CN217147686U

CN217147686U - Automatic grabbing and transferring machine for space curved thin plaque

Info

Publication number: CN217147686U
Application number: CN202220383284.7U
Authority: CN
Inventors: 余观亮; 陈声佩; 刘方明; 陈红勇
Original assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Current assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-08-09
Anticipated expiration: 2032-02-24

Abstract

The utility model discloses an automatic machine that snatchs of thin plaque of space curved surface, the track of machine that shifts set up in the top of spacing material loading frame, drive arrangement have a slider formula mounting, slider formula mounting slide on the track, self-adaptation grabbing device including be used for snatching a plurality of self-adaptation of thin plaque and snatch the mechanism, be used for driving self-adaptation and snatch the elevating gear that the mechanism was elevating movement and let self-adaptation snatch the mechanism and be horizontal reciprocating motion's horizontal migration device, horizontal migration device set up on elevating gear, self-adaptation snatch the mechanism and install on horizontal migration device, spacing material loading frame be located self-adaptation grabbing device's below, spacing material loading frame is used for stacking thin plaque.

Description

Automatic grabbing and transferring machine for space curved thin plaque

Technical Field

The utility model relates to a transfer device, especially an automatic machine that snatchs and shifts of thin plaque of space curved surface.

Background

The thin plaque is commonly used in the field of agricultural product drying, and due to the hollow structure of the thin plaque, the characteristics of the thin plaque, the manufacture and the bamboo product, and under the influence of high-temperature drying, each thin plaque can be warped to different degrees, so that an irregular space curved surface is formed. The thin inscribed boards are stored in a stacking mode during storage, but are used in a single mode during use, so when the single thin inscribed boards are required to bear agricultural products, one thin inscribed board needs to be taken out from the stacked thin inscribed boards for use, the stacked thin inscribed boards are difficult to be automatically fed and reformed during taking the thin inscribed boards due to deformation of the thin inscribed boards, manual assistance is needed, and labor and time are consumed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's weak point, and provide a space curved surface thin plaque automatic grabbing machine that can realize snatching the material loading automatically and carry out the unloading and pile up to the thin plaque of fold.

The utility model provides an automatic machine that snatchs of thin plaque of space curved surface, including track, self-adaptation grabbing device, spacing material loading frame and drive arrangement, the track set up in the top of spacing material loading frame, drive arrangement slide block formula mounting have, slide block formula mounting slide on the track, self-adaptation grabbing device including be used for snatching a plurality of self-adaptation of thin plaque and snatch the mechanism, be used for driving self-adaptation and snatch the elevating gear that the mechanism is elevating movement and let the self-adaptation snatch the mechanism and be horizontal reciprocating motion's horizontal migration device, horizontal migration device set up on elevating gear, the self-adaptation is snatched the mechanism and is installed on horizontal migration device, spacing material loading frame be located self-adaptation grabbing device's below, spacing material loading frame is used for folding thin plaque.

The utility model discloses an automatic machine that snatchs of thin plaque of space curved surface, when using, thin plaque piles up in spacing material loading frame, self-adaptation grabbing device's elevating gear drives and snatchs the invariable stroke of mechanism decline, realize the clamp of automatic drive horizontal migration device to the thin plaque of top layer and press from both sides, then the re-drive elevating gear drives and snatchs the mechanism and do the rising motion, it can realize moving self-adaptation grabbing device to the production line top to recycle the characteristics that drive arrangement can move on the track, elevating gear drives once more afterwards and snatchs the invariable stroke of mechanism decline, realize the opening of automatic drive horizontal migration device to the thin plaque of top layer, put thin plaque on the production line.

