CN216996623U - A grabbing device for sheet metal - Google Patents
A grabbing device for sheet metal Download PDFInfo
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- CN216996623U CN216996623U CN202221509541.3U CN202221509541U CN216996623U CN 216996623 U CN216996623 U CN 216996623U CN 202221509541 U CN202221509541 U CN 202221509541U CN 216996623 U CN216996623 U CN 216996623U
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Abstract
The utility model discloses a grabbing device for a thin plate, which belongs to the technical field of plate processing and comprises a plate-shaped manipulator; the plate-shaped manipulator comprises a vacuum plate-shaped sucker, a first exhaust passage, a vacuum pump and a plate-shaped flanging mechanism; the first exhaust duct is arranged on the vacuum plate-shaped sucker; the vacuum pump is communicated with the first exhaust passage; the number of the plate-shaped flanging mechanisms is two, and each plate-shaped flanging mechanism comprises a plate-shaped separating disc and a separating cylinder; the two plate-shaped separating discs are respectively movably connected to two sides of the vacuum plate-shaped sucker, and the lower surfaces of the plate-shaped separating discs and the lower surface of the vacuum plate-shaped sucker are positioned on the same horizontal plane; the expansion and contraction of the separating cylinder are controlled, so that the plate-shaped separating disc is outwards turned, and the vacuum adsorption between the thin plates is broken. Through the design of the plate-shaped manipulator matched with the plate-shaped flanging mechanism, the grabbing mode of point contact is replaced by surface contact, the whole stress of the thin plate is uniform, the phenomena of creasing, deformation, damage and the like can not be generated, and the quality of subsequent processing is ensured.
Description
Technical Field
The utility model belongs to the technical field of plate processing, and particularly relates to a grabbing device for a thin plate.
Background
In the thin plate processing industry, easily deformable thin plates such as light paperboards, soft boards, steel plates and the like are often processed, such as a plate gluing process and the like. The thin plates are generally stacked together to serve as processing raw materials, and when the equipment is used for processing, one thin plate is clamped by a mechanical arm and moved to a machine tool station for processing. However, due to the existence of an oil film and vacuum negative pressure between the thin plates, the plates of all layers are mutually adhered, so that the plate on the uppermost layer is not easy to extract, and the phenomenon of heavy materials is caused when the materials are taken.
In order to deal with the phenomenon that heavy materials are got to the sheet metal, the technical scheme of current solution is through designing the sucking disc frame, at sucking disc frame bottom according to a plurality of disc sucking discs of panel size array distribution, then set up branch mechanism in sucking disc frame one side, branch mechanism adopts magnetism to divide to open, blows to divide and open etc. more, nevertheless all has the defect of different degree, specifically as follows:
(1) when the sheet metal is soft sheet metal, light-duty cardboard, the yielding sheet metal product of steel sheet, the current mode of snatching panel through the punctiform absorption of a plurality of array disk sucking discs of portion cloth at the sucking disc frame bottom can not cover the soft sheet metal surface completely, leads to easily that the local atress of soft sheet metal is inhomogeneous, appears pincher trees, deformation, phenomenon such as damaged easily to the quality of follow-up processing is seriously influenced.
(2) The existing magnetic separator only has an effect on magnetic metal, but cannot act on non-magnetic metal sheets such as aluminum plates and the like and plastic plates, and the cost of the magnetic separator is high; the existing blowing splitting has low splitting rate for tightly attached plates, the design position and control of a blowing device are complex, the splitting quantity is unstable, and the splitting efficiency is low.
SUMMERY OF THE UTILITY MODEL
In order to overcome the disadvantages of the prior art, the utility model aims to provide a gripping device for sheets. This application is through designing platelike manipulator to the sheet metal is absorb to the mode of evacuation, and the absorption that will have the point contact now snatchs the mode and changes into the face contact and adsorbs the mode of snatching, covers jumbo size sheet metal surface completely, and the whole atress of sheet metal is even, can not produce phenomenons such as pincher trees, deformation, damage, guarantees the quality of follow-up processing, is applicable to yielding sheet metal products such as soft sheet metal, light-duty cardboard, steel sheet. In addition, the edge of the thin plate is pulled upwards by a certain angle by matching with the plate-shaped flanging mechanism, so that the vacuum in the plate is broken, the separating effect is stable, the integral structure is simple, and the cost is low; meanwhile, the flanging mechanism is designed into a plate shape, so that the edge of the thin plate can be further protected from being damaged in the separating process, and the integrity and the flatness of the thin plate can be better protected.
