CN217349809U

CN217349809U - Turning plate stacking manipulator

Info

Publication number: CN217349809U
Application number: CN202221358084.2U
Authority: CN
Inventors: 蒋兴召; 刘金顺; 陈兆磊
Original assignee: Cangzhou Huazhi Mechanical Equipment Co ltd
Current assignee: Cangzhou Huazhi Mechanical Equipment Co ltd
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-09-02
Anticipated expiration: 2032-05-31

Abstract

The utility model discloses a turning plate stacking manipulator, which comprises an input roller frame, wherein the outer side of the output end of the input roller frame is provided with a left frame body, the right side of the left frame body is provided with a right frame body, the other side of the left frame body is provided with an output roller frame, an overturning driving frame is arranged between the left frame body and the right frame body, top frames are arranged above the left frame body, the right frame body and the output roller frame, and a mechanical driving frame capable of sliding left and right is fixedly sleeved in each top frame; this turn over board pile up neatly machinery hand through the setting of each inboard subassembly of the device, can be through the board body upset to the required upset of the right side frame and the left side frame that turns over of upset drive frame drive on the right side frame, each subassembly on the mechanical drive frame of deuterogamy roof-rack top removes the board body to the output roller frame on, and then reaches the effect of transporting it and overturn, and it needs artifical supplementary to carry out corresponding upset to the board body to solve current device and consumes the artifical volume great, then leads to the lower problem of the efficiency of the whole upset transportation of the device.

Description

Turning plate stacking manipulator

Technical Field

The utility model relates to a plate body upset auxiliary technology field specifically is a board pile up neatly machinery hand turns over.

Background

In the pile up neatly process is carried to plate body in current workshop, generally need the supplementary pile up neatly of manipulator, but ordinary manipulator can only carry out corresponding operation of taking to join in marriage the centre gripping effect that traditional double-layered formula manipulator generally, also easily simultaneously because the too big and then the impaired condition of plate body appears of leading to of clamping-force, in addition, generally need artifical supplementary plate body that overturns in advance to carry out follow-up pile up neatly, complex operation and efficiency are lower.

Therefore, we propose a flap palletizer robot.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a to prior art not enough, the utility model provides a turn over board pile up neatly machinery hand has solved current device and has needed artifical supplementary to carry out corresponding upset to the plate body and consume the manual work volume great, and degree of automation is lower simultaneously, leads to the lower problem of the efficiency of the whole upset transportation of the device then.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a turn over board pile up neatly machinery hand, includes the input roll frame, the outside of input roll frame output is equipped with left support body, the right side of left side support body is provided with right support body, the opposite side of left side support body is equipped with the output roll frame, and is equipped with the upset drive frame between left side support body and the right support body, left side support body, right support body are provided with the roof-rack with the top of output roll frame, but fixed cover is equipped with horizontal slip's mechanical drive frame in the roof-rack, the output of mechanical drive frame is equipped with the sucking disc roof beam, and the fixed cover in bottom of sucking disc roof beam is equipped with vacuum chuck group.

Preferably, be equipped with two sets of inverter motor in the upset drive frame, it is two sets of fixed cover respectively is equipped with the relative right side of position and turns over the frame and turn over the frame with a left side on the outer wall of inverter motor output shaft, the inboard at right support body and left support body is overlapped respectively to right side frame and the frame that turns over a left side, and the frame that turns over a right side and turns over a left side is L type support body.

Preferably, the roof-rack is formed by assembling a gantry frame and a guide rail at the top of the gantry frame, a walking beam matched with the guide rail in specification is assembled in the mechanical driving frame, and a safety guardrail is further assembled on the outer side of the roof-rack.

Preferably, the bottom fixed mounting of walking beam has the drive cylinder body in the mechanical drive frame, the bottom fixedly connected with sucking disc roof beam of drive cylinder body output shaft, the bottom of sucking disc roof beam is equipped with the sucking disc frame, the bottom fixed mounting of sucking disc frame has twenty four groups of vacuum chuck groups, and the top of sucking disc frame still fixed mounting have the vacuum generator who is linked together with vacuum chuck group.