The horizontal moving device drives the self-adaptive grabbing mechanism to move: the horizontal frame is hung on a polished rod of the lifting device and does up-and-down lifting motion along the polished rod, a plurality of guide plates of the self-adaptive grabbing mechanism are fixed on the horizontal frame through linear slide block guide rails and do linear reciprocating motion, the guide plates are automatically reset after moving under the action of a pre-stressed spring, a trigger device for triggering the guide plates to move along the linear slide block guide rails is further arranged on the guide plates, the trigger device comprises transverse moving guide wheels arranged on the guide plates, guide pieces for limiting the movement of the transverse moving guide wheels are arranged at the upper end of the limiting feeding frame, the guide pieces are inclined from the inner side to the outer side of the limiting feeding frame from top to bottom, the guide pieces can be connected to the upper end of the limiting feeding frame in a one-way swinging manner, the guide pieces swing from the inner side to the outer side of the limiting feeding frame, and self-falling rods capable of moving up and down relative to the guide plates are further arranged on the guide plates, be provided with the stopper that is used for the restriction to drop from the guide plate from the upper end of pole that falls, the length of falling should be able to guarantee to touch the thin plaque of the bottom that piles up on spacing material loading frame from the pole that falls, be provided with the piece of snatching of the type of falling U from the lower extreme of pole that falls, the opening in U type groove is towards spacing material loading frame's inboard.

The horizontal moving mode of the self-adaptive grabbing mechanism with the structure is characterized in that the length of the self-falling rod of the self-adaptive grabbing mechanism is set, so that a grabbing piece on the self-falling rod can preferentially touch a thin plaque when descending along with the lifting device, at the moment, the self-falling rod stops moving downwards, but the lifting device moves downwards continuously to drive the horizontal frame connected with the lifting device to move downwards continuously so as to drive the guide plate to slide downwards continuously along the self-falling rod, when the transverse moving guide wheel on the guide plate touches the guide piece at the upper end of the limiting feeding frame, the arrangement of the guide piece is inclined outwards, so that the transverse moving guide wheel moves outwards along the guide piece when continuing to move downwards, the guide plate connected with the guide plate is driven to move outwards, the spring is elastically deformed by outwards stretching the guide plate which moves outwards, and meanwhile, the grabbing mechanism on the guide plate also moves outwards, when the transverse guide wheel slides downwards to the lowest end of the guide sheet to be separated from the guide sheet for positioning, the guide plate returns under the action of the spring to drive the grabbing mechanism to move inwards so as to clamp the thin plaque, and then the lifting device drives the horizontal frame to move upwards, thereby driving the guide plate and the grabbing mechanism to do ascending motion, the guide plate firstly moves upwards along the self-falling rod, the transverse guide wheel upwards backs the guide sheet to lead the guide sheet to swing outwards and move to the upper part of the guide sheet, the guide sheet returns, the guide plate which continues to move upwards moves until the upper end of the guide plate is limited by the self-falling rod, when the guide plate continues to move upwards, the guide plate drives the self-falling rod to move upwards together, thereby driving the thin plaque to move upwards to realize the separation of the topmost thin plaque from the stack, when the thin plaque rises to a certain height, and the self-adaptive gripping device is moved to the upper part of the production line by utilizing the characteristic that the driving device can move on the track.

The guide piece is fixed to adopt the torsional spring to fix in spacing material loading frame upper end, the one end of torsional spring is fixed on spacing material loading frame, installs the guide piece on the other end.

The guide piece provides restoring force at the upper end of the limiting feeding frame through a torsion spring.

The upper side of the inverted U-shaped grabbing piece is longer than the lower side.

The structure of the two sides of the inverted U-shaped grabbing piece is as follows: the side edge above the U-shaped grabbing piece is provided with a row of height guide wheels.

A row of height guide wheels are arranged on the upper side edge of the U-shaped grabbing piece, so that the passing performance of the grabbing piece when the grabbing piece is clamped into the thin plaque can be improved.

The U-shaped side of snatching of top be provided with one row high guide pulley for being provided with the guide pulley of two rows of positive and negative, the guide pulley staggered arrangement each other of two rows of positive and negative.

The guide wheels which are arranged in a front row and a rear row in a staggered manner can avoid poor passing performance caused by too small guide wheels, too large guide wheels can cause too large intervals, the unstable motion condition in the moving process is caused, the guide wheels are arranged in a front-back staggered manner, the outer contour points of the guide wheels can be closer to the envelope surface, and the problems that the too small passing performance of the guide wheels is poor and the guide wheels are too large and unstable are solved.

The lower side edge of the inverted U-shaped grabbing piece is of a strip-shaped plate structure.