The purpose of the utility model is realized by adopting the following technical scheme: a gripping device for thin plates comprises a plate-shaped manipulator; the plate-shaped manipulator comprises a vacuum plate-shaped sucker, a first exhaust passage, a vacuum pump and a plate-shaped flanging mechanism; the vacuum plate-shaped sucker is internally provided with a hollow cavity, and first air suction holes are uniformly distributed on the lower surface of the vacuum plate-shaped sucker; the first exhaust passage is arranged on the vacuum plate-shaped sucker and is communicated with the hollow cavity; the vacuum pump is communicated with the first exhaust passage; the number of the plate-shaped flanging mechanisms is two, and each plate-shaped flanging mechanism comprises a plate-shaped separating disc and a separating cylinder; the two plate-shaped separating discs are respectively movably connected to two sides of the vacuum plate-shaped sucker, and the lower surfaces of the plate-shaped separating discs and the lower surface of the vacuum plate-shaped sucker are positioned on the same horizontal plane; one end of the separating cylinder is connected to the upper surface of the plate-shaped separating disc, the other end of the separating cylinder is connected to the upper surface of the vacuum plate-shaped sucker, and the plate-shaped separating disc is turned outwards by controlling the stretching of the separating cylinder, so that the vacuum adsorption between the thin plate and the thin plate is broken.
Furthermore, a hollow cavity is formed inside each plate-shaped separating plate, and second air suction holes are uniformly distributed in the lower surface of each plate-shaped separating plate; each plate-shaped flanging mechanism also comprises a second exhaust passage and a vacuum pump; the second exhaust passage is arranged on the plate-shaped separating plate and is communicated with the hollow cavity of the plate-shaped separating plate; the vacuum pump is communicated with the second exhaust passage.
Furthermore, the cylinder body of the separating cylinder is movably mounted on two sides of the vacuum plate-shaped sucking disc through a hinged seat, and the telescopic rod of the separating cylinder is mounted on the upper surface of the plate-shaped separating disc through a connecting rod.
Further, the plate-shaped manipulator further comprises a lock valve, the lock valve is arranged on the upper surface of the vacuum plate-shaped sucker, a sealing assembly is arranged on the lock valve, and the lock valve is plugged or opened through the sealing assembly, so that the vacuum plate-shaped sucker is kept in a vacuum state or is exhausted from the vacuum state.
Further, the sealing assembly comprises a sealing sheet, a sealing cylinder and a cylinder mounting seat; the shape of the sealing sheet is matched with the shape and the size of the air locking valve; the sealing cylinder comprises a sealing cylinder body and a sealing cylinder telescopic rod; the sealing cylinder telescopic link with gasket fixed connection, sealing cylinder's cylinder body is fixed on the cylinder mount pad, the cylinder mount pad is fixed at the upper surface of vacuum plate sucking disc.
Furthermore, sponges are mounted on the lower surfaces of the vacuum plate-shaped sucker and the plate-shaped separating plate.
Furthermore, the gripping device also comprises a manipulator moving module used for controlling the plate-shaped manipulator to move; the plate-shaped manipulator is arranged on the manipulator moving module and is driven by the manipulator moving module to grab and move the thin plate.
Further, the manipulator moving module comprises a Z-axis moving module and an X-axis moving module; the plate-shaped manipulator is arranged on the Z-axis moving module to realize the lifting motion of the plate-shaped manipulator in the vertical direction; the Z-axis moving module is arranged on the X-axis moving module to realize the reciprocating movement of the plate-shaped manipulator in the horizontal direction.
Furthermore, the Z-axis moving module comprises a first mounting frame, a first sliding seat, a vertical sliding rod and a Z-axis motor; the first sliding seat is fixedly arranged on the first mounting frame; a sliding block is arranged on one side face of the vertical sliding rod, the vertical sliding rod moves up and down along the vertical direction through the matching of the sliding block and the first sliding seat, and teeth arranged in the vertical direction are arranged on the other side face of the vertical sliding rod; the power output end of the Z-axis motor is connected with a power gear meshed with the teeth; the plate-shaped manipulator is fixed at the bottom of the vertical sliding rod; the Z-axis motor rotates to drive the power gear to rotate, and the vertical sliding rod is driven to move up and down along the first sliding seat and the first mounting frame in a manner of meshing transmission of the teeth and the gear, so that the plate-shaped manipulator is driven to move up and down along the vertical direction.
