Sucking disc device capable of adaptively adsorbing different types of anti-falling wafers

Abstract

The invention discloses a sucking disc device capable of adaptively adsorbing different types of anti-falling wafers. The sucking disc device comprises a grabbing mechanism, a material disc mechanism and a centering mechanism, the grabbing mechanism comprises a mechanical arm ground rail, a sliding base connected with the mechanical arm ground rail in a sliding mode, a mechanical arm arranged on the sliding base, a suction cup mechanism connected with the free end of the mechanical arm and a base driving mechanism. The grabbing mechanism is arranged on the sliding base; the grabbing mechanism comprises a bottom box, a feeding table arranged at the bottom of the bottom box and a plurality of limiting mechanisms arranged on the top face of the feeding table. The centering mechanism comprises a centering platform, a positioning assembly and a positioning air cylinder set, wherein the positioning assembly and the positioning air cylinder set are fixed to the centering platform. According to the device, automatic grabbing of multiple types of anti-falling pieces can be achieved, the device integrates grabbing, centering and placing, self-adaptive adjustment is conducted according to the characteristic that the types of the anti-falling pieces are diversified, the production requirement of a smart factory can be met, the device is an important component of anti-falling piece welding equipment, and the labor intensity of workers can be reduced.

Description

Technical Field

[0001] The invention belongs to the field of film reversing, and in particular relates to a device for adaptively adsorbing different types of anti-reversing film suction cups. Background Art

[0002] The prior art uses manual selection of anti-reverse sheets of various sizes, which are manually grasped and placed in the corresponding positions, which places high demands on workers' measurement and selection. In addition, due to the manual grasping and placement of anti-reverse sheets, there is a greater risk during welding, which may cause injuries. Summary of the invention

[0003] The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a device for adaptively adsorbing anti-reversing suckers of different models.

[0004] The present invention is achieved through the following technical solutions:

[0005] A self-adaptive suction device for preventing film reversal of different types comprises a grasping mechanism, a material tray mechanism and a centering mechanism; the grasping mechanism comprises a manipulator ground rail, a sliding base slidably connected to the manipulator ground rail, a manipulator arranged on the sliding base, a suction cup mechanism connected to the free end of the manipulator and a base driving mechanism; the grasping mechanism is arranged on the sliding base; the grasping mechanism comprises a bottom box, a loading platform arranged at the bottom of the bottom box and a plurality of groups of limiting mechanisms arranged on the top surface of the loading platform; the centering mechanism comprises a centering platform, a positioning component fixed on the centering platform and a positioning cylinder group.

[0006] In the above technical solution, the manipulator ground rail, the welding manipulator ground rail and the material support are parallel to each other, and the manipulator ground rail and the welding manipulator ground rail are arranged on both sides of the material support.

[0007] In the above technical solution, the suction cup mechanism includes a connecting column, a mounting base and a pneumatic suction cup; the top end of the connecting column is fixedly connected to the free end of the manipulator, and the bottom end of the connecting column is fixedly connected to the middle of the top surface of the mounting base; the pneumatic suction cup is fixed to the bottom surface of the mounting base through a suction cup fixing frame.

[0008] In the above technical solution, the mounting base is a square frame.

[0009] In the above technical solution, the suction cup mechanism also includes an auxiliary component, and the auxiliary component includes a fill light and a camera fixed on the mounting base.

[0010] In the above technical solution, the limiting mechanism includes four limiting columns, and the four limiting columns form a quadrilateral structure; the size of the quadrilateral formed by each group of limiting mechanisms is different.

[0011] In the above technical solution, the cross section of the limiting column is L-shaped, and the opening is arranged inward.

[0012] In the above technical solution, handles are provided on both sides of the top of the loading platform.

[0013] In the above technical solution, the centering platform is fixed to the loading platform, and the top surfaces of the two are coplanar.

[0014] In the above technical solution, the positioning assembly includes an X-axis positioning reference and a Y-axis positioning reference distributed in an L shape; the positioning cylinder group includes an X-axis positioning cylinder and a Y-axis positioning cylinder; the cylinder rod of the X-axis positioning cylinder is connected to the X-axis push plate, and the X-axis push plate is arranged parallel to the X-axis positioning reference; the cylinder rod of the Y-axis positioning cylinder is connected to the Y-axis push plate, and the Y-axis push plate is arranged parallel to the Y-axis positioning reference.

[0015] The beneficial effects of the present invention are:

[0016] The present invention provides a suction cup device that can adaptively absorb different types of anti-reverse films, which can realize the automatic grabbing of various types of anti-reverse films. The entire turntable structure is composed of a placement table, a centering table, a grabbing suction cup, a negative pressure sensor, etc. The adaptive suction cup device is an automated device that integrates grabbing, centering, and placement. It can be adaptively adjusted according to the various characteristics of anti-reverse film models and can meet the production needs of smart factories. The adaptive suction cup device for adsorbing different types of anti-reverse film is an important component of intelligent equipment - anti-reverse film welding equipment. The PLC is used to control the grabbing suction cup and the cylinder centering system to reduce the labor intensity of manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the suction cup mechanism in the present invention;

[0019] Figure 3 It is a structural schematic diagram of the material tray mechanism in the present invention;

[0020] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of part A.

