CN111230913A - A kind of high-efficiency handling manipulator for smooth panel - Google Patents

Abstract

The invention discloses a smooth panel efficient carrying manipulator claw, relates to the technical field of smooth panel carrying, and solves the problem that a smooth panel manipulator claw in the prior art is easy to grab a plurality of panels at one time, and the technical key points are as follows: the lifting device comprises a bottom plate, wherein the bottom plate is a square plate, clamping plates are hinged to the edge of the bottom plate, a lifting rod which penetrates through the bottom plate and is in sliding connection with the bottom plate is arranged at the center of the bottom plate, a suction plate unit is arranged at the lower end of the bottom plate, four groups of clamping plates are arranged on the clamping plates, the suction plate unit is provided with a suction plate capable of moving horizontally, a vacuum chuck is arranged on the suction plate, an air cylinder is arranged at one end of the lifting rod, which is far away from the suction plate unit, the bottom plate is also fixedly connected with a clamping plate driving unit which can be linked with the lifting rod and can drive the; the invention can accurately grab a single smooth plate and can position the smooth plate.

Description

A kind of high-efficiency handling manipulator for smooth panel

technical field

The invention relates to the technical field of handling of light panels, in particular to a manipulator for efficient handling of light panels.

Background technique

At present, in the handling of the glazing panels, the devices used are often complicated in structure, high in cost and low in efficiency, and are not suitable for clamping and handling the panels.

Chinese Patent Publication No. "CN109129531A" discloses a high-efficiency handling manipulator for smooth panel materials, which includes a mounting plate, the left and right sides of the mounting plate are hinged with clamping arms, and a mounting rod is installed and fixed on the top of the mounting plate. Hinge supports are installed and fixed on the left and right sides of the mounting plate, and telescopic devices are hinged on the two hinge supports. There is a support rod, a suction cup is installed on the lower end of the support rod, and a negative pressure pipe is also connected to the suction cup. An elastic telescopic rod is installed on the inner side of the guide sleeve, and a support block is installed at the lower end of the elastic telescopic rod. The device can firmly clamp and transport the smooth panel, and the work efficiency is high. However, the device adopts the clamping arm to hold the plate. When the clamping arm supports the plate, it is easy to clamp multiple plates at a time, and the plates cannot be separated during the holding process. Therefore, , we propose a robotic gripper for efficient handling of smooth panels.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to solve the above-mentioned defects, and provide a kind of high-efficiency handling manipulator for smooth panel materials. The hanging rod is slidingly connected. The hanging rod is provided with a suction plate unit at the lower end of the bottom plate. The plywood is provided with four groups. The suction plate unit is provided with a suction plate that can move horizontally. The suction plate is provided with a vacuum suction cup. One end of the plate unit is provided with a cylinder, and the bottom plate is also fixedly connected with a splint drive unit that can be linked with the boom and can drive the splint to swing. In the technology, it is easy to grasp the problem of multiple sheets at one time by manipulator grasping of glossy panels.

To achieve the above object, the present invention provides the following technical solutions:

A high-efficiency handling manipulator for smooth panel materials comprises a bottom plate, the bottom plate is a square plate, the edge of the bottom plate is hinged with a splint, the center position of the bottom plate is provided with a boom that passes through the bottom plate and is slidably connected to the bottom plate, and the boom is provided at the lower end of the bottom plate. There is a suction plate unit, the plywood is provided with four groups, the suction plate unit is provided with a suction plate that can move horizontally, the suction plate is provided with a vacuum suction cup, the hanger is provided with a cylinder at the end away from the suction plate unit, and the bottom plate is also fixedly connected There is a clamping plate driving unit which can be linked with the boom and can drive the clamping plate to swing, the clamping plate driving unit is hinged with the clamping plate, and the clamping plate driving unit is fixedly connected with the suspension rod.

As a further solution of the present invention, the bottom plate is a square plate, the four sides of the bottom plate are provided with lugs for hinged splint, the middle of the bottom plate is provided with a through hole for the boom to pass through; the middle of the splint is provided with a through hole parallel to the end face of the splint. hole.

As a further solution of the present invention, the suction plate unit further includes a cross hanger and a cross hanger seat, the cross hanger is a cross structure, and a connecting rod for connecting the suction plate is arranged at the center of the cross hanger. The plate is fixedly connected to the connecting rod on the cross hanger, the cross hanger seat is a square plate, the edge of the cross hanger seat is provided with a rib perpendicular to the cross hanger seat, and the rib is provided with a through hole, and The oppositely arranged through holes are collinear, and the cross hanger is arranged in the through hole on the cross hanger seat.

