A plate conveying mechanism for mechanical arm grabbing

Abstract

The application discloses a plate conveying mechanism for mechanical arm grabbing, which comprises a conveying assembly, the conveying assembly comprising a transmission shaft, a tangent surface of an outer circumferential surface of the transmission shaft forming a conveying surface; an upper pressing roller assembly, the upper pressing roller assembly being a parallelogram frame, the upper pressing roller assembly comprising an upper pressing roller, an axis of the upper pressing roller being perpendicular to the conveying surface; and a plate, the plate being tangent to the transmission shaft and the upper pressing roller. The rotating telescopic cylinder drives the connecting rod to rotate, the connecting rod drives the adjustable swing arm to relatively move away, the adjustable swing arm is rotationally connected with the roller mounting plate, the upper pressing roller assembly is a rotatable parallelogram frame, the upper pressing roller mounted on the roller mounting plate can move away from the plate and leave the space above the plate under the driving of the rotating telescopic cylinder, the suction cup can grab the plate, and the plate can be pressed together with the deviation correcting wheel, the curved part of the plate is tightly attached to the deviation correcting wheel, and the conveying stability is improved.

Description

Technical Field

[0001] This invention relates to the field of sheet metal conveying devices, and more specifically to a sheet metal conveying mechanism for use by a robotic arm. Background Technology

[0002] For the conveying of PCB boards, LCD panels, carrier boards, and various thin sheet materials, considering their susceptibility to deformation and the need to protect their surfaces from scratches, multiple rows of rollers are typically used to support the entire surface during transport. Simultaneously, the contact area between the rollers and the surface is required to be as small as possible to reduce the risk of surface scratches. Furthermore, because thin sheet materials have small thickness but large top and bottom surfaces, their edges are prone to warping. If the bent parts cannot contact the conveying rollers, the sheet material will slip relative to the rollers during transport, resulting in surface scratches and a reduced yield rate.

[0003] In the prior art, double-layer rollers are used to apply pressure to the surface of the entire thin sheet material to prevent warping of the four sides during the conveying process. However, this structure cannot be applied to conveyor lines that require suction cups to grip the sheet material on the conveyor. Therefore, the prior art cannot simultaneously apply pressure to the curved parts of the thin sheet material and allow suction cups to grip the sheet material on the conveyor line. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a sheet material conveying mechanism for robotic arm gripping, the specific technical solution of which is as follows:

[0005] A sheet material conveying mechanism for gripping by a robotic arm includes: a conveying assembly comprising at least two drive shafts; upper pressure roller assemblies disposed at both ends of the drive shafts, the upper pressure roller assemblies being configured as parallelogram structures with rotatable sides, the upper pressure roller assemblies being provided with upper pressure rollers disposed on the movable sides of the parallelogram structures; and a sheet material tangent to the drive shafts, the sheet material being tangent to the upper pressure rollers.

[0006] Preferably, the conveying assembly further includes: an intermediate roller disposed on the outer peripheral side of the drive shaft, the intermediate roller rotating with the drive shaft; driven rollers symmetrically disposed on both sides of the intermediate roller, the driven rollers contacting the outer peripheral side of the drive shaft through bearings; and straightening rollers symmetrically disposed on both sides of the intermediate roller, the straightening rollers being disposed on both sides of the driven rollers away from the intermediate roller, the straightening rollers having a straightening stop on the side away from the intermediate roller, the diameter of the straightening stop being larger than the diameter of the straightening roller.

[0007] Preferably, the axes of the drive shafts are parallel to each other, and the axis of the upper pressure roller is parallel to the axis of the drive shaft. The upper pressure roller assembly further includes: at least two rotary telescopic cylinders respectively disposed at both ends of the drive shaft, the telescopic ends of which can rotate around their own axes and can move closer to or further away from the drive shaft; a connecting rod disposed at one end of the telescopic end of the rotary telescopic cylinder, which rotates with the telescopic end of the rotary telescopic cylinder; an adjustable swing arm disposed at the other end of the connecting rod, the length of which is adjustable, and the other end of which is connected to the intermediate rotating shaft of the upper pressure roller; and a roller mounting plate disposed at the other end of the adjustable swing arm, the other side of which is perpendicular to the axis of the upper pressure roller.

