on the baffle lifting frame; the baffle lifting frame is connected with a baffle lifting cylinder so that the baffle lifting frame can be driven by the baffle lifting cylinder to lift.

Furthermore, a proximity sensor for detecting the plate is arranged on the stop block.

Further, a longitudinal avoidance port is formed in the material plate platform; the baffle plate lifting frame can lift to stretch out of the upper portion of the table top of the flitch table or shrink into the lower portion of the table top of the flitch table through the longitudinal avoiding opening.

Further, the transverse baffle mechanism comprises a baffle arranged on the baffle lifting frame; the baffle lifting frame is connected with a baffle lifting cylinder so that the baffle lifting frame can be driven by the baffle lifting cylinder to lift.

Further, the propelling mechanism comprises a linear guide rail, a screw rod, a baffle plate translation frame and a motor; the baffle plate translation frame is arranged on the linear guide rail; the screw rod is connected with the baffle plate translation frame and the motor; the screw rod is driven by the motor to rotate so as to drive the baffle plate translation frame to translate along the linear guide rail.

Further, the device also comprises a base; the plate material platform, the plate material steering mechanical arm and the positioning device are arranged on the base.

The utility model has the following technical effects:

1. the 90-degree turning and accurate centering of the plate are realized through the transition station.

2. The panel veneer is not in-situ operation after turning when in centering. Therefore, the assembly line operation of plate processing in the plate processing line is met, and when one plate is turned 90 degrees, the other plate can be turned 90 degrees and then centered and positioned.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a schematic structural view of a slab steering robot.

Fig. 3 is a schematic structural diagram of the positioning device.

Fig. 4 is a schematic structural view of the lateral barrier mechanism.

Wherein,

1 is a flitch platform, 11 is a longitudinal avoidance port, and 2 is a base;

3, a positioning device, 31, a longitudinal edge alignment frame, 311, a longitudinal edge fixing frame, 32, a longitudinal push plate mechanism, 33, a transverse push plate mechanism, 34, a longitudinal baffle mechanism, 341, a stop, 342, an approach sensor, 343, a sensor mounting plate, 35, a propulsion mechanism, 351, a linear guide rail, 352, a screw rod, 353, a baffle translation frame, 354, a motor, 36, a transverse baffle mechanism, 361, a baffle, 38, a baffle lifting frame, 391, a baffle lifting guide post, 392, a baffle lifting cylinder and 3921, a piston rod of the baffle lifting cylinder;

4 is a beam, 41 is a column;

5 is a plate steering manipulator, 51 is a fixed frame, 512 is a mounting frame plate, 514 is a cylinder frame plate, 52 is a lifting mechanism, 5211 is a lifting column, 5212 is a lifting frame, 522 is a lifting cylinder, 53 is a steering mechanism, 541 is a sucker frame and 542 is a sucker.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, a 90-degree turning and positioning station for a sheet material comprises a base 2, and a sheet material platform 1, a sheet material turning manipulator 5 and a positioning device 3 which are arranged on the base 2. Wherein, the plate material steering manipulator 5 is arranged on the beam 4 and is positioned above the plate material platform 1. The cross beam 4 is arranged on the base 2 by means of a column 41. And the plate material table 1 is used for placing plate materials. And the plate material turning mechanical arm 5 is used for turning the plate material on the plate material platform 1 by 90 degrees and then placing the plate material back on the plate material platform 1. And the positioning device 3 is used for pushing the plate material after the 90-degree steering on the material plate platform 1 to a specified centering center position.

The slab steering robot 5, as shown in fig. 2, includes a fixed frame 51, a lifting frame 5212 and a suction cup frame 541. The fixing frame 51 connects the cross beam 4 so that the panel steering robot 5 is disposed on the cross beam 4 in an upside-down hanging manner. The lifting frame 5212 is connected to the fixing frame 21 through the lifting mechanism 52, so that the lifting frame 5212 can be driven by the lifting mechanism 52 to lift. The elevating mechanism 52 includes an elevating column 5211 and an elevating cylinder 522. The lifting column 5211 is connected with the mounting frame plate 512 on the fixed frame 51 through a slide rail and a slide block, and the bottom of the lifting column is connected with the lifting frame 5212. A lift cylinder 522 is provided on the cylinder frame plate 514. The cylinder frame plate 514 is secured to the mounting frame plate 512. The piston rod of the lifting cylinder 522 is connected with the lifting frame 5212, so that the lifting cylinder 522 can drive the lifting frame 5212 to lift under the guidance of the lifting column 5211.

