CN205272017U - Mechanical hand device of full -automatic sheet material installation - Google Patents

Abstract

The utility model is a full-automatic sheet material installation manipulator device. It includes a gantry support, a driving device, a manipulator clamping device and a sheet material conveying device, wherein the manipulator clamping device is installed on the gantry support, the driving device is connected with the manipulator clamping device, the driving device drives the manipulator clamping device to move, and the sheet material is conveyed The device is installed under the gantry support, and the gripping device of the manipulator can grab the sheet material conveyed on the sheet material conveying device. The utility model is a fully automatic sheet material installation manipulator device which is reasonable in design, safe and reliable, strong in practicability and high in efficiency.

Description

Fully automatic sheet metal installation manipulator device

technical field

The utility model is a full-automatic sheet material installation manipulator device, which belongs to the innovative technology of the full-automatic sheet material installation manipulator device.

Background technique

In industries such as glass door frames, the existing technology is to use manual or lifting platform telescopic clamping devices in the manufacture of glass being packed into the frame. Nowadays, the shapes and weights of sheets are different, especially the promotion of large-scale sheets and the large-scale use and promotion of irregular small-scale sheets, etc., which makes it more difficult to operate devices such as manual and lifting tables, the efficiency is low, and the assembly quality of products is difficult to control. , and even fail to complete the safe and smooth production. With the development of robots, more and more robot arms are used in industries such as glass door frames. In some special occasions, it is often necessary to use large plates, which cannot be realized by ordinary robots; in the process of using small plates, the cost of using a single robot arm is too high, and it has not been widely used.

Contents of the invention

The purpose of the utility model is to consider the above problems and provide a safe, reliable, practical and efficient automatic sheet metal installation manipulator device.

The technical scheme of the utility model is: the fully automatic sheet material installation manipulator device of the utility model includes a gantry support, a driving device, a manipulator clamping device and a sheet material conveying device, wherein the manipulator clamping device is installed on the gantry support, driven The device is connected with the gripping device of the manipulator, the driving device drives the gripping device of the manipulator to move, the sheet material conveying device is installed under the gantry support, and the gripping device of the manipulator can grab the sheet material conveyed by the sheet material conveying device.

The utility model uses a linear cylinder to drive the manipulator device to do telescopic action, so as to grasp or put down the plate material. The manipulator device adjusts the grasping attitude through the three-degree-of-freedom rotating motor, cooperates with the grasping and releasing action of the suction cup, and at the same time cooperates with the horizontal conveyor belt. The guide mechanism realizes the transportation of the sheet material and places it in the predetermined installation position. The utility model has the following advantages:

1) The utility model has simple structure and low cost;

2) The utility model does not require manual operation, and is safe and reliable;

3) The gantry bracket of the utility model adopts the sliding block assembly method, which is easy to install, and the space size of the gantry bracket can be changed arbitrarily according to the size of the sheet material, and has strong practicability;

4) The three-degree-of-freedom rotating motor at one end of the telescopic guide rod of the utility model controls the telescopic connecting rod to change the clamping posture;

5) The utility model consists of three three-degree-of-freedom rotating motors, three telescopic connecting rods and a suction cup at the end to form a manipulator device, and three non-collinear points determine a plane to improve the stability of heavy plate movement;

6) The manipulator device is flexible and multi-purpose through three telescopic connecting rods and three three-degree-of-freedom rotating motors, similar to human hands, and is suitable for the installation of small irregular plates;

The utility model is a fully automatic plate material installation manipulator device which can greatly improve the production and installation efficiency of plate materials.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a schematic diagram of the manipulator clamping device of the present invention when grabbing a sheet;

Fig. 3 is a schematic diagram of the manipulator clamping device of the present invention when placing a sheet;

Fig. 4 is the schematic diagram of the utility model gantry support;

Fig. 5 is the schematic diagram of the sheet material consignment vehicle of the present utility model;

Fig. 6 is the schematic diagram of output shaft pulley;

Figure 7 is a schematic diagram of the outer support rod;

Figure 8 is a schematic diagram of the inner support rod;

Fig. 9 is a schematic diagram of a spherical bearing;

Fig. 10 is a schematic diagram of the spherical bearing turning through another angle.

detailed description

Example:

The structural representation of the present utility model is as shown in Figures 1, 2, 3, and 4. Below, the structural features of the utility model will be described in detail by taking glass as a plate material as an example, but the actual scope of use of the utility model is not limited to this.