[0008] The telescopic cylinder is connected to a connecting rod at its telescopic end. The connecting rod is connected to an adjustable swing arm. The adjustable swing arm is connected to a roller mounting plate to form a parallelogram structure with rotatable sides. The upper pressure roller is located on the roller mounting plate away from the adjustable swing arm surface.

[0009] Preferably, the upper pressure roller assembly further includes a guide wheel disposed above the plate, wherein the distance between the axis of the guide wheel and the upper surface of the plate is greater than the distance between the upper pressure roller and the upper surface of the plate.

[0010] As can be seen from the above technical solution, the present invention has the following beneficial effects:

[0011] This invention limits the lateral movement of the sheet material by setting up a conveying assembly including a correction wheel and a correction stop, ensuring that the sheet material's position relative to the suction cup remains constant after reaching the limiting component, thus improving conveying quality. Secondly, this invention uses a rotary telescopic cylinder to drive a connecting rod to rotate. The connecting rod drives an adjustable swing arm to move away from the sheet material, and the adjustable swing arm is rotatably connected to the roller mounting plate. This causes the upper pressure roller assembly to swing in a rotatable parallelogram shape. Consequently, the upper pressure roller mounted on the roller mounting plate, driven by the rotary telescopic cylinder, can move away from the sheet material and out of the space above it. This allows the suction cup to grasp the sheet material and, together with the correction wheel, to press the sheet material, ensuring that the curved parts of the sheet material are pressed tightly against the correction wheel, improving conveying stability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0013] Figure 2 This is a schematic diagram of the conveying component structure of the present invention;

[0014] Figure 3 This is a schematic diagram of the upper pressure roller assembly structure of the present invention;

[0015] Figure 4 This is a side view of the upper pressure roller assembly of the present invention.

[0016] In the diagram: 1. Conveying assembly, 2. Upper pressure roller assembly, 3. Limiting component, 4. Plate; 11. Drive shaft, 12. Intermediate roller, 13. Correcting roller, 14. Driven roller, 15. Clamping ring, 16. Correcting flange, 21. Rotary telescopic cylinder, 22. Connecting rod, 23. Adjustable swing arm, 24. Upper pressure roller, 25. Roller mounting plate, 26. Guide wheel. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0019] like Figure 1 and Figure 2 As shown, the present invention includes a conveying assembly 1, which includes multiple parallel drive shafts 11. Each drive shaft 11 is powered by a motor, or a single motor can drive all drive shafts 11 to rotate synchronously via a synchronous belt and pulley structure. The common tangential surface of the drive shafts 11 forms a conveying surface, which is tangent to the plate 4. Intermediate rollers 12 are fixedly connected to the middle positions of each drive shaft 11. These intermediate rollers 12 rotate synchronously with the drive shafts 11, while clamping rings 15 on their sides restrict their lateral movement. The rotation of the drive shafts 11 drives the intermediate rollers 12 to rotate, and the outer surface of the intermediate rollers 12, through friction, moves the plate 4 tangential to them. At this time, the middle position of the plate 4 coincides with the intermediate roller 12. Secondly, two driven wheels 14 are fixedly connected to the outer circumferential surface of the drive shaft 11. The driven wheels 14 are connected to the drive shaft 11 through bearings, which can provide a support surface for the plate 4. The driven wheels 14 are symmetrical about the middle roller 12, and clamping rings 15 are installed on both sides to restrict their left and right movement, so that the support points of the plate 4 by the driven wheels 14 are symmetrical about the middle roller 12, which makes the support effect of the plate 4 better.