The suction cup frame 541 is connected to the lifting frame 5212 through the steering mechanism 53, so that the suction cup frame 541 can be lifted and lowered along with the lifting frame 5212 and can be steered to 90 degrees by the driving of the steering mechanism 53. The suction cup frame 541 is provided with a plurality of suction cups 542 for gripping the sheet. The structure of the plate material turning robot 5 of the present embodiment is the same as that of the plate material 90-degree turning floor type robot in patent document CN 206952035U. Except that the plate material steering manipulator is hung upside down on the beam in the embodiment, and the plate material steering manipulator is arranged on the ground in the patent document CN 206952035U. For a more detailed specific configuration of the robot, reference may be made to patent document CN 206952035U, which is not described in detail herein.

Fig. 3 is a schematic view of the positioning device 3 shown in fig. 1 after hiding the slab table 1, the base 2, the columns 41, the beam 4 and the slab steering robot 5. Referring to fig. 3, the positioning device 3 comprises a longitudinal edge alignment frame 31, a longitudinal pusher mechanism 32 and two oppositely disposed transverse pusher mechanisms 33. The longitudinal edge alignment frame 31 is located at the longitudinal edge of the pallet table 1, and includes a longitudinal edge fixing frame 311 and a shutter mechanism provided on the longitudinal edge fixing frame 311. The longitudinal push plate mechanism 32 is used for longitudinally pushing the plate on the plate table 1 to the longitudinal edge alignment frame 31 and comprises a longitudinally arranged pushing mechanism 35 and a baffle mechanism arranged on the longitudinally arranged pushing mechanism 35. The transverse pushing plate mechanism 33 is used for pushing the plate material in the transverse direction of the plate material to push the plate material to the longitudinal center line when the plate material on the plate material platform 1 is longitudinally pushed to the position limited by the longitudinal edge aligning frame 31, and comprises a transversely arranged pushing mechanism 35 and a baffle mechanism arranged on the transversely arranged pushing mechanism 35. In this embodiment, in order to match the length of the sheet, there are two longitudinal edge alignment frames 31 and two longitudinal pushing plate mechanisms 32.

The pushing mechanism 35 is used for pushing the shutter mechanism. The propulsion mechanism 35 is divided into two types: a longitudinally disposed pusher mechanism 35 for the longitudinal push plate in the longitudinal push plate mechanism 32 and a transversely disposed pusher mechanism 35 for the transverse push plate in the transverse push plate mechanism 33. The two propulsion mechanisms 35 are identical and comprise a linear guide 351, a screw 352, a baffle translation stage 353 and a motor 354. The barrier pan 353 is provided on two linear guides 351 parallel to each other. A linear guide 351, i.e., a slide rail, is provided on the base 2. The screw rod 352 is disposed between two mutually parallel linear guides 351 and is parallel to the linear guides 351. The screw rod 352 is connected with a baffle plate translation frame 353 through a screw sleeve, and the tail end of the screw rod is connected with a motor 354. Thus, the screw rod 352 is driven by the motor 354 to rotate so as to drive the baffle translation rack 353 to translate along the linear guide rail 351. The pushing mechanism 35 in the longitudinal push plate mechanism 32 and the pushing mechanism 35 in the lateral push plate mechanism 33 are different in that, in the longitudinal push plate mechanism 32, the linear guide 351 is arranged longitudinally; in the lateral push plate mechanism 33, the linear guide 351 is arranged laterally.

The baffle mechanism is used for propping against the edge of the plate material so as to align the edge of the plate material. The baffle mechanism in the positioning device 3 is divided into two types: one is a longitudinal baffle mechanism 34 provided on the longitudinal edge fixing frame 311 and the longitudinally provided pushing mechanism 35; the second is a transverse barrier mechanism 36 provided on the transversely disposed urging mechanism 35. The longitudinal baffle mechanism 34 and the transverse baffle mechanism 36 are both arranged on the baffle elevating mechanism.

