CN215824124U

CN215824124U - Sucking disc manipulator with heavy burden detects

Info

Publication number: CN215824124U
Application number: CN202120182224.4U
Authority: CN
Inventors: 葛孝华; 李振霞; 周宇
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 sucker manipulator with heavy material detection function. Each sucking disc is positioned on the same sucking disc surface. The heavy material detection device is characterized by further comprising a swinging mechanism and a heavy material detection mechanism arranged on the suction cup frame through the swinging mechanism. The heavy material detection mechanism is used for detecting whether the suckers adsorb overlapped plates through the thickness of the material sheets. The swing mechanism is used for driving the heavy material detection mechanism to swing, so that the heavy material detection mechanism avoids the sucker manipulator to suck and discharge materials. According to the utility model, whether the heavy material exists in the plate material grabbed by the sucker manipulator is judged by detecting the thickness of the plate material, so that when the heavy material exists in the material slice, a method for grabbing the plate material again can be adopted to avoid the heavy material of the plate material.

Description

Sucking disc manipulator with heavy burden detects

Technical Field

The utility model relates to a sucker manipulator.

Background

In the field of sheet processing, such as the field of sheet metal processing, a sucker manipulator is a common sheet grabbing manipulator. When the sucker manipulator grabs the plate, the plate deadweight is light, the plate stacking is tight, and the material pieces are mutually adsorbed, so that the lamination problem is caused. In particular, the chuck robot may have two or three sheets to be gripped at a time. This is to be avoided because subsequent sheet processing may be problematic. To avoid this, the heavy material is usually prevented by a heavy material prevention mechanism. However, in practical application, the phenomenon of heavy materials can exist, but the probability is low.

Disclosure of Invention

The problems to be solved by the utility model are as follows: avoid the heavy burden problem to appear when the sucking disc manipulator grabs the material.

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

a sucker manipulator with heavy material detection comprises a sucker frame and a plurality of suckers arranged on the sucker frame; each sucker is positioned on the same sucker surface; the heavy material detection device also comprises a swinging mechanism and a heavy material detection mechanism arranged on the sucker frame through the swinging mechanism; the heavy material detection mechanism is used for detecting whether the suckers adsorb overlapped plates or not; the swing mechanism is used for driving the heavy material detection mechanism to swing, so that the heavy material detection mechanism avoids the sucking and discharging of the sucker manipulator.

Further, the swing mechanism comprises a swing arm and a driving cylinder; the swing arm is arranged on the suction disc frame through a swing shaft; the driving cylinder is arranged on the suction disc frame, and a piston rod of the driving cylinder is movably connected with the swing arm.

Further, the heavy material detection mechanism comprises a first distance measurement sensor and a second distance measurement sensor; the first distance measuring sensor and the second distance measuring sensor are arranged on the swing arm and are arranged oppositely; under the drive of the driving cylinder, the first distance measuring sensor can swing to the upper side of the suction disc surface, and meanwhile, the second distance measuring sensor swings to the lower side of the suction disc surface.

Further, the first distance measuring sensor and the second distance measuring sensor are connected with a controller; the controller calculates the thickness of the material sheet through the distance data detected by the first distance measuring sensor and the second distance measuring sensor so as to judge whether the heavy materials exist.

Further, the driving cylinder is arranged on the suction disc frame through a hinge.

The utility model has the following technical effects: according to the utility model, whether the heavy material exists in the plate material grabbed by the sucker manipulator is judged by detecting the thickness of the plate material, so that when the heavy material exists in the material slice, a method for grabbing the plate material again can be adopted to avoid the heavy material of the plate material.

Drawings

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

Fig. 2 is a schematic circuit diagram according to an embodiment of the present invention.

Wherein 100 is a suction cup holder, 2 is a suction cup, 300 is a swing mechanism, 31 is a swing arm, 311 is a swing shaft, 32 is a driving cylinder, 321 is a first hinge, 322 is a second hinge, 400 is a heavy material detection mechanism, 41 is a first distance measurement sensor, 42 is a second distance measurement sensor, and 43 is a controller.