Further, the X-axis moving module comprises a second mounting frame, a translation sliding block, a translation sliding rail and an X-axis motor; the Z-axis moving module is fixed on the second mounting frame; the translational sliding block is arranged at the bottom of the second mounting frame, the gripping device further comprises a rack for mounting a manipulator moving module, and the translational sliding rail is arranged on the rack; translation slider sliding connection is on the translation slide rail, X axle motor with second mounting bracket or translation slider transmission are connected to realize that the plate-like manipulator is the horizontal direction along the length direction of translation slide rail and removes.
Compared with the prior art, the utility model has the beneficial effects that:
(1) this application is through designing platelike manipulator to the sheet metal is absorb to the mode of evacuation, and the absorption that will have the point contact now snatchs the mode and changes into the face contact and adsorbs the mode of snatching, covers jumbo size sheet metal surface completely, and the whole atress of sheet metal is even, can not produce phenomenons such as pincher trees, deformation, damage, guarantees the quality of follow-up processing, is applicable to yielding sheet metal products such as soft sheet metal, light-duty cardboard, steel sheet. In addition, the edge of the thin plate is upwards pulled by a certain angle by matching with a plate-shaped flanging mechanism, so that the vacuum in the plate is broken, the splitting effect is stable, the integral structure is simple, and the cost is low; meanwhile, the flanging mechanism is designed into a plate shape, so that the edge of the thin plate can be further protected from being damaged in the separating process, and the integrity and the flatness of the thin plate can be better protected.
(2) The vacuum plate-shaped sucker and the two plate-shaped separating disks positioned on the two sides of the vacuum plate-shaped sucker respectively adopt independent vacuum pumps to control and adjust the vacuum state in each gas circuit, the two plate-shaped separating disks can not act, can act singly, can be linked simultaneously, and can set flanging action according to the characteristics of plates.
Drawings
FIG. 1 is a schematic structural view of a gripping device for thin plates according to a preferred embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a portion a of FIG. 1;
FIG. 3 is an enlarged schematic view of FIG. 1 at b;
FIG. 4 is a schematic view of another angle of the gripping device for thin plates according to the preferred embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a Z-axis moving module and an X-axis moving module according to a preferred embodiment of the present invention;
FIG. 6 is a schematic view of another angle between the Z-axis moving module and the X-axis moving module according to the preferred embodiment of the present invention.
In the figure: 1. a plate-shaped manipulator; 11. a vacuum plate-shaped suction cup; 111. a first air-intake hole; 12. a first exhaust duct; 13. a vacuum pump; 14. a plate-shaped flanging mechanism; 141. a plate-shaped sheet separating tray; 1411. a second suction hole; 142. a split cylinder; 143. a second exhaust passage; 144. a hinged seat; 145. a connecting rod; 15. locking the air valve; 16. a seal assembly; 161. sealing the sheet; 162. sealing the cylinder; 163. a cylinder mount; 17. a sponge; 2. a manipulator moving module; 21. a Z-axis moving module; 211. a first mounting bracket; 212. a first slider; 213. a vertical sliding rod; 214. a Z-axis motor; 22. an X-axis moving module; 221. a second mounting bracket; 222. a translation slide block; a. A thin plate.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example 1
As shown in fig. 1 to 6, a gripping device for a thin plate a includes a plate-shaped robot 1, a robot moving module 2; the plate-shaped manipulator 1 is installed on the manipulator moving module 2, and is driven by the manipulator moving module 2 to grab and move the thin plate A. The plate-shaped manipulator 1 comprises a vacuum plate-shaped suction cup 11, a first exhaust duct 12, a vacuum pump 13 and a plate-shaped flanging mechanism 14; the vacuum plate-shaped sucker 11 is internally provided with a hollow cavity, and first air suction holes 111 are uniformly distributed on the lower surface of the vacuum plate-shaped sucker 11; the first exhaust duct 12 is arranged on the vacuum plate-shaped suction cup 11 and is communicated with the hollow cavity; the vacuum pump 13 is communicated with the first exhaust duct 12; the number of the plate-shaped flanging mechanisms 14 is two, and each plate-shaped flanging mechanism comprises a plate-shaped separating disc 141 and a separating cylinder 142; the two plate-shaped separating discs 141 are respectively movably connected to two sides of the vacuum plate-shaped sucker 11, and the lower surfaces of the plate-shaped separating discs 141 and the lower surface of the vacuum plate-shaped sucker 11 are located on the same horizontal plane; one end of the separating cylinder 142 is connected to the upper surface of the plate-shaped separating disc 141, and the other end is connected to the upper surface of the vacuum plate-shaped suction cup 11, and the plate-shaped separating disc 141 is turned outwards by controlling the expansion and contraction of the separating cylinder 142, so that the vacuum adsorption between the thin plate A and the thin plate A is broken.
