CN217894002U - Automatic plate carrying equipment - Google Patents
Automatic plate carrying equipment Download PDFInfo
- Publication number
- CN217894002U CN217894002U CN202222343542.1U CN202222343542U CN217894002U CN 217894002 U CN217894002 U CN 217894002U CN 202222343542 U CN202222343542 U CN 202222343542U CN 217894002 U CN217894002 U CN 217894002U
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- plate
- carrying
- mechanical arm
- sucker
- main frame
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- 238000002360 preparation method Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 abstract description 5
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The utility model relates to an automatic handling device for plates, which comprises a plate placing rack, a handling robot and a sliding track, wherein the handling robot comprises a handling mechanical arm and a handling gripper; the sliding track is positioned on the material taking side of the plate placing frame, the carrying mechanical arm is slidably mounted on the sliding track, and the carrying gripper is positioned at the tail end of the carrying mechanical arm; the plate placing frame is divided into a plurality of placing units along the length direction, and each placing unit is divided into a plurality of layers along the height direction; two movable stop rods are arranged on the feeding side of each placing unit and can slide in a reciprocating mode along the length direction of the plate placing rack, and plates are limited through the movable stop rods; the carrying gripper comprises a mechanical arm connecting seat, a main frame body, a vacuum generator and a sucker assembly, wherein the sucker assembly comprises an organ-shaped sucker, a sucker connecting plate and a flat sucker; the organ-shaped sucker and the flat sucker are controlled by the vacuum generator to suck the plate. The problems of low manual efficiency, low positioning precision, difficult plate separation and the like in plate carrying are solved.
Description
Technical Field
The utility model belongs to the technical field of automatic haulage equipment, concretely relates to panel automatic haulage equipment.
Background
To current panel transport, need artifical the participation panel to transport, just can get into subsequent manufacturing procedure, utilize the robot to realize unmanned operation, improved the degree of automation of panel transport to a great extent.
The existing plate carrying equipment mainly utilizes a blower to blow air between plates or realizes plate separation by adding a mechanical structure, has a complex structure, and can not effectively solve the problem of separation of plates when facing various external forces generated by adsorption force, relevant static electricity and the like.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model discloses the technical problem who plans to solve provides a panel automatic handling equipment.
In order to solve the technical problem, the utility model provides an automatic plate handling device, which comprises a plate placing rack, a handling robot and a sliding track, wherein the handling robot comprises a handling mechanical arm and a handling gripper; the sliding track is positioned on the material taking side of the plate placing frame, the carrying mechanical arm is slidably mounted on the sliding track, and the carrying gripper is positioned at the tail end of the carrying mechanical arm;
the plate placing frame is divided into a plurality of placing units along the length direction, and each placing unit is divided into a plurality of layers along the height direction; two movable stop rods are arranged at the feeding side of each placing unit at intervals, the movable stop rods are arranged along the height direction of the plate placing rack, the movable stop rods can slide in a reciprocating manner along the length direction of the plate placing rack, and plates are limited through the movable stop rods;
the carrying gripper comprises a mechanical arm connecting seat, a main frame body, a vacuum generator and a sucker assembly, wherein the sucker assembly comprises an organ-shaped sucker, a sucker connecting plate and a flat sucker; the mechanical arm connecting seat is arranged in the middle of one side of the main frame body, and one end of the carrying mechanical arm is connected with the mechanical arm connecting seat; the edge of the left side and the edge of the rear side of the main frame body are respectively provided with a plurality of organ-shaped suckers through sucker connecting plates, and all the organ-shaped suckers are connected with a vacuum generator; the middle part and all the other edges of the main frame body are respectively provided with a plurality of flat suckers through a sucker connecting plate, all the flat suckers are connected with another vacuum generator, and the organ-shaped suckers and the flat suckers are controlled by the vacuum generator to suck the plates.
Further, the carrying gripper further comprises an air cylinder, a first laser ranging sensor, a photoelectric sensor, a proximity switch and a second laser ranging sensor; the air cylinder is connected with the main frame body, one first laser ranging sensor is arranged on the main frame body, the other first laser ranging sensor is positioned at the tail end of the telescopic rod of the air cylinder, and the two first laser ranging sensors are respectively positioned above and below the sucked plate and used for detecting the thickness of the plate; the three second laser ranging sensors are arranged in the middle of the main frame body in a non-collinear mode and are used for detecting the parallelism between the main frame body and the plate; the proximity switch is used for detecting whether the plate exists or not, and the photoelectric sensor is used for positioning between the main frame body and the plate.