Detailed Description

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

As shown in fig. 1, a suction cup manipulator with heavy material detection includes a suction cup frame 100, a plurality of suction cups 2 disposed on the suction cup frame 100, a swing mechanism 300, and a heavy material detection mechanism 400 disposed on the suction cup frame 100 through the swing mechanism 300. Each suction cup 2 is located on the same suction cup surface. The heavy material detection mechanism 400 is used for detecting whether the suction cups 2 adsorb overlapped plates. The swing mechanism 300 is used for driving the heavy material detection mechanism 400 to swing, so that the heavy material detection mechanism 400 avoids sucking and discharging of the sucker manipulator. Specifically, the swing mechanism 300 includes a swing arm 31 and a drive cylinder 32. The swing arm 31 is provided on the suction cup holder 100 via a swing shaft 311. The driving cylinder 32 is movably disposed on the suction cup holder 100 through a first hinge 321, and a piston rod thereof is movably connected to the swing arm 31 through a second hinge 322. The heavy material detection mechanism 400 includes a first distance measurement sensor 41 and a second distance measurement sensor 42. The first distance measuring sensor 41 and the second distance measuring sensor 42 are provided on the swing arm 31 via a mounting plate, and are disposed oppositely. Under the driving of the driving cylinder 32, the swing arm 31 swings around a swing shaft (311), which drives the first distance measuring sensor 41 and the second distance measuring sensor 42 to swing. When detecting whether heavy materials exist in the material sheet grabbed by the sucker 2, the first distance measuring sensor 41 swings to the upper side of the sucker surface, and the second distance measuring sensor 42 swings to the lower side of the sucker surface; when the suction cup manipulator grabs or releases the sheet, both the first distance measuring sensor 41 and the second distance measuring sensor 42 are swung above the suction cup surface, so that the heavy material detecting mechanism 400 does not hinder the grabbing and releasing of the sheet.

The working principle of the heavy material detection of the embodiment is as follows:

referring to fig. 2, the first and second ranging

sensors

41 and 42 are connected to a controller 43. After the sucker manipulator grabs, the first distance measuring sensor 41 swings to the upper side of the sucker surface, and the second distance measuring sensor 42 swings to the lower side of the sucker surface, so that the first distance measuring sensor 41 and the second distance measuring sensor 42 are respectively positioned above and below the measured material piece. The first distance measuring sensor 41 measures the distance from the upper surface of the web to be measured to the first distance measuring sensor 41, and the second distance measuring sensor 42 measures the distance from the lower surface of the web to be measured to the second distance measuring sensor 42. The distance data measured by the first distance measuring sensor 41 and the second distance measuring sensor 42 are transmitted to the controller 43, and the controller 43 calculates the thickness of the web from the two distance data and then judges whether or not there is a heavy material according to the thickness of the web. If the problem of heavy material of the plate is detected, the sucker mechanical arm can release the material sheet and grab the material again, so that the heavy material is prevented.

It should be noted that in this embodiment, the heavy material detection mechanism 400 is substantially a non-contact type sheet thickness detection mechanism, and is implemented by two distance measurement sensors disposed opposite to each other. Those skilled in the art will appreciate that the non-contact type sheet thickness detection mechanism can also be implemented by other means, such as detecting the thickness of the sheet by using gamma rays, etc.

Claims

1. A sucker manipulator with heavy material detection comprises a sucker frame (100) and a plurality of suckers (2) arranged on the sucker frame (100); each sucker (2) is positioned on the same sucker surface; the heavy material detection device is characterized by further comprising a swinging mechanism (300) and a heavy material detection mechanism (400) arranged on the suction disc frame (100) through the swinging mechanism (300); the heavy material detection mechanism (400) is used for detecting whether the suckers (2) adsorb overlapped plates or not; the swing mechanism (300) is used for driving the heavy material detection mechanism (400) to swing, so that the heavy material detection mechanism (400) avoids the sucking and discharging of the sucker manipulator.

2. The suction cup robot with heavy material detection according to claim 1, characterized in that the swing mechanism (300) comprises a swing arm (31) and a driving cylinder (32); the swing arm (31) is arranged on the suction cup frame (100) through a swing shaft (311); the driving air cylinder is arranged on the suction cup frame (100), and a piston rod of the driving air cylinder is movably connected with the swing arm (31).

3. The suction cup robot with heavy material detection according to claim 2, characterized in that the heavy material detection mechanism (400) comprises a first distance measuring sensor (41) and a second distance measuring sensor (42); the first distance measuring sensor (41) and the second distance measuring sensor (42) are arranged on the swing arm (31) and are oppositely arranged; under the driving of the driving air cylinder (32), the first distance measuring sensor (41) can swing to the upper part of the suction disc surface, and meanwhile, the second distance measuring sensor (42) swings to the lower part of the suction disc surface.

4. The suction cup manipulator with heavy material detection as claimed in claim 2, wherein the first distance measuring sensor (41) and the second distance measuring sensor (42) are connected with a controller (43); the controller (43) calculates the thickness of the material sheet through the distance data detected by the first distance measuring sensor (41) and the second distance measuring sensor (42) so as to judge whether the heavy materials exist.

5. The suction cup robot with heavy material detection according to claim 2, characterized in that the driving cylinder (32) is provided on the suction cup holder (100) through a hinge.