This application is through designing platelike manipulator 1 to the sheet metal is absorb to the mode of evacuation, and the absorption that will have the point contact now snatchs the mode and changes into the face contact and adsorbs the mode of snatching, covers sheet metal A surface completely, and the whole atress of sheet metal A is even, can not produce phenomenons such as pincher trees, deformation, damage, guarantees the quality of follow-up processing, is applicable to yielding sheet metal products such as soft sheet metal, light-duty cardboard, steel sheet. In addition, the edge of the thin plate is upwards pulled by a certain angle by matching with the plate-shaped flanging mechanism 14, so that the vacuum in the plate is broken, the separating effect is stable, the integral structure is simple, and the cost is low; meanwhile, the flanging mechanism is designed into a plate shape, so that the edge of the thin plate A can be further protected from being damaged in the separating process, and the integrity and the flatness of the thin plate can be better protected.
As a further preferable scheme, as shown in fig. 4, the interiors of the two plate-shaped separating plates 141 are hollow cavities, and second air suction holes 1411 are uniformly distributed on the lower surfaces of the plate-shaped separating plates 141; each of the plate-shaped flanging mechanisms 14 further comprises a second exhaust passage 143 and a vacuum pump (not shown); the second exhaust duct 143 is arranged on the plate-shaped separating plate 141 and is communicated with the hollow cavity of the plate-shaped separating plate; the vacuum pump is communicated with the second exhaust passage 143. Preferably, the vacuum plate-shaped suction cup 11 and the two plate-shaped branch trays located on both sides of the vacuum plate-shaped suction cup adopt independent vacuum pumps respectively to control and adjust the vacuum state in each hollow chamber, and the two plate-shaped branch trays 141 can be in non-action, can be in single action, can be in two-time linkage, and can set flanging action according to the characteristics of the plate.
Specifically, as shown in fig. 2, a plurality of the separating cylinders 142 are provided, the cylinder bodies of the plurality of separating cylinders are movably mounted on two sides of the vacuum plate-shaped suction cup 11 through hinge seats 144, and the telescopic rods of the separating cylinders are mounted on the upper surface of the plate-shaped separating cup through a connecting rod 145.
As shown in fig. 1 and 3, the plate-shaped robot 1 further preferably includes a lock valve 15 provided on an upper surface of the vacuum plate-shaped suction cup 11, and a seal unit 16 is provided on the lock valve, and the lock valve is closed or opened by the seal unit 16 to maintain the vacuum plate-shaped suction cup 11 in a vacuum state or a vacuum evacuation state. The lock valve 15 functions to keep the vacuum pressure in the vacuum plate-shaped suction cup not easily lost, and to exhaust the vacuum. The process of grabbing the panel requires the sealing assembly 16 to close the lock valve to concentrate the vacuum pressure in the vacuum plate-shaped suction cup, and the sealing assembly 16 is required to open the lock valve to exhaust air in order to avoid vacuum adsorption when the panel is loosened.