The guide plate is provided with a roller group which enables the self-falling rod to move up and down more smoothly.

And a trigger device is also arranged on a side plate of the conveying line of the space curved surface thin plaque automatic grabbing and transferring machine, and the horizontal height of the trigger device is higher than that of the limiting feeding frame trigger device.

The lateral plate of the conveying line of the space curved surface thin plaque automatic grabbing and transferring machine is also provided with a trigger device, the horizontal height of the trigger device is higher than the certain height of the trigger device of the limiting feeding frame, and the lifting device of the self-adaptive grabbing device drives the grabbing mechanism to descend by a constant stroke, so that the thin plaque is placed on the production line.

The concrete mode that the horizontal frame is hung on the suspender of the lifting device is as follows: the automatic lifting device comprises a grabbing mechanism fixing plate, wherein a linear bearing is arranged on the fixing plate, a polished rod of a lifting device penetrates through the linear bearing on the grabbing mechanism fixing plate, a horizontal frame is fixed on the grabbing mechanism fixing plate, one end of a belt or a chain of a driving device is fixed on the grabbing mechanism fixing plate, the other end of the belt or the chain of the driving device is hinged on a winch of the driving device, and the winch is driven by a power mechanism.

To sum up, the utility model discloses compare prior art following advantage:

the utility model discloses an automatic machine that snatchs and shift of thin plaque of space curved surface only needs two power supplies to can accomplish above-mentioned all actions, and the elevating gear who is used for horizontal migration's drive arrangement and is used for vertical motion only needs the invariable stroke of reciprocating motion, and need not the sensor and go to judge the high or production line height waiting position of piling up of thin plaque, can be automatic with the thin plaque separation removal of a slice of top layer of piling up together to the production line on, the action is very simple reliable.

The utility model discloses an automatic machine fungible manual work that shifts that snatchs of thin plaque of space curved surface realizes obtaining thin plaque and carrying the production line from the thin plaque that becomes to fold on, realizes the automatic feeding of thin plaque, replaces manual work, reduces working strength, improves production efficiency.

Drawings

Fig. 1 is a schematic structural view of the automatic space curved surface thin plaque grabbing and transferring machine of the present invention.

Fig. 2 is a partially enlarged view of fig. 1 at a.

Fig. 3 is a schematic diagram of the adaptive grabbing mechanism of the present invention.

Fig. 4 is a schematic view of the operation flow 0 of the automatic space curved surface thin plaque grabbing and transferring machine of the present invention.

Fig. 5 is a schematic view of the operation flow 1 of the space curved surface thin plaque automatic grabbing and transferring machine of the present invention.

Fig. 6 is a schematic view of the operation flow 2 of the automatic grabbing and transferring machine for the spatial curved thin plaque of the present invention.

Fig. 7 is a schematic view of the operation flow 3 of the space curved surface thin plaque automatic grabbing and transferring machine of the present invention.

Fig. 8 is a schematic view of the operation flow 4 of the space curved surface thin plaque automatic grabbing and transferring machine of the present invention.

Fig. 9 is a schematic view of the operation flow 5 of the automatic grabbing and transferring machine for the spatial curved thin plaque of the present invention.

Fig. 10 is a schematic view of the operation flow 6 of the automatic grabbing and transferring machine for the spatial curved thin plaque of the present invention.

Fig. 11 is a schematic view of the operation flow 7 of the space curved thin plaque automatic grabbing and transferring machine of the present invention.

Detailed Description

The present invention will be described in more detail with reference to the following examples.