Further, the upper part and the lower part of the movable stop lever are respectively provided with a sliding block, each sliding block is matched with a respective guide rail, and the guide rails are connected with the plate placing rack; the magnetic attraction structure, the stop block and the microswitch are respectively arranged at two limit positions where the movable stop lever slides to stop, the magnetic attraction structure is used for fixedly connecting the movable stop lever and the plate placing frame, the stop block is used for limiting the sliding block, and the microswitch is used for detecting whether the movable stop lever moves to a specified position.
Further, the sliding track comprises a track body, a driving motor, a gear and a sliding table; the top of the track body is provided with a rack, the sliding table is slidably arranged on the track body, and the carrying mechanical arm is arranged on the sliding table; the driving motor is installed on the sliding table, and an output shaft of the driving motor is connected with a gear which is meshed with the rack.
Compared with the prior art, the beneficial effects of the utility model are that:
aiming at the problems of low manual efficiency, low positioning precision, difficult plate separation and the like in the prior plate conveying, the equipment can realize batch automatic single-sheet plate taking and conveying for plates with different sizes and irregular placing positions. When the sheet is sucked, the organ-shaped sucking discs and the flat sucking discs generate a height difference, so that gaps are generated on the sheet corresponding to the organ-shaped sucking discs preferentially and are tilted, and the sheet is separated. Whether the main frame body is parallel to the plate is detected through three second laser ranging sensors, the thickness of the sucked plate is measured through two first laser ranging sensors, adhesion of the plate is avoided, and safety accidents are prevented. The movable stop lever is arranged on the feeding side of the plate placing rack, so that the phenomenon that the plate is unstably sucked due to the movement of the plate when the plate is taken can be prevented.
Drawings
FIG. 1 is a schematic view of the overall structure;
FIG. 2 is a schematic view of the connection between the movable stop lever and the plate placing rack;
FIG. 3 is a partially enlarged view of the connection between the movable stop lever and the plate placing frame;
FIG. 4 is a schematic view of the connection between the guide rail and the plate placing frame;
FIG. 5 is a schematic view of the connection of the slider to the guide rail;
FIG. 6 is a schematic diagram of the handling grip;
FIG. 7 is a schematic structural view of an organ-type suction cup and a flat suction cup;
FIG. 8 is a top view of the sliding track;
FIG. 9 is a schematic view of the connection of the driving motor and the gear of the sliding rail;
in the figure: 1. placing a plate rack; 2. a transfer robot; 3. carrying the mechanical arm; 4. carrying the gripper; 5. a sliding track;
11. a movable stop lever; 12. a protective upright post; 13. magnetic attraction is carried out; 14. a stopper; 15. a microswitch; 16. a slider; 17. a guide rail; 18.l-shaped connecting plates;
41. a mechanical arm connecting seat; 42. a main frame body; 43. a cylinder; 44. a vacuum generator; 45. a suction cup assembly; 46. a first laser ranging sensor; 47. a photosensor; 48. a proximity switch; 49. a second laser ranging sensor; 410. a laser ranging sensor connecting plate; 411. a cylinder connecting plate; 412. a proximity switch connection plate; 413. a photoelectric sensor connecting plate; 51. a track body; 52. a drive motor; 53. a gear; 54. a sliding table;
451. an organ-type suction cup; 452. a sucker connecting plate; 453. a flat suction cup; 454. a vacuum logic valve.
Detailed Description
The following provides specific embodiments of the present invention with reference to the drawings, which are only used for further explaining the technical solutions of the present invention in detail, and do not limit the protection scope of the present invention.
The utility model provides an automatic plate conveying device (equipment for short, see fig. 1-9), which comprises a plate placing rack 1, a conveying robot 2 and a sliding rail 5, wherein the sliding rail 5 is arranged on the ground and is positioned on the material taking side of the plate placing rack 1; the transfer robot 2 comprises a transfer mechanical arm 3 and a transfer gripper 4; the carrying mechanical arm 3 is installed on the sliding rail 5, the carrying mechanical arm 3 can slide on the sliding rail 5 in a reciprocating mode, the carrying gripper 4 is fixed to the tail end of the carrying mechanical arm 3, the plates are sucked through the carrying gripper 4, the plate separating action is achieved, and the plates are conveyed to the designated position.