As a further solution of the present invention, the cross hanger is also sleeved with springs in the cross hanger seat, the springs are provided with four groups, and the four groups of springs are respectively arranged on the four arms of the cross hanger.

As a further solution of the present invention, the splint drive unit includes a pull rod, a pull rod seat and a push rod, the pull rod is in the shape of a square rod, one end of the pull rod is hinged with a T-shaped slider, the clamp plate is provided with a T-shaped groove, and the T-shaped slider is arranged on the T-shaped slider. The T-shaped slider can slide in the T-shaped groove, the end of the pull rod away from the hinge hole is provided with a push-pull hole, the axis of the push-pull hole and the axial direction of the pull rod are at an acute angle; the pull rod is fixed on the bottom plate by the pull rod seat, The pull rod is slidably connected with the pull rod seat, one end of the push rod is fixed on the hanger rod, the push rod is inclined, the push rod is arranged in the push-pull hole on the pull rod, and the axis of the push rod is collinear with the axis of the push-pull hole.

As a further solution of the present invention, the tie rod seat is T-shaped, the lateral edge of the tie rod seat is provided with a guide hole for guiding, the tie rod is arranged in the guide hole, and the vertical side of the tie rod seat is fixed to the splint.

As a further solution of the present invention, the vacuum suction cups are provided with multiple groups, and the vacuum suction cups are arranged in an array on the suction plate.

To sum up, the present invention has the following beneficial effects compared with the prior art:

The present invention absorbs the smooth panel material through the suction cup unit, and enables the suction cup to move in translation through the linkage between the splint and the suction cup unit and through the cross hanger, so that the present invention can accurately grasp a single smooth panel sheet, and at the same time, the smooth panel sheet can be positioned, so that the The position of the smooth panel on the manipulator is always the same, which is convenient for the subsequent processing of the smooth panel.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a manipulator for efficient handling of smooth panel materials.

FIG. 2 is a schematic diagram of the structure of the high-efficiency handling manipulator grasping the mid-sole plate of the smooth panel material.

FIG. 3 is a schematic diagram of the structure of the middle splint grasped by the manipulator for efficient handling of the smooth panel material.

FIG. 4 is a schematic diagram of the structure of the cross hanger in the gripping center of the high-efficiency handling manipulator of the smooth panel.

FIG. 5 is a schematic structural diagram of the middle cross hanger seat in the gripping center of the high-efficiency handling manipulator for smooth panel materials.

FIG. 6 is a schematic diagram of the structure of the middle tie rod grasped by the manipulator for efficient handling of the smooth panel material.

Reference numerals: 1- base plate, 2- splint, 3- boom, 4- suction plate unit, 41- suction plate, 42- cross hanger, 43- cross hanger seat, 5- cylinder, 6- splint drive unit , 61-tie rod, 62-tie rod seat, 63-push rod, 7-installation plate.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The embodiments of the present invention, and all other embodiments obtained by those of ordinary skill in the art without creative work, fall within the protection scope of the present invention.

Example 1

As shown in Figures 1 to 2, a high-efficiency handling manipulator for smooth panels includes a bottom plate 1, the bottom plate 1 is a square plate, four sets of plywood 2 are hinged on the edge of the bottom plate 1, and the center of the bottom plate 1 is provided with a pass through the bottom plate. 1 and is slidably connected to the bottom plate 1 with a boom 3, the boom 3 is provided with a suction plate unit 4 at the lower end of the bottom plate 1, the suction plate unit 4 is provided with a horizontally movable suction plate 41, and the suction plate 41 is provided with a vacuum suction cup The hanger rod 3 is provided with a cylinder 5 at one end away from the suction plate unit 4, and the base plate 1 is also fixedly connected with a splint drive unit 6 that can be linked with the hanger rod 3 and can drive the splint 2 to swing, and the splint drive unit 6 is hinged with the splint 2. , and the splint drive unit 6 is fixedly connected with the boom 3;

As shown in Figure 2, the bottom plate 1 is a square plate, the four sides of the bottom plate 1 are provided with lugs for hinged splint 2, and the middle of the bottom plate 1 is provided with a through hole for the suspension rod 3 to pass through, as shown in Figure 3, the splint 2 is a plate shape, and the middle of the splint 2 is provided with a through hole parallel to the end face of the splint 2;