As shown in fig. 3, the seal assembly 16 has the following specific structure: comprises a sealing sheet 161, a sealing cylinder 162 and a cylinder mounting seat 163; the shape of the sealing sheet 161 is matched with the shape and size of the air locking valve; the sealing cylinder 162 comprises a sealing cylinder body and a sealing cylinder telescopic rod; the telescopic rod of the sealing cylinder is fixedly connected with the sealing sheet 161, the cylinder body of the sealing cylinder is fixed on the cylinder mounting seat 163, and the cylinder mounting seat 163 is fixed on the upper surface of the vacuum plate-shaped sucker 11.
As a further preferable mode, as shown in fig. 2, sponges 17 are mounted on the lower surfaces of the vacuum plate-shaped suction cup 11 and the plate-shaped tension plate 141. The sponge 17 is also provided with a through hole penetrating the whole sponge, and the through hole corresponds to the first suction hole of the vacuum plate-like suction pad 11 and the second suction hole of the plate-like expansion pad 141 in position and size. The sponge 17 has the characteristics of softness, easy fitting, full coverage and the like, and has strong adsorption, buffering and grabbing effects on thin plates, oil film plates and opposite plates; add sponge 17 and can better protect panel, and can the adaptation have grabbing and shifting of the panel of certain gradient, play certain cushioning effect.
As a further preferable scheme, as shown in fig. 5 to 6, the robot moving module 2 includes a Z-axis moving module 21 and an X-axis moving module 22; the plate-shaped manipulator 1 is arranged on the Z-axis moving module 21 so as to realize the lifting motion of the plate-shaped manipulator 1 in the vertical direction; the Z-axis moving module 21 is installed on the X-axis moving module 22 to realize the reciprocating movement of the plate robot 1 in the horizontal direction.
As a further preferable solution, as shown in fig. 5, the Z-axis moving module 21 of the present application may be a moving module capable of achieving vertical lifting movement in the prior art, such as cooperation between screw rod transmission assemblies. The Z-axis moving module 21 specifically adopts tooth meshing transmission, conveyor belt transmission, chain transmission or other transmission modes to realize vertical lifting displacement, and specifically comprises a first mounting frame 211, a first sliding seat 212, a vertical sliding rod 213 and a Z-axis motor 214; the first sliding base 212 is fixedly mounted on the first mounting bracket 211; a sliding block is arranged on one side face of the vertical sliding rod 213, the vertical sliding rod moves up and down along the vertical direction through the matching of the sliding block and the first sliding seat, and teeth arranged in the vertical direction are arranged on the other side face of the vertical sliding rod 213; the power output end of the Z-axis motor 214 is connected with a power gear meshed with the teeth; the plate-shaped manipulator 1 is fixed at the bottom of the vertical sliding rod 213; z axle motor 214 rotates, drives power gear and rotates to through tooth and gear engagement driven mode, thereby drive vertical slide bar 213 and do the oscilaltion removal along first slide 212, first mounting bracket 211, in order to realize that plate-like manipulator 1 is elevating movement along vertical direction.
As a further preferable solution, as shown in fig. 5 to 6, the X-axis moving module 22 may be a moving module capable of moving left and right in a horizontal direction in the prior art, and the X-axis moving module 22 specifically includes a second mounting frame 221, a translational slider 222, a translational slide rail (not shown), and an X-axis motor (not shown); the Z-axis moving module 21 is fixed on the second mounting bracket 221; the translational slide block 222 is installed at the bottom of the second mounting frame 221, the gripping device further includes a rack for installing a robot moving module, and the translational slide rail is installed on the rack; the translation sliding block 222 is slidably connected to a translation sliding rail, and the X-axis motor is in transmission connection with the second mounting frame 221 or the translation sliding block 222, so that the plate-shaped manipulator 1 moves horizontally along the length direction of the translation sliding rail.
Application examples
The gripping device of the application is mainly used in the transfer of a thin plate A, preferably transfers large-size thin plates, such as thin plates with length and width larger than 0.5m, and takes the gluing and attaching process of the fireproof plates as an example, but the transfer of the thin plates is not limited to the use of the process, wherein the surfaces of the fireproof plates are attached with thin layers, soft fireproof paper or decorative paper and the like according to fireproof requirements, the size of the thin plates can reach 3m multiplied by 1m, and the transfer working process is as follows:
(1) the manipulator moving module 2 controls the plate-shaped manipulator 1 to stick the vacuum plate-shaped sucker 11 to the surface of the thin plate A; if the sponge 17 is arranged on the vacuum plate-shaped sucker 11, the vacuum plate-shaped sucker has further effects of absorbing, buffering and grabbing thin plates, oil film plates and special-shaped plates.