The plate placing frame 1 is used for placing plates, one side of the plate placing frame 1 is a feeding side, the other side of the plate placing frame 1 is a material taking side, the feeding side is used for placing the plates into the plate placing frame 1 in batches by a forklift, and the material taking side is used for sucking the plates by the transfer robot 2; the plate placing rack 1 is integrally of a frame structure formed by welding square pipes, the frame structure is divided into a plurality of placing units along the length direction, each placing unit is divided into a plurality of layers along the height direction, the length of each layer meets the longest plate and a margin is reserved, and the width of each layer meets the widest plate and a margin is reserved; two movable stop rods 11 are arranged at the feeding side of each placing unit at intervals, the movable stop rods 11 are arranged along the height direction of the plate placing rack 1, and the movable stop rods 11 can slide in a reciprocating manner along the length direction of the plate placing rack 1 under the action of manual work; the upper part and the lower part of each movable stop lever 11 are respectively provided with a sliding block 16 through an L-shaped connecting plate 18, each sliding block 16 is matched with a respective guide rail 17, and the guide rails 17 are fixedly connected with the plate placing rack 1; a magnetic attraction structure 13, a stop block 14 and a microswitch 15 are respectively arranged at two limit positions where the movable stop lever 11 stops sliding, the magnetic attraction structure 13 is used for fixing the movable stop lever 11 and the plate placing frame 1, the stop block 14 is used for limiting the slide block 16 and preventing the slide block 16 from falling off from the guide rail 17, and the microswitch 15 is used for detecting whether the movable stop lever 11 moves to a specified position; before feeding is started, two movable stop levers 11 of the same placing unit are manually pushed towards two ends of the placing unit, after a microswitch 15 detects that the movable stop levers 11 are in place, a forklift is used for feeding, a plate is placed on the plate placing frame 1, after the forklift returns to a safe distance, the middle of the two movable stop lever 11 placing units is manually pushed, and after the microswitch 15 detects that the movable stop levers 11 are in place, the whole feeding process is finished; the feeding space of the plate placing frame 1 is opened through the two movable stop rods 11, and the movable stop rods limit the plates after feeding is finished.
The side of placing the unit and getting every layer of material side is equipped with protection stand 12, prevents that panel from dropping.
The sliding rail 5 comprises a rail body 51, a driving motor 52, a gear 53 and a sliding table 54; the track body 51 is fixed on the ground, a rack is arranged at the top of the track body 51, and the sliding table 54 is slidably mounted on the track body 51; the driving motor 52 is fixedly arranged on the sliding table 54, the gear 53 is fixedly connected to the output shaft of the driving motor 52, and the gear 53 is meshed with the rack at the same time; one end of the carrying mechanical arm 3 is fixed on the sliding table 54, an output shaft of the driving motor 52 drives the gear 53 to rotate, and the sliding table 54 slides on the rail body 51 in a reciprocating manner through gear and rack transmission, so that the reciprocating motion of the carrying mechanical arm 3 is realized.
The carrying hand grip 4 comprises a mechanical arm connecting seat 41, a main frame body 42, a cylinder 43, a vacuum generator 44, a sucker assembly 45, a first laser ranging sensor 46, a photoelectric sensor 47, a proximity switch 48 and a second laser ranging sensor 49; the sucker assembly 45 is used for sucking and separating plates, and the sucker assembly 45 comprises an organ-shaped sucker 451, a sucker connecting plate 452, a flat sucker 453 and a vacuum logic valve 454;
the main frame body 42 is used as a main body structure of the carrying hand grip 4 and is formed by welding square pipes; the mechanical arm connecting seat 41 is welded in the middle of one side of the main frame body 42 and used for installing and carrying the mechanical arm 3; the left end edge and the rear side edge of the main frame body 42 are respectively provided with a plurality of organ-shaped suckers 451 through sucker connecting plates 452, and the middle part and the rest edges of the main frame body 42 are respectively distributed with a plurality of flat suckers 453 through the sucker connecting plates 452; two vacuum generators 44 are provided, the two vacuum generators 44 are fixedly connected to the main frame body 42, one vacuum generator 44 is connected with all the organ-shaped suction cups 451, the other vacuum generator 44 is connected with all the flat suction cups 453, the vacuum generator 44 is used for generating and eliminating vacuum, and the organ-shaped suction cups 451 and the flat suction cups 453 are controlled to suck the sheet; the carrying gripper 4 completes the separation and suction of the plate through the organ-shaped suction cup 451 and the flat suction cup 453, and when the plate is sucked, the left side edge and the rear side edge of the plate are sucked preferentially to generate gaps due to the fact that the height of the organ-shaped suction cup 451 is larger than that of the flat suction cup 453, so that the adhesion and the suction force between the plates can be overcome, and the plate can be separated smoothly. The vacuum generator 44 is provided with a breaking valve for controlling opening and closing of the piping of the vacuum generator 44 and a supply valve for vacuum elimination. When a sheet material with different sizes is sucked, the required number of the suction cups is different, and when a sheet material with a smaller size is sucked, the suction cups positioned at the edge of the main frame body 42 do not suck the sheet material, so that the vacuum logic valves 454 are installed on the suction cups, and the vacuum logic valves 454 can inhibit the reduction of the vacuum degree when no workpiece exists, namely, the vacuum logic valves 454 are automatically closed to generate vacuum.