Example 1

The utility model provides an automatic machine that snatchs of thin plaque of space curved surface, including track, self-adaptation grabbing device, spacing material loading frame and drive arrangement, the track set up in the top of spacing material loading frame, drive arrangement slide block formula mounting have, slide block formula mounting slide on the track, self-adaptation grabbing device including be used for snatching a plurality of self-adaptation of thin plaque and snatch the mechanism, be used for driving self-adaptation and snatch the elevating gear that the mechanism is elevating movement and let the self-adaptation snatch the mechanism and be horizontal reciprocating motion's horizontal migration device, horizontal migration device set up on elevating gear, the self-adaptation is snatched the mechanism and is installed on horizontal migration device, spacing material loading frame be located self-adaptation grabbing device's below, spacing material loading frame is used for folding thin plaque. The horizontal moving device drives the self-adaptive grabbing mechanism to move: the horizontal frame is hung on a polished rod of the lifting device and does up-and-down lifting motion along the polished rod, a plurality of guide plates of the self-adaptive grabbing mechanism are fixed on the horizontal frame through linear slide block guide rails and do linear reciprocating motion, the guide plates are automatically reset after moving under the action of a pre-stressed spring, a trigger device for triggering the guide plates to move along the linear slide block guide rails is further arranged on the guide plates, the trigger device comprises transverse moving guide wheels arranged on the guide plates, guide pieces for limiting the movement of the transverse moving guide wheels are arranged at the upper end of the limiting feeding frame, the guide pieces are inclined from the inner side to the outer side of the limiting feeding frame from top to bottom, the guide pieces can be connected to the upper end of the limiting feeding frame in a one-way swinging manner, the guide pieces swing from the inner side to the outer side of the limiting feeding frame, and self-falling rods capable of moving up and down relative to the guide plates are further arranged on the guide plates, be provided with the stopper that is used for the restriction to drop from the guide plate from the upper end of pole that falls, the length of falling should be able to guarantee to touch the thin plaque of the bottom that piles up on spacing material loading frame from the pole that falls, be provided with the piece of snatching of the type of falling U from the lower extreme of pole that falls, the opening in U type groove is towards spacing material loading frame's inboard. The guide piece is fixed at the upper end of the limiting feeding frame by adopting a torsion spring, one end of the torsion spring is fixed on the limiting feeding frame, and the guide piece is installed at the other end of the torsion spring.

As shown in figure 1, one end of a torsional spring hinge 2-7 is fixed on a designated position of a limiting feeding frame 2-6, the other end of the torsional spring hinge 2-7-1 is provided with a guide piece 2-7-1, the torsional spring hinge 2-7 is 45 degrees in a free state, and the torsional spring hinge at the right end only allows the guide piece 2-7-1 to move clockwise along the hinge rotating shaft (the hinge at the left end is opposite to the hinge at the right end), (the guide piece 2-7-1 extends out of the hinge, so that a transverse guide wheel 2-5 can roll along the surface of the guide piece 2-7-1)

The vertical plates 5-1 on the left side and the right side of the conveying line 5 are provided with torsion spring hinges 2-7 and guide pieces 2-7-1 with different heights from 2-6.

The motor 1-1 is fixed on the slide block type fixing piece 1-3, the slide block type fixing piece 1-3 can slide on the track 1-4, the winch 1-2 is connected with the output shaft of the motor, one end of the chain 1-5 is fixed on the winch, the other end is fixed on the fixed plate 2-1 of the grabbing mechanism, the linear bearing 2-2 is arranged on the fixed plate 2-1 of the grabbing mechanism and is matched with the polished rod 1-6 fixed on the slide block type fixing piece 1-3 (namely the linear bearing slides along the polished rod), the guide plates 2-4 of 4 left-right symmetrically arranged height self-adaptive grabbing mechanisms 2 are fixed on the frame through the linear slide block guide rails 2-9, the frame is fixed on the fixed plate 2-1, and the guide plates 2-4 are acted by the spring 2-8 prestressed in the tension direction, the guide plate 2-4 is limited on the limit plate 2-10. The motor 1-1 rotates forwards or reversely for fixed circles to drive the winch 1-2 to loosen or retract the chain 1-5, so that the spatial curved surface thin plaque grabbing mechanism 4 ascends or descends with a fixed stroke.

As shown in figure 2, when the self-falling rod 2-3 of the height self-adaptive grabbing mechanism 2 passes through the roller group 2-4-1 (the left and the right are respectively provided with a roller limiting self-falling rod), namely the self-falling rod 2-3 only moves up and down under the limitation of the upper and the lower roller group grooves, one end of the guide plate 2-4 is provided with a transverse guide wheel 2-5 which extends out, the top end of the self-falling rod 2-3 is provided with a limiting block 2-3-1, the bottom end is in an inverted U shape, and is provided with a row of height guide wheels 2-3-3 and a strip plate type lower side 2-3-2, and a gap L is formed between the height guide wheels 2-3-3 and the lower side 2-3-2, so that the height guide wheels 2-3-3 of the self-falling rod 2-3 fall on the curved surface thin inscribed board at the topmost space, the grasping plate 2-3-2 is arranged in the gap between the two thin inscribed boards with the space curved surfaces at the top end and the next top end.