The baffle lifting mechanism comprises a baffle lifting frame 38, a baffle lifting guide post 391 and a baffle lifting cylinder 392. Specifically, referring to fig. 4, in the longitudinal edge alignment frame 31, the baffle elevation frame 38 is disposed on the longitudinal edge fixing frame 311 by the baffle elevation guide post 391, the baffle elevation cylinder 392 is disposed on the longitudinal edge fixing frame 311, and the piston rod 3921 thereof is connected to the baffle elevation frame 38; in the longitudinal pushing plate mechanism 32 and the transverse pushing plate mechanism 33, the baffle lifting frame 38 is arranged on the baffle translation frame 353 through the baffle lifting guide column 391, the baffle lifting cylinder 392 is arranged on the baffle translation frame 353, and the piston rod 3921 of the baffle lifting frame 38 is connected.

The longitudinal baffle mechanism 34 and the transverse baffle mechanism 36 are arranged on a baffle lifting frame 38 of the baffle lifting mechanism. The baffle elevation frame 38 is a horizontally disposed elongated plate body. The longitudinal baffle mechanism 34 is implemented by a plurality of stops 341 provided on the baffle crane 38. The lateral barrier mechanism 36 is implemented by a barrier 361 provided on the barrier crane 38. Referring to fig. 4, the stopper 341 is provided with a proximity sensor 342 through a sensor mounting plate 343. The proximity sensor 342 is used to detect the slab. The longitudinal flapper mechanism 34 and the transverse flapper mechanism 36 are structurally different because, on the one hand, the longitudinal flapper mechanism 34 needs to be provided with a sensor 342 for detecting the approach of the slab, and on the other hand, the longitudinal flapper mechanism 34 needs to be moved longitudinally through the slab table 1.

In order to enable the longitudinal baffle mechanism 34 to move longitudinally through the pallet table 1, a longitudinal escape opening 11 is provided in the pallet table 1. Thus, the longitudinal baffle mechanism 34 can be extended above the top surface of the flitch table 1 or retracted below the top surface of the flitch table 1 through the longitudinal avoidance hole 11 by the lifting of the baffle lifting frame 38. When the sheet material on the sheet material platform 1 is longitudinally pushed to the longitudinal edge aligning frame 31, the longitudinal baffle mechanism 34 pushes the sheet material at the edge of the sheet material, and at the moment, the longitudinal baffle mechanism 34 is required to extend above the table top of the sheet material platform 1 and move along the longitudinal avoiding opening 11. Thereby requiring that the longitudinal avoidance orifice 11 is a longitudinal elongated opening. If the longitudinal barrier mechanism 34 is implemented by a barrier provided on the barrier crane 38, the longitudinal avoidance port 11 is required to have a wide transverse width. Thereby making the slab table 1 unable to provide sufficient support for the slab. In the case of the longitudinal barrier mechanism 34 implemented by the barrier 341 arranged on the barrier crane 38, the transverse width of the longitudinal escape opening 11 only needs to be adapted to the width of the barrier 341. At this time, the stopper 341 can be extended above the top surface of the flitch table 1 or contracted below the top surface of the flitch table 1 through the longitudinal avoiding hole 11 by the lifting of the baffle lifting frame 38.

The working process of the embodiment is as follows:

firstly, the plate material is placed on the plate material platform 1 through the transplanting mechanical arm and is positioned at the position where the plate material steering mechanical arm 5 is positioned. Then the plate material is grabbed by the plate material steering mechanical arm 5 to be steered for 90 degrees and then placed back to the plate material platform. Then, the longitudinal baffle mechanism 34 extends out of the upper part of the table top of the pallet 1 through the baffle lifting mechanism, pushes the plate to the longitudinal edge alignment frame 31, so that the plate is longitudinally aligned, then the two transverse push plate mechanisms 33 arranged in opposite directions push the plate to realize transverse alignment, and at the moment, the longitudinal center line of the plate is aligned with the longitudinal center lines of the two transverse push plate mechanisms 33 arranged in opposite directions, so that the centering and positioning operation of transverse and longitudinal alignment is completed. After the sheet is pushed out of the position where the sheet steering manipulator 5 is located by the longitudinal push plate mechanism 32, another sheet can be placed on the material platform 1 by the transplanting manipulator to perform 90 steering of the next sheet. That is, in this embodiment, the 90-degree turning and centering operations of the plate can be performed synchronously.

In addition, it should be noted that in the present embodiment, the slab steering robot 5 is suspended upside down on a beam above the slab table 1. The person skilled in the art understands that the slab reversing robot 5 may also be arranged on the base as disclosed in patent document CN 206952035U, if the slab table 1 space allows it.