[0021] in:

[0022] 1. Robot ground rail; 2. Sliding base; 3. Robot; 4. Welding robot ground rail; 5. Material support; 6. Bottom box; 7. Loading table; 8. Limit column; 9. Handle; 10. Connecting column; 11. Mounting base; 12. Suction cup fixing frame; 13. Pneumatic suction cup; 14. Fill light; 15. Camera; 16. Clamping cylinder; 17. Centering platform; 18. X-axis positioning reference; 19. Y-axis positioning reference; 20. X-axis positioning cylinder; 21. Y-axis positioning cylinder; 22. X-axis push plate; 23. Y-axis push plate.

[0023] For ordinary technicians in this field, other relevant drawings can be obtained based on the above drawings without any creative work. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0025] Example 1

[0026] like Figures 1 to 4 As shown, a suction cup device for adaptively adsorbing different types of anti-reversal films includes a grasping mechanism, a material tray mechanism and a centering mechanism;

[0027] The gripping mechanism comprises a manipulator ground rail 1, a sliding base 2 slidably connected to the manipulator ground rail 1, a manipulator 3 disposed on the sliding base 2, a suction cup mechanism connected to the free end of the manipulator 3, and a base driving mechanism;

[0028] The manipulator ground rail 1 is parallel to the welding manipulator ground rail 4 and the material support 5, and the manipulator ground rail 1 and the welding manipulator ground rail 4 are arranged on both sides of the material support 5;

[0029] The suction cup mechanism includes a connecting column 10, a mounting base 11, a pneumatic suction cup 13 and an auxiliary component; the top of the connecting column 10 is fixedly connected to the free end of the manipulator 3, and the bottom of the connecting column 10 is fixedly connected to the middle of the top surface of the mounting base 11; the mounting base 11 is a square frame; the pneumatic suction cup 13 is fixed to the bottom surface of the mounting base 11 through a suction cup fixing frame 12; the auxiliary component includes a fill light 14 and a camera 15 fixed on the mounting base 11;

[0030] The camera 15 is used to capture the welding point, accurately place the anti-reversal sheet on the product surface, and the welding manipulator completes the welding; the fill light 14 provides light source for the camera 15 to achieve clear photography;

[0031] The suction cup mechanism also includes a clamping cylinder 16 and a negative pressure sensor fixed on the suction cup fixing frame 12; the clamping cylinder is used to fix the anti-reversal film when discharging;

[0032] The negative pressure sensor is arranged at the suction cup tail end of the pneumatic suction cup 13, and is used to detect the suction cup pressure value;

[0033] The manipulator 3 is a conventional commercially available manipulator;

[0034] The base driving mechanism is a conventional arrangement, including a driving motor, a screw connected to the output shaft of the driving motor, and a slider sleeved on the screw, and the sliding base 2 is fixed to the top surface of the slider;

[0035] The base driving mechanism drives the sliding base 2 to move left and right along the manipulator ground rail 1, thereby realizing the movement of the manipulator 3 and the material tray mechanism, and then realizing the suction of the anti-reverse sheet to the specified welding position;

[0036] The grabbing mechanism 2 is arranged on the sliding base 2;

[0037] The grabbing mechanism 2 includes a bottom box 6, a loading platform 7 arranged at the bottom of the bottom box 6, and multiple groups of limiting mechanisms arranged on the top surface of the loading platform 7;

[0038] The limiting mechanism comprises four limiting columns 8, and the four limiting columns 8 form a quadrilateral structure; the size of the quadrilateral formed by each group of limiting mechanisms is different, so as to adapt to anti-reversal sheets of different specifications and sizes, and ensure that they will not be misplaced, and can effectively ensure that the placed anti-reversal sheets are neatly arranged;

[0039] The cross section of the limiting column 8 is L-shaped, and the opening is arranged inwards, so as to effectively limit the anti-reversal film;

[0040] Handles 9 are provided on both sides of the top of the loading platform 7 to facilitate the overall transportation of the loading mechanism;

[0041] The centering mechanism includes a centering platform 17, a positioning assembly fixed on the centering platform 17, and a positioning cylinder group;

[0042] The centering platform 17 is fixed to the loading platform 7, and the top surfaces of the two are coplanar;

[0043] The positioning assembly includes an X-axis positioning reference 18 and a Y-axis positioning reference 19 which are distributed in an L shape;

[0044] The positioning cylinder group includes an X-axis positioning cylinder 20 and a Y-axis positioning cylinder 21; the cylinder rod of the X-axis positioning cylinder 20 is connected to an X-axis push plate 22, and the X-axis push plate 22 is arranged parallel to the X-axis positioning reference 18; the cylinder rod of the Y-axis positioning cylinder 21 is connected to a Y-axis push plate 23, and the Y-axis push plate 23 is arranged parallel to the Y-axis positioning reference 19;