The suction plate 41 is in the shape of a flat plate. In this embodiment, a set of vacuum suction cups are arranged on the suction plate 41. The vacuum suction cups are fixed to the middle of the suction plate 41. The vacuum suction cups are connected to the negative pressure device through the trachea. The suction plate unit 4 also includes a cross hanger. 42 and the cross hanger seat 43, as shown in FIG. 4, the cross hanger 42 is a cross structure, and the central position of the cross hanger 42 is provided with a connecting rod for connecting the suction plate 41, and the connecting rod is a column. The suction plate 41 is fixedly connected to the connecting rod on the cross hanger 42 by screws. As shown in FIG. 5 , the cross hanger seat 43 is a square plate, and the edge of the cross hanger seat 43 is provided with the cross hanger seat 43 The vertical sidewall is provided with through holes on the sidewall, and the oppositely arranged through holes are collinear, and the cross hanger 42 is arranged in the through hole on the cross hanger seat 43; so that the cross hanger 42 can be in the cross hanger seat 43 move up;

Preferably, the cross hanger 42 is further sleeved with a spring in the cross hanger seat 43, so that the cross hanger 42 can push the cross hanger 42 to return automatically after the workpiece is released. on the four arms of the hanger 42;

The splint drive unit 6 includes a pull rod 61, a pull rod seat 62 and a push rod 63. As shown in FIG. 6, the pull rod 61 is a square rod, and one end of the pull rod 61 is hinged with a T-shaped slider. The T-shaped slider is arranged in the T-shaped slot, and the T-shaped slider can slide in the T-shaped slot. The end of the pull rod 61 away from the hinge hole is provided with a push-pull hole, and the axis of the push-pull hole is at an acute angle with the axial direction of the pull rod 61. The pull rod seat 62 is T-shaped, the lateral side of the pull rod seat 62 is provided with a guide hole for guiding, the pull rod 61 is arranged in the guide hole, the vertical side of the pull rod seat 62 is fixed to the splint 2, and one end of the push rod 63 is fixed On the boom 3, and the push rod 63 is inclined, the push rod 63 is arranged in the push-pull hole on the pull rod 61, and the axis of the push rod 63 is collinear with the axis of the push-pull hole, when the boom 3 rises, the push rod 63 Up, the push rod 63 pushes the pull rod seat 62 to move outward, thereby pushing the splint 2 to swing, the splint drive unit 6 is provided with four groups, and the splint drive unit 6 is respectively connected to the splint 2 around the base plate 1;

Preferably, a mounting plate 7 is also fixedly connected to the air cylinder 5, the mounting plate 7 is plate-shaped, and the mounting plate 7 is used for mounting the hand gripping mechanism on the manipulator.

Example 2

As shown in Figures 1 to 2, a high-efficiency handling manipulator for smooth panels includes a bottom plate 1, the bottom plate 1 is a square plate, four sets of plywood 2 are hinged on the edge of the bottom plate 1, and the center of the bottom plate 1 is provided with a pass through the bottom plate. 1 and is slidably connected to the bottom plate 1 with a boom 3, the boom 3 is provided with a suction plate unit 4 at the lower end of the bottom plate 1, the suction plate unit 4 is provided with a horizontally movable suction plate 41, and the suction plate 41 is provided with a vacuum suction cup The hanger rod 3 is provided with a cylinder 5 at one end away from the suction plate unit 4, and the base plate 1 is also fixedly connected with a splint drive unit 6 that can be linked with the hanger rod 3 and can drive the splint 2 to swing, and the splint drive unit 6 is hinged with the splint 2. , and the splint drive unit 6 is fixedly connected with the boom 3;

Preferably, in this embodiment, the suction plate 41 is provided with a plurality of groups of vacuum suction cups arranged in an array, which are used for uniform suction to the plate;

Other structures in this embodiment are the same as those in Embodiment 1.