A laser rangefinder sensor 46 has two, a laser rangefinder sensor 46 fixes on the body frame body 42 through laser rangefinder sensor connecting plate 410, another laser rangefinder sensor 46 is fixed at the telescopic link of cylinder 43 end, cylinder 43 passes through cylinder connecting plate 411 and fixes on the body frame body 42, there is the difference in height between two laser rangefinder sensors 46, be located the top and the below of panel respectively, a panel thickness for measuring the absorption, and then confirm that the panel that is absorbed is the sola panel, avoid the phenomenon that many panels were absorbed simultaneously. The three second laser ranging sensors 49 are arranged in the middle of the main frame body 42, the three second laser ranging sensors 49 are not collinear, and the carrying mechanical arm 3 is controlled to adjust the angle of the main frame body 42 according to the principle that one surface is determined by three points, so that the main frame body 42 is parallel to the plates, and absorption is facilitated.
The proximity switch 48 is used for detecting whether a plate exists or not, the proximity switch 48 is fixedly connected with the main frame body 42 through the proximity switch connecting plate 412, and when the carrying hand grip 4 is close to the plate, whether the plate is to be sucked or not is judged through a signal returned by the proximity switch 48.
The number of the photoelectric sensors 47 is three, one photoelectric sensor 47 is mounted at the left end of the main frame body 42 through a photoelectric sensor connecting plate 413, the other two photoelectric sensors 47 are respectively mounted at the rear side of the main frame body 42 through photoelectric sensor connecting plates, and the three photoelectric sensors 47 are used for positioning between the main frame body 42 and the plates. Two photoelectric sensors 47 positioned at the rear side of the main frame 42 are used for detecting the transverse position of the plate material, when one photoelectric sensor 47 detects a signal, the photoelectric sensor rotates and moves at a fixed point, when the other photoelectric sensor 47 detects a signal, the rotation stops, and the position is the placing angle of the plate material; a photosensor 47 located at the left end of the main frame 42 is used to assist in the final positioning of the sheet material.
The carrying mechanical arm 3 has six rotational degrees of freedom, the angle adjustment of the main frame body 42 of the carrying gripper 4 is realized through the carrying mechanical arm 3, the carrying mechanical arm 3 is the prior art, and the structure is not described in detail herein.
The utility model discloses a theory of operation and work flow are:
when a plate needs to be sucked, the driving motor 52 is controlled to drive the sliding table 54 to slide on the rail body 51, after the sliding table 54 slides to a designated position, the conveying mechanical arm 3 is controlled to move the conveying hand grip 4 to a corresponding position of the plate placing frame 1, whether a plate exists is detected by using the proximity switch 48, when a plate is detected to be sucked, the main frame body 42 is controlled to move by the conveying mechanical arm 3, after one photoelectric sensor 47 detects a signal, the conveying mechanical arm 3 controls the main frame body 42 to adjust the angle until all three photoelectric sensors 47 detect the signal, whether the main frame body 42 is parallel to the plate is detected by using the three second laser ranging sensors 49, after the main frame body 42 is parallel to the plate, the supply valves on the two vacuum generators 44 are controlled to be opened, the vacuum generators 44 suck air to the organ-type suction cups 451 and the parallel suction cups 453, because the height of the organ-type suction cups 451 is greater than that of the flat suction cups 453, and the contraction height of the organ-type suction cups 451 after air suction cups is greater than that of the parallel suction cups 453, therefore, the edge of the organ-type suction cups 451 is preferentially sucked to generate gaps and the gap between the plate is favorably overcome the sucking force and the tilting force between the plates. Then, the telescopic rod of the control cylinder 43 extends out, so that the two first laser distance measuring sensors 46 are respectively positioned above and below the plate, the thickness of the plate is measured through the two first laser distance measuring sensors 46, after the measurement result is the thickness of a single plate, the telescopic rod of the cylinder 43 is retracted, the carrying mechanical arm 3 is controlled to drive the carrying gripper 4 to move, the sucked plate is placed at the designated position, and the plate taking action is completed.