Claims

1. A90-degree turning and positioning station for a sheet material is characterized by comprising a sheet material platform (1), a sheet material turning mechanical arm (5) and a positioning device (3);

the plate material table (1) is used for placing plate materials;

the plate material turning mechanical arm (5) is used for grabbing the plate material on the plate material platform (1), turning the plate material by 90 degrees and then placing the plate material back on the plate material platform (1);

and the positioning device (3) is used for pushing the plate material which is turned by 90 degrees on the plate material table (1) to a specified centering center position.

2. The 90 ° turning and positioning station of the slabs according to claim 1, characterized in that said slab turning robot (5) comprises a fixed frame (51), a lifting frame (5212) and a suction cup frame (541); the lifting frame (5212) is connected with the fixed frame (51) through a lifting mechanism (52), so that the lifting frame (5212) can be driven by the lifting mechanism (52) to lift; the suction cup frame (541) is connected with the lifting frame (5212) through a steering mechanism (53), so that the suction cup frame (541) can lift along with the lifting frame (5212) and can turn 90 degrees under the driving of the steering mechanism (53); the suction disc frame (541) is provided with a plurality of suction discs (542) used for grabbing the plate.

3. The 90 ° turning and positioning station of the slabs according to claim 2, characterized in that said slab turning manipulator (5) is arranged above said slab table (1) and on a cross beam (4) above said slab table (1) through said fixed frame (51).

4. The 90 ° turning station of the panels according to claim 1, 2 or 3, characterized in that said positioning means (3) comprise a longitudinal edge alignment frame (31), a longitudinal pusher mechanism (32) and two opposite transverse pusher mechanisms (33);

the longitudinal edge alignment frame (31) includes a longitudinal baffle mechanism (34) disposed on a longitudinal edge mount (311);

the longitudinal push plate mechanism (32) is used for longitudinally pushing the plate on the plate table (1) to the longitudinal edge alignment frame (31) and comprises a longitudinal baffle mechanism (34) arranged on a longitudinally-arranged pushing mechanism (35);

the transverse pushing plate mechanism (33) is used for pushing the plate materials in the transverse direction of the plate materials to push the plate materials to the longitudinal center line when the plate materials on the plate material platform (1) are longitudinally pushed to the position limited by the longitudinal edge aligning frame (31), and comprises a transverse baffle mechanism (36) arranged on a transversely arranged pushing mechanism (35).

5. The 90 ° turning and positioning station of the slabs according to claim 4, characterized in that said longitudinal baffle means (34) comprise a plurality of blocks (341) arranged on a baffle crane (38); the baffle lifting frame (38) is connected with a baffle lifting cylinder (392) so that the baffle lifting frame (38) can be driven by the baffle lifting cylinder (392) to lift.

6. The 90 ° turning and positioning station for slabs according to claim 5, characterized in that the stop (341) is provided with a proximity sensor (342) for detecting the slab.

7. The 90-degree turning and positioning station for the slabs as claimed in claim 5, characterized in that the slab table (1) is provided with a longitudinal avoidance opening (11); the stop block (341) can be lifted by the baffle lifting frame (38) and extend out of the upper part of the table top of the material plate table (1) or shrink below the table top of the material plate table (1) through the longitudinal avoiding opening (11).

8. The 90 ° turning and positioning station for the slabs according to claim 4, characterized in that said transverse baffle mechanism (36) comprises a baffle (361) arranged on a baffle crane (38); the baffle lifting frame (38) is connected with a baffle lifting cylinder (392) so that the baffle lifting frame (38) can be driven by the baffle lifting cylinder (392) to lift.

9. The 90-degree turning and positioning station for the slabs according to claim 4, characterized in that the pushing mechanism (35) comprises a linear guide (351), a screw (352), a baffle translation frame (353) and a motor (354); the baffle plate translation frame (353) is arranged on the linear guide rail (351); the screw rod (352) is connected with the baffle plate translation frame (353) and the motor (354); the screw rod (352) is driven by the motor (354) to rotate so as to drive the baffle plate translation frame (353) to translate along the linear guide rail (351).

10. The 90 ° turning and positioning station of the slabs according to claim 1, characterized by further comprising a base (2); the plate material platform (1), the plate material steering mechanical arm (5) and the positioning device (3) are arranged on the base (2).