Because the thin plaque surface is uneven, the high guide wheels 2-3-3 are too small, the trafficability is poor, and too large, the direct distance between the guide wheels is too large, and the movement is unstable in the moving process.

As shown in fig. 3:

action 0, initial state

And (3) action 1, namely, the motor rotates forwards for a fixed number of turns, namely, the grabbing mechanism 4 descends to a height at which the transverse guide wheel 2-5 is in right contact with the guide sheet 2-7-1, the self-falling rod 2-3 stops moving after the lower side edge 2-3-2 of the self-falling rod 2-3 contacts the topmost thin plaque 3 in the descending process, and the guide plate 2-4 starts to slide downwards along the self-falling rod 2-3 through the roller group 2-4-1 until the motor stops rotating. (the process is to realize that the self-falling rod can be adaptive to the height of the thin plaque no matter how high the thin plaque is stacked);

action 2, the motor rotates forwards continuously for a fixed number of turns, namely the grabbing mechanism 4 descends to the position where the center of the transverse guide wheel 2-5 is exactly the same as the bottommost part of the guide sheet 2-7-1, the transverse guide wheel 2-5 moves along the upper top surface of the guide sheet 2-7-1 in the process, meanwhile, the guide plate 2-4 is driven to move outwards (namely, the left side moves leftwards and the right side moves rightwards), the grabbing plate 2-3-2 is separated from the thin plaque 3, the falling rod 2-3 falls for a certain distance to enable the height guide wheel 2-3-3 to fall on the thin plaque 3, and the spring 2-8 is stretched;

action 3, the motor rotates forwards continuously for a fixed number of turns, namely the space curved surface thin plaque grabbing mechanism 4 descends to the position below the bottom surface of the torsion spring hinge 2-7, at the moment, the top surface of the transverse guide wheel 2-5 is lowered to the position below the bottom surface of the torsion spring hinge 2-7, the transverse guide wheel 2-5 is not contacted with the guide sheet 2-7-1, the guide plate 2-4 moves inwards to a limit point (namely the left side moves rightwards and the right side moves leftwards) under the action of the tension of the spring 2-8, and at the moment, the grabbing plate 2-3-2 is smoothly inserted into a gap between the topmost space curved surface thin plaque and the next topmost space curved surface thin plaque under the limit action of the height guide wheel 2-3-3;

the gripping of the thin plaque is achieved by actions 1 to 3, no matter what height the plaque is at, and no matter how the 4 corners of the plaque are warped.

Combining the action 4 and the action 5, the motor rotates reversely for a fixed number of turns, the space curved surface thin plaque grabbing mechanism 4 is lifted to the bottom of the thin plaque to exceed the top of the guide sheet 2-7-1, and in the process, the action 4 is that when the height guide wheel 2-3-3 is lifted from the bottom of the guide sheet 2-7-1, the guide sheet 2-7-1 is jacked open (under the action of a torsional spring hinge, the guide sheet is jacked open and then closed), and interference with the guide plate is avoided.

And 6, the space curved surface thin plaque grabbing mechanism 4 moves transversely to the upper part of the conveying line 5 through the top track.

Action 7 is the fixed number of turns of motor corotation, and the thin plaque of space curved surface snatchs mechanism 4 and descends to throwing the plaque position, and in this process, similar action 1, 2, 3, because riser 5-1 is different with spacing material loading frame 2-6 height, make the thin plaque before not contacting transfer chain 5, just make deflector 2-4 accomplish once outwards to move, and once inwards move to the action of limit point, because the horizontal migration receives the restriction of riser 5-1 about the thin plaque this moment, therefore the thin plaque just drops automatically to the transfer chain of below when having accomplished once outwards to move like deflector 2-4.