(2) The vacuum plate-shaped sucker 11 and the plate-shaped separating plate 141 are correspondingly pumped out of the air by a vacuum pump; at this time, the vacuum plate-shaped suction cup 11, the plate-shaped separating plate 141 or the sponge 17 (if any) is tightly attached to the thin plate A; in this process, the lock valve is closed to maintain the vacuum pressure in the vacuum plate-shaped suction cup 11 and the plate-shaped tension plate 141.
(3) After the step (2), the vacuum plate-shaped sucker 11 and the plate-shaped flanging mechanism 14 adsorb the thin plate A, when the plate-shaped flanging mechanism 14 is turned outwards, the edge of the thin plate A is pulled upwards by an angle, and the vacuum adsorption between the thin plates is broken, so that the separating effect can be realized. In addition, the plate-shaped flanging mechanisms 14 on both sides of the vacuum plate-shaped suction cup 11 may be not operated, may be operated singly, may be interlocked doubly, and may be set according to the characteristics of the plate material.
(4) After the vacuum is broken, according to actual production needs, the moving track of the Z-axis moving module 21 and the X-axis moving module 22 in the manipulator moving module 2 is controlled, so that the plate-shaped manipulator 1 is driven to grab, adsorb and transfer the thin plate A to a station of the next process. When the thin plate a is loosened, in order to avoid vacuum adsorption, the air lock valve needs to be opened to exhaust air, and the plate-shaped manipulator 1 releases the thin plate a to complete the transfer operation.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A gripping device for thin plates is characterized by comprising a plate-shaped manipulator; the plate-shaped manipulator comprises a vacuum plate-shaped sucker, a first exhaust passage, a vacuum pump and a plate-shaped flanging mechanism; the vacuum plate-shaped sucker is internally provided with a hollow cavity, and first air suction holes are uniformly distributed on the lower surface of the vacuum plate-shaped sucker; the first exhaust passage is arranged on the vacuum plate-shaped sucker and is communicated with the hollow cavity; the vacuum pump is communicated with the first exhaust passage; the number of the plate-shaped flanging mechanisms is two, and each plate-shaped flanging mechanism comprises a plate-shaped separating disc and a separating cylinder; the two plate-shaped separating discs are respectively movably connected to two sides of the vacuum plate-shaped sucker, and the lower surfaces of the plate-shaped separating discs and the lower surface of the vacuum plate-shaped sucker are positioned on the same horizontal plane; one end of the separating cylinder is connected to the upper surface of the plate-shaped separating disc, the other end of the separating cylinder is connected to the upper surface of the vacuum plate-shaped sucker, and the plate-shaped separating disc is turned outwards by controlling the stretching of the separating cylinder, so that the vacuum adsorption between the thin plate and the thin plate is broken.
2. The gripping device for thin plates according to claim 1, wherein the inside of each plate-shaped separating plate is a hollow chamber, and second air suction holes are uniformly distributed on the lower surface of the plate-shaped separating plate; each plate-shaped flanging mechanism also comprises a second exhaust passage and a vacuum pump; the second exhaust passage is arranged on the plate-shaped separating plate and is communicated with the hollow cavity of the plate-shaped separating plate; the vacuum pump is communicated with the second exhaust passage.
3. The gripping device for sheets as claimed in claim 1, wherein the distracting cylinder is provided in plurality, the cylinder bodies of the distracting cylinder are movably mounted on both sides of the vacuum plate-shaped suction cup through hinge seats, respectively, and the telescopic rod of the distracting cylinder is mounted on the upper surface of the plate-shaped distracting disc through a connecting rod.
4. A gripping device for thin sheets as claimed in claim 1, wherein said plate robot further comprises a lock valve, said lock valve is provided on the upper surface of the vacuum plate chuck, a sealing component is provided on the lock valve, the lock valve is blocked or opened by the sealing component to make the vacuum plate chuck maintain the vacuum state or exhaust the vacuum state.