[0020] In addition, two straightening wheels 13 are fixedly connected to the outer periphery of the drive shaft 11. These straightening wheels 13 are symmetrical about the intermediate roller 12, and the sides of the straightening wheels 13 away from the intermediate roller 12 have straightening flanges 16 with a diameter larger than the intermediate roller 12. These straightening wheels 13 can support the edge of the plate 4, and the straightening flanges 16 can restrict the left and right movement of the plate 4. Therefore, the intermediate roller 12 drives the plate 4 to move, the driven wheels 14 on both sides support the movement of the plate 4, the outer straightening wheels 13 support the edge of the plate 4, and the straightening flanges 16 on both sides of the straightening wheels 13 restrict the left and right movement of the plate 4, which refers to the direction of the axis of the drive shaft 11.

[0021] Secondly, the end of the conveying component 1 is fixedly connected to a limiting member 3 to restrict the movement of the plate 4, so that it moves to the position where the suction cup can grasp it.

[0022] Combination Figure 3 As shown, upper pressure roller assemblies 2 are fixed on both sides of the conveying assembly 1, and the upper pressure roller assemblies 2 are symmetrical about the middle roller 12. The upper pressure roller assembly 2 includes a rotary telescopic cylinder 21. The telescopic end of the rotary telescopic cylinder 21 is connected to a connecting rod 22 by screws. The connecting rod 22 rotates synchronously with the rotary telescopic cylinder 21. The other end of the connecting rod 22 is rotatably connected to an adjustable swing arm 23. The adjustable swing arm 23 can adjust its own length, which is a conventional technology and will not be described in detail here.

[0023] Secondly, the other end of the adjustable swing arm 23 is screwed to a roller mounting plate 25. The roller mounting plate 25 is rotatably connected to the same number of upper pressure rollers 24 as the drive shaft 11 on the side near the middle roller 12. The plane formed by the axis of the upper pressure roller 24 and the axis of the drive shaft 11 is perpendicular to the plane formed by the axes of multiple drive shafts 11, so that the upper pressure roller 24 and the correction roller 13 can jointly apply pressure to the same position of the plate. This allows for greater pressure on the curved edges of the plate, reducing the impact of the curved parts of the plate on the conveying stability.

[0024] The upper pressure roller assembly 2 is a parallelogram frame, formed by two long sides and two short sides. Specifically, the connecting rod 22 and the roller mounting plate 25 are the long sides of the parallelogram frame, which are always perpendicular to the axis of the drive shaft 11. The adjustable swing arm 23 is the two short sides of the parallelogram, which can swing around a fixed point, namely the axis of the telescopic end of the rotary telescopic cylinder 21. The swing surface formed by this swing trajectory is parallel to the conveying surface.

[0025] During the rotation of the connecting rod 22 driven by the rotary telescopic cylinder 21, the side of the roller mounting plate 25 on which the upper pressure roller 24 is mounted is always perpendicular to the axis of the transmission shaft 11. This ensures that the axis of the upper pressure roller 24 is always parallel to the axis of the transmission shaft 11, while the upper pressure roller 24 moves away from the correction wheel 13.

[0026] like Figure 4 As shown, a guide wheel 26 is rotatably connected to the first end of the roller mounting plate 25. The center of the guide wheel 26 is higher than the upper pressure roller 24, so that the plate 4 can smoothly enter the gap formed by the upper pressure roller 24 and the correction roller 13, thereby enabling it to apply pressure to the bent part of the plate 4 and reduce the impact of the bent part on the conveying stability.

[0027] The steps of this invention to enable the suction cup to grasp and transport curved sheet metal are as follows:

[0028] The sheet material enters the gap formed by the upper pressure roller 24 and the straightening roller 13 through the guide wheel 26;

[0029] The drive shaft 11 drives the intermediate roller 12 to rotate, and the intermediate roller 12 drives the plate to move towards the end of the roller mounting plate 25 until it contacts the limiting member 3;

[0030] The sensor detects that the plate is in contact with the limiting component 3, and controls the rotary telescopic cylinder 21 to lift the roller mounting plate 25.

[0031] When the roller mounting plate 25 rises to the designated position, the rotary telescopic cylinder 21 drives the connecting rod 22 to rotate. Through the transmission of the parallelogram frame, the roller mounting plates 25 fixed on both sides of the correction wheel 13 move away from each other until the upper pressure roller 24 moves to the designated position.