[0045] During the initial adjustment, make sure that the suction cup of the grasping mechanism is located above the center of the area between the X-axis positioning reference 18 and the Y-axis positioning reference 19. During grasping, the grasping mechanism sucks the anti-reverse sheet from the tray mechanism and places it on the centering platform 17, and places it in the area between the X-axis positioning reference 18 and the Y-axis positioning reference 19. Drive the X-axis positioning cylinder 20 and the Y-axis positioning cylinder 21 to push the anti-reverse sheet so that the anti-reverse sheet is close to the X-axis positioning reference 18 and the Y-axis positioning reference 19. When the grasping mechanism sucks the anti-reverse sheet again, the centering grasping can be achieved, ensuring the stability of the grasping mechanism during the movement to the welding position.

[0046] Method of use of the present invention:

[0047] Loading: Manually place the anti-reverse sheets of different specifications on the placement table. The placement table is divided into 6 stations, each station has four limit columns, which can effectively ensure that the placed anti-reverse sheets are neatly arranged. The size of each station is also different, and the anti-reverse sheets of different specifications and sizes will not be placed in the wrong position.

[0048] Grasping: When grasping, the suction cup drops to the upper end of the anti-reverse plate. When the negative pressure sensor receives a signal, the PLC controller controls the suction cup to suck the anti-reverse plate and place it on the centering table.

[0049] Centering: When the anti-reverse plate is placed on the centering table, the suction cup is deflated and lifted, and the x-axis and y-axis cylinders on the centering table push the anti-reverse plate to complete the centering.

[0050] Placement: After the centering is completed, the suction cup grabs the anti-reverse sheet again and places the anti-reverse sheet to the welding position for automatic welding.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0053] The applicant declares that the above is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention shall fall within the protection scope and disclosure scope of the present invention.

Claims

1. An adaptive suction device for preventing film reversal of different types, characterized by: The invention comprises a gripping mechanism, a material tray mechanism and a centering mechanism; the gripping mechanism comprises a manipulator ground rail (1), a sliding base (2) slidably connected to the manipulator ground rail (1), a manipulator (3) arranged on the sliding base (2), a suction cup mechanism connected to the free end of the manipulator (3) and a base driving mechanism; the gripping mechanism (2) is arranged on the sliding base (2); the gripping mechanism (2) comprises a bottom box (6), a loading platform (7) arranged at the bottom of the bottom box (6) and a plurality of limit mechanisms arranged on the top surface of the loading platform (7); the centering mechanism comprises a centering platform (17), a positioning component fixed on the centering platform (17) and a positioning cylinder group.

2. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 1, characterized in that: The manipulator ground rail (1), the welding manipulator ground rail (4) and the material support (5) are parallel to each other, and the manipulator ground rail (1) and the welding manipulator ground rail (4) are arranged on both sides of the material support (5).

3. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 1, characterized in that: The suction cup mechanism comprises a connecting column (10), a mounting base (11) and a pneumatic suction cup (13); the top end of the connecting column (10) is fixedly connected to the free end of the manipulator (3), and the bottom end of the connecting column (10) is fixedly connected to the middle of the top surface of the mounting base (11); the pneumatic suction cup (13) is fixed to the bottom surface of the mounting base (11) via a suction cup fixing frame (12).

4. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 3, characterized in that: The mounting base (11) is a square frame.

5. The suction cup device for adaptively adsorbing different types of anti-reversal films according to claim 1, characterized in that: The suction cup mechanism also includes an auxiliary component, which includes a fill light (14) and a camera (15) fixed on the mounting base (11).

6. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 1, characterized in that: The limiting mechanism comprises four limiting columns (8), and the four limiting columns (8) form a quadrilateral structure; the size of the quadrilateral formed by each group of limiting mechanisms is different.

7. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 6, characterized in that: The cross section of the limiting column (8) is L-shaped, and the opening is arranged inwards.

8. The suction cup device for adaptively adsorbing different types of anti-reversal films according to claim 1, characterized in that: Handles (9) are arranged on both sides of the top of the loading platform (7).

9. The device for self-adapting and adsorbing different types of anti-rewinding suction cups according to claim 1, characterized in that: The centering platform (17) is fixed to the loading platform (7), and the top surfaces of the two are coplanar.

10. The device for self-adapting and adsorbing different types of anti-reversing suction cups according to claim 1, characterized in that: The positioning assembly comprises an X-axis positioning reference (18) and a Y-axis positioning reference (19) which are distributed in an L shape; the positioning cylinder group comprises an X-axis positioning cylinder (20) and a Y-axis positioning cylinder (21); the cylinder rod of the X-axis positioning cylinder (20) is connected to an X-axis push plate (22), and the X-axis push plate (22) is arranged parallel to the X-axis positioning reference (18); the cylinder rod of the Y-axis positioning cylinder (21) is connected to a Y-axis push plate (23), and the Y-axis push plate (23) is arranged parallel to the Y-axis positioning reference (19).

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