The fully automatic sheet material installation manipulator device of the present utility model includes a gantry support, a driving device, a manipulator clamping device and a sheet material conveying device 8, wherein the manipulator clamping device is installed on the gantry support, and the drive device and the manipulator clamping device Connected, the driving device drives the manipulator clamping device to move, the sheet material conveying device 8 is installed under the gantry support, and the manipulator clamping device can grab the sheet material 10 conveyed by the sheet material conveying device 8 .

In this embodiment, the sheet material conveying device 8 is a belt conveying device, and a discharge frame 9 for placing the sheet material 10 is installed on the conveyor belt of the sheet material conveying device 8 .

In this embodiment, the conveyor belt of the sheet material conveying device 8 is provided with a horizontal guiding device and a vertical guiding device, the horizontal guiding device realizes horizontal X and Y corrections, and the vertical guiding device completes the Z direction correction.

In this embodiment, the lower end of the above-mentioned gantry support is also provided with a sheet material consignment cart 19 , the sheet material consignment cart 19 is installed at the end of the sheet material conveying device 8 , and the bottom of the sheet material consignment cart 19 is equipped with wheels 191 .

In the present embodiment, the above-mentioned gantry support includes a base 6, a crossbeam 12, two outer support rods 111 and two inner support rods 112, wherein the upper end of one outer support rod 111 and the upper end of an inner support rod 112 are all connected with each other. One end of the crossbeam 12 is connected, and the lower ends of the outer support rod 111 and the inner support rod 112 are connected with the base 6 to form a stable triangular structure. The other end of 12 is connected, and the lower ends of the outer support rod 111 and the inner support rod 112 are connected with the base 6 to form a stable triangular structure.

In this embodiment, the two ends of the above-mentioned beam 12 are respectively connected to the shaft holes provided at the upper end of the outer support rod 111 and the upper end of the inner support rod 112, and the lower end of the outer support rod 111 and the lower end of the inner support rod 112 are connected by screws 5 and nuts 7. fixed on the base 6. The shaft hole provided by the outer support rod 111 and the inner support rod 112 can also be equipped with a cylindrical bearing sleeve, and the cylindrical bearing sleeve is arranged in the shaft hole provided by the outer support rod 111 and the inner support rod 112 . The base 6 is provided with a mounting groove and a long groove, and the lower end of the outer support rod 111 and the lower end of the inner support rod 112 are placed in the mounting groove provided on the base 6, and the screw 5 passes through the long groove provided on the base 6 and passes through. The nut 7 is screwed on the end of the screw 5 through the connecting hole provided at the lower end of the outer support rod 111 and the lower end of the inner support rod 112 . Above-mentioned linear air cylinder 15 is installed in the middle part of crossbeam 12.

The utility model can arbitrarily change the space size of the gantry bracket according to the size of the plate, and then fix it with screws and nuts, which is convenient for installation and improves the overall stability of the whole device.

In the present embodiment, the above-mentioned driving device includes a linear cylinder 15, a stepping motor 1 and a transmission device thereof, wherein the output shaft of the stepping motor 1 is connected with the active part of the transmission device, and the driven part of the transmission device is connected with the beam 12, The linear cylinder 15 is installed on the beam 12, and the piston rod of the linear cylinder 15 is connected with the guide rod 16. The piston rod of the linear cylinder 15 drives the guide rod 16 to slide vertically.

In this embodiment, the above-mentioned transmission device is a belt transmission device, including a driving pulley 3, a driven pulley 4 and a belt 2, wherein the output shaft of the stepping motor 1 is connected to the driving pulley 3, and the driven pulley 4 is connected to the beam 12. The stepper motor 1 is installed on the base 11 .

In this embodiment, the manipulator clamping device includes a clamper 14, a three-degree-of-freedom rotating motor 17, a telescopic connecting rod 18 and a spherical connection bearing 13, and the spherical connection bearing 13 includes a guide rod shaft hole 131 arranged in the middle of the bearing body And some spherical bearings 132 installed in the bearing body, wherein the guide rod shaft hole 131 of the spherical connection bearing 13 is interference fit with the guide rod 16, the three-degree-of-freedom rotating motor 17 is installed in the spherical bearing 132, and the three-degree-of-freedom rotating motor 17 The output shaft of the telescopic link 18 is connected, and the gripper 14 is installed on the end of the telescopic link 18 . The driven pulley 4 is connected to the beam 12 through the wheel groove 42 provided on the shaft hole 41 to transmit power.