[0032] The robotic arm drives a suction cup to grab the sheet material and place it at a designated position outside the conveyor line.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0034] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A sheet material conveying mechanism for gripping by a robotic arm, characterized in that, include: A conveying assembly (1) includes at least two drive shafts (11), the outer peripheral surfaces of which are tangent to form a conveying surface; Upper pressure roller assemblies (2) are respectively set on the outer peripheral surfaces of both ends of the transmission shaft (11). The upper pressure roller assembly (2) is a parallelogram frame. The upper pressure roller assembly (2) includes an upper pressure roller (24). The end face of the upper pressure roller (24) at its axis is perpendicular to the conveying surface. The parallelogram frame is formed by two long sides and two short sides. The two long sides of the parallelogram frame are always perpendicular to the axis of the transmission shaft (11). The two short sides of the parallelogram can swing around a fixed point. The swinging surface formed by the swinging trajectory is parallel to the conveying surface. A rotary telescopic cylinder (21) is respectively set at the two intersection points on one side of the parallelogram frame. The telescopic end of the rotary telescopic cylinder (21) can drive the two short sides of the parallelogram frame to swing. At least part of the swing trajectory is on the plate (4), so that the upper pressure roller (24) can move away from the plate and leave the space above the plate under the drive of the rotary telescopic cylinder. The plate (4) is disposed on the conveying surface, one side of which is tangent to the drive shaft (11), and the opposite side of which is tangent to the upper pressure roller (24).

2. The plate conveying mechanism according to claim 1, characterized in that: The conveying assembly (1) further includes: An intermediate roller (12) is disposed on the middle outer peripheral surface of the drive shaft (11), and the intermediate roller (12) rotates with the drive shaft (11); The driven wheels (14) are symmetrically arranged on both sides of the intermediate roller (12), and the driven wheels are in contact with the outer peripheral surface of the transmission shaft (11) through bearings; The correction wheels (13) are symmetrically arranged on both sides of the intermediate roller (12). The correction wheels (13) are arranged on both sides of the driven wheel (14) away from the intermediate roller. The correction wheels (13) rotate with the drive shaft (11).

3. The plate conveying mechanism according to claim 2, characterized in that: The side of the correction wheel (13) away from the intermediate roller (12) is provided with a correction guard (16), the diameter of which is larger than the diameter of the correction wheel (13).

4. The plate conveying mechanism according to claim 1, characterized in that: The axes of the drive shaft (11) are parallel to each other, and the axis of the upper pressure roller (24) is parallel to the axis of the drive shaft (11).

5. The plate conveying mechanism according to claim 1, characterized in that: The upper pressure roller assembly (2) also includes: The telescopic end of the rotary telescopic cylinder (21) can approach or move away from the plate (4). A connecting rod (22) is provided at the top end of the telescopic end of the rotary telescopic cylinder (21), and the connecting rod (22) moves with the telescopic end of the rotary telescopic cylinder (21); An adjustable swing arm (23) is provided at one end of the connecting rod (22) and the length of the adjustable swing arm (23) is adjustable. A roller mounting plate (25) is provided on one side of the adjustable swing arm (23) at one end where the length is adjustable, and the other side of the roller mounting plate (25) is perpendicular to the axis of the upper pressure roller (24).

6. The plate conveying mechanism according to claim 5, characterized in that: The telescopic end of the rotary telescopic cylinder (21) is connected to the connecting rod (22), the connecting rod (22) is connected to the adjustable swing arm (23), the adjustable swing arm (23) is connected to the roller mounting plate (25) to form the parallelogram frame, and the upper pressure roller (24) is disposed on the side of the roller mounting plate (25) away from the adjustable swing arm (23).

7. The plate conveying mechanism according to claim 1, characterized in that: The upper pressure roller assembly (2) also includes a guide wheel (26) disposed above the plate (4). The guide wheel (26) is disposed at one end of the conveying assembly (1). The distance between the axis of the guide wheel (26) and the upper surface of the plate (4) is greater than the distance between the upper pressure roller (24) and the upper surface of the plate (4).

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