5. The grasping apparatus for a thin plate according to claim 4, wherein the seal assembly includes a seal plate, a seal cylinder, a cylinder mount; the shape of the sealing sheet is matched with the shape and size of the air locking valve; the sealing cylinder comprises a sealing cylinder body and a sealing cylinder telescopic rod; the sealing cylinder telescopic link with gasket fixed connection, the sealing cylinder body is fixed on the cylinder mount pad, the cylinder mount pad is fixed at the upper surface of vacuum plate sucking disc.
6. The gripping device for thin plates according to claim 1, wherein sponges are installed on the lower surfaces of the vacuum plate-shaped suction cups and the plate-shaped tension plates.
7. A gripping device for a thin plate as recited in claim 1, further comprising a robot moving module for controlling the movement of the plate-like robot; the plate-shaped manipulator is arranged on the manipulator moving module and is driven by the manipulator moving module to grab and move the thin plate.
8. The sheet handling device of claim 7, wherein the robot moving module comprises a Z-axis moving module and an X-axis moving module; the plate-shaped manipulator is arranged on the Z-axis moving module to realize the lifting motion of the plate-shaped manipulator in the vertical direction; the Z-axis moving module is arranged on the X-axis moving module to realize the reciprocating movement of the plate-shaped manipulator in the horizontal direction.
9. The grasping apparatus for a thin plate according to claim 8, wherein the Z-axis moving module includes a first mount, a first slide, a vertical slide, a Z-axis motor; the first sliding seat is fixedly arranged on the first mounting frame; a sliding block is arranged on one side face of the vertical sliding rod, the vertical sliding rod moves up and down along the vertical direction through the matching of the sliding block and the first sliding seat, and teeth arranged in the vertical direction are arranged on the other side face of the vertical sliding rod; the power output end of the Z-axis motor is connected with a power gear meshed with the teeth; the plate-shaped manipulator is fixed at the bottom of the vertical sliding rod; the Z-axis motor rotates to drive the power gear to rotate, and the vertical sliding rod is driven to move up and down along the first sliding seat and the first mounting frame in a manner of meshing transmission of the teeth and the gear, so that the plate-shaped manipulator is driven to move up and down along the vertical direction.
10. The sheet handling device of claim 8, wherein the X-axis moving module comprises a second mounting bracket, a translational slider, a translational slide, an X-axis motor; the Z-axis moving module is fixed on the second mounting rack; the translational sliding block is arranged at the bottom of the second mounting frame, the gripping device further comprises a rack for mounting a manipulator moving module, and the translational sliding rail is arranged on the rack; translation slider sliding connection is on the translation slide rail, X axle motor with second mounting bracket or translation slider transmission are connected to realize that the plate-like manipulator is the horizontal direction along the length direction of translation slide rail and removes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221509541.3U CN216996623U (en) | 2022-06-17 | 2022-06-17 | A grabbing device for sheet metal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221509541.3U CN216996623U (en) | 2022-06-17 | 2022-06-17 | A grabbing device for sheet metal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216996623U true CN216996623U (en) | 2022-07-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221509541.3U Active CN216996623U (en) | 2022-06-17 | 2022-06-17 | A grabbing device for sheet metal |
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| Country | Link |
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| CN (1) | CN216996623U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281217A (en) * | 2023-05-25 | 2023-06-23 | 合肥亿昌兴精密机械有限公司 | Galvanized sheet automatic feeding device with separating mechanism and working method |
| CN117342262A (en) * | 2023-10-26 | 2024-01-05 | 淮安市博泽科技有限公司 | Non-magnetic plate sucker threshold material separation device and method thereof |
-
2022
- 2022-06-17 CN CN202221509541.3U patent/CN216996623U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281217A (en) * | 2023-05-25 | 2023-06-23 | 合肥亿昌兴精密机械有限公司 | Galvanized sheet automatic feeding device with separating mechanism and working method |
| CN116281217B (en) * | 2023-05-25 | 2023-09-12 | 合肥亿昌兴精密机械有限公司 | Galvanized sheet automatic feeding device with separating mechanism and working method |
| CN117342262A (en) * | 2023-10-26 | 2024-01-05 | 淮安市博泽科技有限公司 | Non-magnetic plate sucker threshold material separation device and method thereof |
| CN117342262B (en) * | 2023-10-26 | 2024-05-10 | 淮安市博泽科技有限公司 | Non-magnetic plate sucker threshold material separation device and method thereof |
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