To sum up, the working principle of the present invention is:

When the cylinder 5 is extended, the boom 3 moves downward, and the push rod 63 pushes the pull rod 61 to move to the position of the boom 3, thereby driving the lower end of the splint 2 to open. The vacuum suction cup absorbs the light panel, and then the cylinder 5 retracts. At this time, the boom 3 moves upward under the action of the cylinder 5, and the boom 3 drives the push rod 63 to move upward. At this time, the push rod 63 pushes the pull rod 61 to move outward. , the lower end of the splint 2 is closed under the action of the pull rod 61, and the splint 2 adjusts the position of the smooth panel during the closing process until all the splints 2 on the bottom plate 1 clamp the smooth panel;

When putting down the glossy panel, first place the panel to a predetermined position, the cylinder 5 is extended, the boom 3 moves downward, the push rod 63 pushes the pull rod 61 to move to the position of the boom 3, thereby driving the lower end of the splint 2 to open, the splint 2. Loosen the glossy panel and lift it up under the action of the boom 3. At this time, the vacuum suction cup on the suction plate 41 is inflated, and the vacuum suction cup releases the glossy panel.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. A high-efficiency handling manipulator for smooth panel materials, comprising a bottom plate (1), the bottom plate (1) is a square plate, a splint (2) is hinged on the edge of the bottom plate (1), and a center position of the bottom plate (1) is provided with a pass through; The bottom plate (1) and the hanging rod (3) slidingly connected with the bottom plate (1), the hanging rod (3) is provided with a suction plate unit (4) at the lower end of the bottom plate (1), and it is characterized in that the clamping plate (2) is provided with Four groups, the suction plate unit (4) is provided with a suction plate (41) that can move horizontally, the suction plate (41) is provided with a vacuum suction cup, and the hanger (3) is provided at one end away from the suction plate unit (4) with a The air cylinder (5), the bottom plate (1) is also fixedly connected with a splint drive unit (6) that can be linked with the boom (3) and can drive the splint (2) to swing, and the splint drive unit (6) is hinged with the splint (2). , and the splint drive unit (6) is fixedly connected with the hanger rod (3). 2. The high-efficiency handling manipulator grasping the smooth panel material according to claim 1, is characterized in that, the bottom plate (1) is a square plate, and the four sides of the bottom plate (1) are provided with lugs for hinged splint (2), and the bottom plate (1). The middle of 1) is provided with a through hole for the boom (3) to pass through; the middle of the clamp plate (2) is provided with a through hole parallel to the end face of the clamp plate (2). 3. The high-efficiency handling manipulator for smooth-panel sheet material according to claim 1, wherein the suction plate unit (4) further comprises a cross hanger (42) and a cross hanger seat (43), and the cross hanger (42) It is a cross structure, the central position of the cross hanger (42) is provided with a connecting rod for connecting the suction plate (41), the connecting rod is cylindrical, and the suction plate (41) is fixedly connected to the connecting rod on the cross hanger (42). , the cross hanger seat (43) is a square plate, the edge of the cross hanger seat (43) is provided with a rib perpendicular to the cross hanger seat (43), the ribs are provided with through holes, and oppositely arranged The through holes are collinear, and the cross hanger (42) is arranged in the through hole on the cross hanger seat (43). 4. The high-efficiency handling manipulator grasping the smooth panel material according to claim 3, wherein the cross hanger (42) is also sleeved with a spring in the cross hanger seat (43), and the spring is provided with four groups, four groups The springs are respectively arranged on the four arms of the cross hanger (42). 5. The high-efficiency handling manipulator for glazing panels according to claim 1, wherein the splint drive unit (6) comprises a pull rod (61), a pull rod seat (62) and a push rod (63), and the pull rod (61) is It is in the shape of a square rod, one end of the tie rod (61) is hinged with a T-shaped slider, the splint (2) is provided with a T-shaped slot, the T-shaped slider is arranged in the T-shaped slot, and the T-shaped slider can be inserted into the T-shaped slot. Slide, the end of the pull rod (61) away from the hinge hole is provided with a push-pull hole, the axis of the push-pull hole and the axial direction of the pull rod (61) are at an acute angle; the pull rod (61) is fixed on the bottom plate (1) by the pull rod seat, and the pull rod ( 61) is slidably connected with the pull rod seat (62), one end of the push rod (63) is fixed on the hanger rod (3), and the push rod (63) is set obliquely, and the push rod (63) is set on the push rod (61) inside the hole, and the axis of the push rod (63) is collinear with the axis of the push-pull hole. 6 . The high-efficiency handling manipulator for smooth panel material according to claim 5 , wherein the pull rod seat ( 62 ) is T-shaped, and the lateral edge of the pull rod seat ( 62 ) is provided with a guide hole for guiding, and the pull rod (61) is arranged in the guide hole, and the vertical edge of the tie rod seat (62) is fixed to the splint (2). 7 . The high-efficiency handling manipulator gripper for smooth panel materials according to claim 1 , wherein the vacuum suction cups are provided with multiple groups, and the vacuum suction cups are arranged in an array on the suction plate ( 41 ). 8 .

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