The utility model discloses the part not mentioned is applicable to prior art.
Claims (4)
1. The automatic plate carrying equipment comprises a plate placing frame, a carrying robot and a sliding rail, wherein the carrying robot comprises a carrying mechanical arm and a carrying gripper; the sliding track is positioned on the material taking side of the plate placing frame, the carrying mechanical arm is slidably mounted on the sliding track, and the carrying gripper is positioned at the tail end of the carrying mechanical arm; it is characterized in that the preparation method is characterized in that,
the plate placing frame is divided into a plurality of placing units along the length direction, and each placing unit is divided into a plurality of layers along the height direction; two movable stop rods are arranged at the feeding side of each placing unit at intervals, the movable stop rods are arranged along the height direction of the plate placing rack, the movable stop rods can slide in a reciprocating manner along the length direction of the plate placing rack, and plates are limited through the movable stop rods;
the carrying gripper comprises a mechanical arm connecting seat, a main frame body, a vacuum generator and a sucker assembly, wherein the sucker assembly comprises an organ-shaped sucker, a sucker connecting plate and a flat sucker; the mechanical arm connecting seat is arranged in the middle of one side of the main frame body, and one end of the carrying mechanical arm is connected with the mechanical arm connecting seat; the left edge and the rear edge of the main frame body are respectively provided with a plurality of organ-shaped suckers through sucker connecting plates, and all the organ-shaped suckers are connected with a vacuum generator; the middle part and all the other edges of the main frame body are respectively provided with a plurality of flat suckers through a sucker connecting plate, all the flat suckers are connected with another vacuum generator, and the organ-shaped suckers and the flat suckers are controlled by the vacuum generator to suck the plates.
2. The automatic plate conveying equipment according to claim 1, wherein the conveying gripper further comprises a cylinder, a first laser ranging sensor, a photoelectric sensor, a proximity switch and a second laser ranging sensor; the air cylinder is connected with the main frame body, one first laser ranging sensor is arranged on the main frame body, the other first laser ranging sensor is positioned at the tail end of the telescopic rod of the air cylinder, and the two first laser ranging sensors are respectively positioned above and below the sucked plate and used for detecting the thickness of the plate; the three second laser ranging sensors are arranged in the middle of the main frame body in a non-collinear manner and are used for detecting the parallelism between the main frame body and the plate; the proximity switch is used for detecting whether the plate exists or not, and the photoelectric sensor is used for positioning between the main frame body and the plate.
3. The automatic plate conveying equipment according to claim 1 or 2, wherein the upper part and the lower part of the movable stop lever are respectively provided with a slide block, each slide block is matched with a respective guide rail, and the guide rails are connected with the plate placing rack; the magnetic attraction structure, the stop block and the microswitch are respectively arranged at two limit positions where the movable stop lever slides to stop, the magnetic attraction structure is used for fixedly connecting the movable stop lever and the plate placing frame, the stop block is used for limiting the sliding block, and the microswitch is used for detecting whether the movable stop lever moves to a specified position.
4. The automatic board conveying apparatus according to claim 1, wherein the slide rail includes a rail body, a driving motor, a gear, and a slide table; the rack is arranged at the top of the track body, the sliding table is slidably mounted on the track body, and the carrying mechanical arm is mounted on the sliding table; the driving motor is installed on the sliding table, and an output shaft of the driving motor is connected with a gear which is meshed with the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222343542.1U CN217894002U (en) | 2022-09-01 | 2022-09-01 | Automatic plate carrying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222343542.1U CN217894002U (en) | 2022-09-01 | 2022-09-01 | Automatic plate carrying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217894002U true CN217894002U (en) | 2022-11-25 |
Family
ID=84108344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222343542.1U Expired - Fee Related CN217894002U (en) | 2022-09-01 | 2022-09-01 | Automatic plate carrying equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217894002U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117142152A (en) * | 2023-10-20 | 2023-12-01 | 江苏宇航板业有限公司 | Panel material loading equipment |
-
2022
- 2022-09-01 CN CN202222343542.1U patent/CN217894002U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117142152A (en) * | 2023-10-20 | 2023-12-01 | 江苏宇航板业有限公司 | Panel material loading equipment |
| CN117142152B (en) * | 2023-10-20 | 2024-01-26 | 江苏宇航板业有限公司 | Panel material loading equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221125 |
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| CF01 | Termination of patent right due to non-payment of annual fee |