Preferably, the input roller frame, the left frame body and the output roller frame are respectively provided with a conveying roller, the input roller frame, the left frame body and the output roller frame are driven by a Siemens frequency converter stepless speed regulation and a flat belt, and the Siemens frequency converter is electrically connected with a numerical control system on the outer side through a lead.

(III) advantageous effects

The utility model provides a turn over board pile up neatly machinery hand. The method has the following beneficial effects:

1. this turn over board pile up neatly machinery hand, through the setting of each inboard subassembly of the device, can be through the board body upset to the required upset of the right side of upset drive frame drive right side turn-over frame and left turn-over frame to right support body, each subassembly on the mechanical drive frame of deuterogamying roof-rack top removes the board body to the output roller frame on, and then reaches the effect of transporting it and overturn, it needs artifical supplementary to carry out corresponding upset to the board body to solve current device and consumes the artifical volume great, degree of automation is lower simultaneously, then lead to the lower problem of the efficiency of the whole upset transportation of the device.

2. This turn over board pile up neatly machinery hand through the setting of each subassembly in mechanical drive frame bottom, can adsorb the top surface of plate body through multiunit vacuum chuck group, and then can guarantee its absorptive stability, in addition, the mode that the sucking disc adsorbs to take also can avoid causing the damage to the plate body, avoids current centre gripping formula machinery hand to plate body centre gripping effect not good condition emergence that leads to the not good condition of stability in the transportation process, in addition, can also avoid the clamping-force too big and then lead to the impaired condition of plate body to take place.

Drawings

FIG. 1 is a schematic view of the present invention;

fig. 2 is a schematic structural view of the present invention from the top;

FIG. 3 is a schematic side view of the present invention;

fig. 4 is a front view of the present invention.

In the figure: 1. an input roller frame; 2. a left frame body; 3. a right frame body; 4. turning over the driving frame; 5. a right-turning frame; 6. left turning frame; 7. an output roller frame; 8. a top frame; 9. a mechanical drive frame; 10. a suction disc beam; 11. and (4) a vacuum chuck group.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: a turning plate stacking manipulator comprises an input roller frame 1, wherein a left frame body 2 is assembled on the outer side of the output end of the input roller frame 1, a right frame body 3 is arranged on the right side of the left frame body 2, an output roller frame 7 is assembled on the other side of the left frame body 2, an overturning driving frame 4 is assembled between the left frame body 2 and the right frame body 3, a top frame 8 is arranged above the left frame body 2, the right frame body 3 and the output roller frame 7, a mechanical driving frame 9 capable of sliding left and right is fixedly sleeved in the top frame 8, an output end of the mechanical driving frame 9 is assembled with a sucking disc beam 10, and a vacuum sucking disc group 11 is fixedly sleeved at the bottom of the sucking disc beam 10;

in the embodiment, it needs to be supplemented to explain that, the plate turning and stacking manipulator can drive the plate body to be turned over to the right frame body 3 through the right turning frame 5 and the left turning frame 6 driven by the turning driving frame 4 and then move the plate body to the output roller frame 7 by matching with the components on the mechanical driving frame 9 at the top of the top frame 8 through the arrangement of the components on the inner side of the device, so that the effect of turning and transporting the plate body is achieved, and the problems that the manual assistance is needed to correspondingly turn over the plate body in the existing device, the labor consumption is large, the automation degree is low, and the overall turning and transporting efficiency of the device is low are solved;

in addition, the stacking manipulator is driven by a large-inertia servo motor through a precision speed reducer synchronous shaft in a bilateral synchronous mode and is matched with an imported HIWIN linear guide rail, the operation speed is high, and the positioning precision is high. Is suitable for automatically conveying and stacking plate materials with the length of 2-12 meters, the width of 500-1250mm and the weight of less than 500 kg. The plate picking point is divided into A, B stations on the feeding conveying line, the turning station C, D and the blanking stacking station are arranged on the discharging conveying roller E, F, the lifting Z-axis stroke is 1.3M, and the lifting speed is 5-22M/min adjustable. The speed of the translation X-axis is adjustable at 5-60M/min. The repeated positioning precision is +/-2 mm.