In this embodiment, the spherical connection bearing 13 is equipped with three three-degree-of-freedom rotating motors 17, the output shaft of each three-degree-of-freedom rotating motor 17 is connected to the telescopic connecting rod 18, and the three holders 14 are respectively installed on the three telescopic connecting rods. At the end of the rod 18, the three points are not collinear to determine a plane, adjust the position of the center of gravity of the sheet, determine that the center of the sheet is located in the control area of the manipulator, and improve the efficiency and stability of the automatic installation of the sheet.

In this embodiment, the holder 14 is preferably a suction cup.

In this embodiment, the cross-sectional shape of the sheet material consignor 19 is a 7-shaped shape, and the sheet material 10 leans against one side of the sheet material consignment vehicle 19, and a certain angle is kept parallel between the sheet materials 10, and the sheet material consignment vehicle 19 automatically controls the wheels 191 enters the predetermined position. The sheet material consignor 19 can move automatically, carrying the sheet material, and its sheet material is tilted at a certain angle. In the present embodiment, the drive of the whole device adopts PLC electric control stepper motor and the process operation sequence of the air pump.

The gantry bracket of the fully automatic sheet metal installation manipulator is fixed with triangular stability, and the three points of the suction cup manipulator device are not collinear to determine a plane to grab the sheet material, and the efficient and safe automatic plate is realized by means of the guide device and the driving device of the horizontal transmission belt. material installation. The utility model full-automatic sheet material installation manipulator device includes drive element, walking unit, adsorption device and gantry bracket, adopts PLC electrical control method, according to the size of the detected sheet material, controls the manipulator through 3 rotating motors at one end of the guide rod, The three points are not collinear to determine a plane, adjust the position of the center of gravity of the sheet, make sure that the center of the sheet is located in the control area of the manipulator, and improve the efficiency and stability of the automatic installation of the sheet. The utility model discloses a device for automatically placing plate-shaped materials into a frame, which is used in the field of conveying and assembling plate-shaped materials, wherein the gantry support includes a base, a support rod and a beam, and the beam is provided with a linear cylinder and a guide rod; a driving element It includes a stepping motor, a pulley and a belt; the walking unit includes a linear cylinder, a horizontal conveyor belt, and a sheet material consignment car, and a guiding mechanism is installed on the horizontal conveyor belt; Up or down, the manipulator device is connected to each other through a 3-degree-of-freedom rotating motor. In this device, a vertical sliding frame is set on the gantry support, and the vertical sliding frame relies on the linear cylinder on the beam to adjust the grasping posture of the mechanical rod, cooperates with the grasping and releasing action of the suction cup, and at the same time cooperates with the guide mechanism on the horizontal conveyor belt to realize the door frame. Transported and placed in the predetermined installation position, the utility model relies on the above-mentioned design to replace manpower production, and at the same time greatly improves the production efficiency of plate-shaped materials into the frame.

The working process of the utility model is as follows: the stepper motor 1 rotates, drives the beam 12 to rotate, and enters the predetermined installation posture, the sheet material consignor 19 automatically controls the wheel 191 to enter the predetermined position, and the linear cylinder 15 installed on the beam 12 drives the guide rod 16 slides vertically, the three-degree-of-freedom rotating motor 17 of the suction cup manipulator device at one end of the guide rod 16 rotates, controls the three-point movement of the end of the telescopic connecting rod 18 to form a surface, and controls the suction cup 14 at one end of the telescopic connecting rod 18 to fit on the surface of the sheet material 10, The PLC device controls the air pump to inhale air, lifts the sheet 10, and completes the grasping action. The motor 1 rotates to control the rotational movement of the crossbeam 12, and the other end of the crossbeam 12 absorbs the manipulator device to complete the grasping action. Continue to control the rotation of the motor 1, so that one end of the crossbeam 12 absorbs the manipulator device and enters the predetermined sheet placement posture, controls the linear cylinder 15 of the crossbeam 12 to drive the guide rod 16 to slide vertically, and simultaneously places the frame 9 on the conveyor belt of the sheet conveying device 8 Realize horizontal X and Y correction through the horizontal guide device of the sheet material conveying device 8, place the sheet material 10, send the sheet material 10 to a predetermined position, place the sheet material 10 on the suction cup 14, and place the sheet material 10 on the horizontal conveyor belt device 8 It is corrected again under the action of the vertical guide device, and the installation in the Z direction is completed. The rotational movement maintains one direction.