And finally, the motor rotates reversely for a fixed number of turns, the grabbing mechanism 4 is lifted to the initial height and moves transversely to the initial state of action 0.

The parts not described in the present embodiment are the same as those in the prior art.

Claims

1. The utility model provides an automatic machine that shifts that snatchs of thin plaque of space curved surface which characterized in that: including track, self-adaptation grabbing device, spacing material loading frame and drive arrangement, the track set up in the top of spacing material loading frame, drive arrangement a slider formula mounting has, slider formula mounting slide on the track, self-adaptation grabbing device including a plurality of self-adaptation that are used for snatching thin plaque snatch the mechanism, be used for driving self-adaptation and snatch the elevating gear that the mechanism is elevating movement and let self-adaptation snatch the mechanism and do horizontal migration's horizontal migration device, horizontal migration device set up on elevating gear, self-adaptation snatch the mechanism and install on horizontal migration device, spacing material loading frame be located self-adaptation grabbing device's below, spacing material loading frame is used for stacking thin plaque.

2. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board according to claim 1, characterized in that: the horizontal frame is hung on a polished rod of the lifting device and does up-and-down lifting motion along the polished rod, a plurality of guide plates of the self-adaptive grabbing mechanism are fixed on the horizontal frame through linear slide block guide rails and do linear reciprocating motion, the guide plates are automatically reset after moving under the action of a pre-stressed spring, a trigger device for triggering the guide plates to move along the linear slide block guide rails is further arranged on the guide plates, the trigger device comprises transverse moving guide wheels arranged on the guide plates, guide pieces for limiting the movement of the transverse moving guide wheels are arranged at the upper end of the limiting feeding frame, the guide pieces are inclined from the inner side to the outer side of the limiting feeding frame from top to bottom, the guide pieces can be connected to the upper end of the limiting feeding frame in a one-way swinging manner, the guide pieces swing from the inner side to the outer side of the limiting feeding frame, and self-falling rods capable of moving up and down relative to the guide plates are further arranged on the guide plates, be provided with the stopper that is used for the restriction to drop from the guide plate from the upper end of pole that falls, the length of falling should be able to guarantee to touch the thin plaque of the bottom that piles up on spacing material loading frame from the pole that falls, be provided with the piece of snatching of the type of falling U from the lower extreme of pole that falls, the opening in U type groove is towards spacing material loading frame's inboard.

3. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board according to claim 2, characterized in that: the guide piece is fixed at the upper end of the limiting feeding frame by adopting a torsion spring, one end of the torsion spring is fixed on the limiting feeding frame, and the guide piece is installed at the other end of the torsion spring.

4. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board according to claim 3, characterized in that: the upper side of the inverted U-shaped grabbing piece is longer than the lower side.

5. The automatic spatial curved surface thin plaque grabbing and transferring machine according to claim 4, characterized in that: the structure of the two sides of the inverted U-shaped grabbing piece is as follows: the side edge above the U-shaped grabbing piece is provided with a row of height guide wheels.

6. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board according to claim 5, characterized in that: the upper side edge of the inverted U-shaped grabbing piece is provided with a row of height guide wheels which are guide wheels in front and back rows, and the guide wheels in the front and back rows are arranged in a staggered mode.

7. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board of claim 6, characterized in that: the lower side edge of the inverted U-shaped grabbing piece is of a strip plate type structure.

8. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board of claim 7, characterized in that: the guide plate is provided with a roller group which enables the self-falling rod to move up and down more smoothly.

9. The automatic grabbing and transferring machine for the spatial curved surface thin inscribed board according to claim 8, characterized in that: the concrete mode that the horizontal frame is hung on the suspender of the lifting device is as follows: the automatic grabbing device comprises a grabbing mechanism fixing plate, wherein a linear bearing is arranged on the fixing plate, a lifting rod of a lifting device penetrates through the linear bearing on the grabbing mechanism fixing plate, a horizontal frame is fixed on the grabbing mechanism fixing plate, one end of a belt or a chain of a driving device is fixed on the grabbing mechanism fixing plate, the other end of the belt or the chain of the driving device is hinged to a winch of the driving device, and the winch is driven by a power mechanism.