In this embodiment, it should be added that two sets of inverter motors are assembled in the turnover driving frame 4, the outer walls of the output shafts of the two sets of inverter motors are respectively fixedly sleeved with a right turnover frame 5 and a left turnover frame 6 which are opposite in position, the right turnover frame 5 and the left turnover frame 6 are respectively sleeved on the inner sides of the right frame body 3 and the left frame body 2, and the right turnover frame 5 and the left turnover frame 6 are both L-shaped frame bodies;

wherein 2 groups of discharge roller ways with the length of 12 meters and the weight of 5000kg are regulated by adopting a double-frequency-conversion 3.7KW motor, the maximum operation linear speed is 30M/min, and the double-frequency-conversion double-speed-conversion plate conveying device is suitable for conveying plates with the width of 500-.

In this embodiment, it should be added that the top frame 8 is assembled by a gantry frame and a guide rail on the top thereof, a walking beam adapted to the specification of the guide rail is assembled in the mechanical driving frame 9, and a safety barrier is also assembled on the outer side of the top frame 8;

wherein, the whole equipment occupies 25 meters of land length, 8.9 meters of land width and 4.6 meters of land height. The automatic conveying and stacking machine comprises a conveying and stacking manipulator with the length of 12 meters and 500kg, a vacuum sucker frame with the length of 12 meters and 500kg, a variable-speed feeding roller way with the length of 24 meters for 4 groups and 6 meters, a discharging roller way with the length of 12 meters and 5000kg for 2 groups and 6 meters, a Siemens control system and the like, and is stable in structure, practical, attractive and convenient to maintain; and the gantry frame is welded by adopting 250 mm-250 mm thick-wall high-strength steel pipes, and vibration failure treatment is carried out. The frame landing leg is connected with the walking beam through the adjusting bolt, so that the levelness of the walking beam can be adjusted conveniently.

In this embodiment, it should be added that a driving cylinder is fixedly installed at the bottom of a walking beam in a mechanical driving frame 9, a sucker beam 10 is fixedly connected to the bottom end of an output shaft of the driving cylinder, a sucker frame is assembled at the bottom of the sucker beam 10, twenty-four vacuum sucker groups 11 are fixedly installed at the bottom of the sucker frame, and a vacuum generator communicated with the vacuum sucker groups 11 is also fixedly installed at the top of the sucker frame;

wherein, the sucking disc frame adopts 200mm thick wall high strength steel pipe girder, installs 24 double-deck flexible sucking discs of group, provides the vacuum source by vacuum generator, and vacuum sensor detects vacuum pressure. The suckers are uniformly distributed on the sucker beam 10 and can be manually adjusted at a certain position so as to adapt to automatic feeding of boards with different breadth;

in addition, this board pile up neatly machinery hand turns over, through the setting of each subassembly in mechanical drive frame 9 bottoms, can adsorb the top surface of plate body through multiunit vacuum chuck group 11, and then can guarantee its absorptive stability, in addition, the mode that the sucking disc adsorbs to take also can avoid causing the damage to the plate body, avoids current centre gripping formula machinery hand to plate body centre gripping effect not good condition emergence that leads to stability in the transportation, in addition, can also avoid the clamping-force too big and then lead to the impaired condition of plate body to take place.

In this embodiment, it should be added that conveying rollers are respectively assembled in the input roller frame 1, the left frame body 2 and the output roller frame 7, the input roller frame 1, the left frame body 2 and the output roller frame 7 are driven by a siemens frequency converter with stepless speed regulation and a flat belt, and the siemens frequency converter is electrically connected with an outside numerical control system through a wire;