Repeating the cycle like this, the adsorption manipulator devices at both ends of the crossbeam 12 work at the same time, improving the efficiency.

In addition, compared with the existing design, the utility model has stronger applicability, and it can be installed no matter it is a heavy board or an irregular small board. At the same time, for irregular small boards, various assembly can be realized by controlling the 3-degree-of-freedom rotating motor , saving space and improving the stability and durability of the machine.

Claims (10)

1. a fully-automatic plate installation manipulator device, it is characterized in that including gantry support, drive unit, manipulator clamping device and plate transport unit, wherein manipulator clamping device is arranged on the support of gantry, drive unit is connected with manipulator clamping device, drive unit drives manipulator clamping device motion, plate transport unit is installed in the lower section of gantry support, and manipulator clamping device can capture the plate of plate transport unit transfer.

2. fully-automatic plate installation manipulator device according to claim 1, it is characterised in that above-mentioned plate transport unit is belt transporting apparatus, the travelling belt of plate transport unit is installed the discharging frame frame for placing plate.

3. fully-automatic plate installation manipulator device according to claim 1, it is characterized in that the travelling belt of above-mentioned plate transport unit is provided with horizontal liner and vertical liner, X, Y that horizontal liner realizes horizontal direction correct, and vertical liner completes the rectification of Z-direction.

4. fully-automatic plate installation manipulator device according to claim 1, it is characterised in that the lower end of above-mentioned gantry support is also provided with plate transport vehicle, and plate transport vehicle is installed in the end of plate transport unit, the bottom installing wheel of plate transport vehicle.

5. fully-automatic plate installation manipulator device according to claim 1, it is characterized in that above-mentioned gantry support includes base, crossbeam, two outer support bars and two inner bracing pieces, wherein the upper end of an outer support bar and the upper end of an inner bracing piece are all connected with one end of crossbeam, the lower end of this outer support bar and this inner bracing piece is connected with base, form stable triangle structure, the upper end of another root outer support bar and the upper end of another root inner bracing piece are connected with the other end of crossbeam, the lower end of this outer support bar and this inner bracing piece is connected with base, form stable triangle structure.

6. fully-automatic plate installation manipulator device according to the arbitrary item of claim 1 to 5, it is characterized in that above-mentioned drive unit includes straight line cylinder, stepper-motor and transmission mechanism thereof, wherein the output shaft of stepper-motor is connected with the driving link of transmission mechanism, the driven member of transmission mechanism is connected with crossbeam, straight line cylinder is installed on crossbeam, and the piston rod of straight line cylinder is connected with guide rod, the piston rod drive leader of straight line cylinder vertically slides, and manipulator clamping device is installed in the two ends of guide rod.

7. fully-automatic plate installation manipulator device according to claim 6, it is characterized in that above-mentioned transmission mechanism is belt transmission, including driving pulley, driven belt pulley and belt, wherein the output shaft of stepper-motor is connected with driving pulley, and driven belt pulley is connected with crossbeam.

8. fully-automatic plate installation manipulator device according to claim 6, it is characterized in that above-mentioned manipulator clamping device comprises some clampers, three degree of freedom rotating machine, shrinking connecting-rod and ball-joint bearing, ball-joint bearing includes the guide rod axis hole being arranged in the middle part of bearing body and the some spherical bearings being installed in bearing body, the wherein guide rod axis hole of ball-joint bearing and crossbeam shrink-fit, three degree of freedom rotating machine is arranged in spherical bearing, the output shaft of three degree of freedom rotating machine connects shrinking connecting-rod, clamper is arranged on the end of shrinking connecting-rod.

9. fully-automatic plate installation manipulator device according to claim 8, it is characterised in that above-mentioned clamper is sucker.

10. fully-automatic plate installation manipulator device according to claim 4, it is characterised in that the cross-sectional shape of above-mentioned plate transport vehicle is 7 fonts, and plate leans against the side of plate transport vehicle, keeps certain angle parallel between plate.