the feeding conveying roller way adopts 4 groups of conveying roller ways with the length of 6 meters and the height of 1.2 meters, the conveying rollers adopt a galvanized roller with the outer diameter of 96mm, the outer diameter of the polyurethane is wrapped by a 76mm galvanized roller, and the conveying roller ways adopt a Siemens frequency converter for stepless speed regulation and flat belt transmission. The stacking manipulator frame is internally provided with 2 groups of conveyors which are matched with in-position photoelectric sensors, the first group of conveyors outside the stacking manipulator frame is provided with conveying rollers with overrunning clutches, so that plates are prevented from being scratched by roller ways with different linear speeds, the linear speed of the operation of the conveying roller ways is 5-40M/min, the stacking manipulator frame is suitable for conveying plates with the width of 500 plus 1250mm, a 12-meter high-speed servo panel turnover machine is suitable for turning over plates with the length of 2-12 meters and the length of 500kg at a high speed, a large-inertia servo motor is adopted to be driven by a precision speed reducer, double synchronous shafts and double connecting rods synchronously turn over, and the single panel turnover time is less than or equal to 10S.

The utility model discloses a theory of operation and use flow: when the device is needed to overturn and transport the plate body, the plate body is transported to the left frame body 2 through the input roller frame 1, when the plate body needs to be overturned, the overturning driving frame 4 is opened to drive the right overturning frame 5 and the left overturning frame 6 to overturn the plate body to the middle, then the reverse side of the plate is put on the right frame body 3, and then the mechanical driving frame 9 is driven to move rightwards to be above the plate body, then the driving cylinder at the bottom of the sucker beam 10 is driven to cling the vacuum sucker group 11 to the top surface of the plate body, the plate body is absorbed and then transported to the top of the output roller frame 7, thereby completing the turnover transportation process, when not needing the upset, need not drive upset driving frame 4, when the plate body was located 2 tops of left support body, each subassembly of drive machinery driving frame 9 and its bottom was transported the plate body, and degree of automation is higher to reach the effect of carrying out high-efficient upset and transportation to the plate body.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a turn over board pile up neatly machinery hand which characterized in that: including input roller frame (1), the outside of input roller frame (1) output is equipped with left support body (2), the right side of left side support body (2) is provided with right support body (3), the opposite side of left side support body (2) is equipped with output roller frame (7), and is equipped with upset drive frame (4) between left side support body (2) and right support body (3), the top of left side support body (2), right support body (3) and output roller frame (7) is provided with roof-rack (8), but fixed cover is equipped with horizontal slip's mechanical drive frame (9) in roof-rack (8), the output of mechanical drive frame (9) is equipped with sucking disc roof beam (10), and the fixed cover in bottom of sucking disc roof beam (10) is equipped with vacuum chuck group (11).

2. The flap palletizing manipulator according to claim 1, characterized in that: two sets of inverter motor are equipped with in upset drive frame (4), and are two sets of fixed cover respectively on the outer wall of inverter motor output shaft is equipped with right side that the position is relative and turns over frame (5) and left side and turns over frame (6), turn over frame (5) on the right side and turn over frame (6) on the left side and overlap respectively in the inboard of right support body (3) and left support body (2), and turn over frame (5) on the right side and turn over frame (6) on the left side and be L type support body.

3. The flap palletizing manipulator according to claim 1, characterized in that: the roof rack (8) is formed by assembling a gantry frame and a guide rail at the top of the gantry frame, a walking beam matched with the guide rail in specification is assembled in the mechanical driving frame (9), and a safety guardrail is further assembled on the outer side of the roof rack (8).

4. The flap palletizing manipulator according to claim 1, characterized in that: the bottom fixed mounting of walking beam has the drive cylinder body in mechanical drive frame (9), the bottom fixedly connected with sucking disc roof beam (10) of drive cylinder body output shaft, the bottom of sucking disc roof beam (10) is equipped with the sucking disc frame, the bottom fixed mounting of sucking disc frame has twenty four groups of vacuum chuck group (11), and the top of sucking disc frame still fixed mounting have the vacuum generator who is linked together with vacuum chuck group (11).

5. The flap palletizing manipulator according to claim 1, characterized in that: all be equipped with the conveying roller in input roller frame (1), left support body (2) and the output roller frame (7), input roller frame (1), left support body (2) and output roller frame (7) adopt siemens converter stepless speed control and flat belt to carry out the transmission, and the siemens converter carries out electric connection through the wire with the numerical control system in the outside.