Universal sorting gripper used after plate laser cutting

Abstract

The invention discloses a universal sorting gripper used after plate laser cutting. The universal sorting gripper comprises a power mechanism, a transmission mechanism and an execution mechanism. The transmission mechanisms on the two sides can be controlled through the two independent motors correspondingly, so that the transmission mechanisms drive the execution mechanisms on the two sides to conduct displacement movement correspondingly, the distance between the two execution mechanisms can be adjusted according to needs, small plates can be grabbed independently, and large plates can be grabbed cooperatively; the whole executing mechanisms can be driven to rotate together with all the air cylinders and the suction cups by driving the rotary air cylinders, so that the two executing mechanisms can cooperate to grab narrow pieces and can also cooperate to grab wide pieces. Compared with an existing gripper library structure, a plurality of grippers do not need to be arranged and switched, the overall occupied area of the unit is reduced, the space is saved, meanwhile, the situation that the sorting rhythm is affected due to frequent gripper switching is avoided, and therefore the overall working efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of sorting grippers, and in particular relates to a universal sorting gripper used for plate materials after laser cutting. Background Art

[0002] Sheet metal laser cutting is a high-precision and high-efficiency processing method widely used in metal manufacturing, automotive industry, construction and home decoration. It uses a high-energy laser beam to melt, vaporize or ablate the sheet metal to achieve cutting of complex contours.

[0003] After the laser cutting of the plate is completed, the cut plate needs to be sorted with the help of a sorting gripper so that the plate can be transferred to the designated location. In order to meet the various workpiece grabbing requirements of customers, the sorting grippers currently on the market are usually equipped with multiple grippers to form a gripper library and installed in the unit. The corresponding gripper is automatically switched before grabbing the plate workpiece, as shown in the attached manual. Figure 1 As shown. This gripper structure has the following defects: (1) When a gripper library is equipped in the unit, the overall unit footprint will be increased; (2) When switching between multiple grippers, the sorting rhythm will be seriously affected, thereby reducing the overall work efficiency. Therefore, in view of the above problems, the present invention provides a universal sorting gripper for sheet metal after laser cutting, which is of great significance. Summary of the invention

[0004] The present invention provides a universal sorting gripper for plate materials after laser cutting. The transmission mechanisms on both sides can be controlled respectively by two independent motors, so that the transmission mechanisms on both sides can drive the actuators on both sides to perform displacement movements respectively, so that the distance between the two actuators can be adjusted as needed, so that small plates can be grabbed independently, or large plates can be grabbed cooperatively. By driving the rotary cylinder, the entire actuator together with each cylinder and the suction cup can be driven to rotate, so that narrow parts can be grabbed cooperatively by the two actuators, or wide parts can be grabbed cooperatively. Compared with the existing gripper library structure, there is no need to equip multiple grippers and switch between multiple grippers, which not only reduces the overall footprint of the unit and saves space, but also avoids frequent switching of grippers to affect the sorting rhythm, thereby greatly improving the overall work efficiency. In summary, the problems in the background technology are solved.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a universal sorting gripper for plate materials after laser cutting, comprising a power mechanism, a transmission mechanism, and an actuator;

[0007] The power mechanism includes a gripper connecting flange, a gripper bracket, a gripper connecting plate, a motor connecting plate, a bearing, a motor connecting flange, a motor, and a power gear. The gripper connecting flange and the gripper connecting plate are respectively mounted on the top and bottom of the gripper bracket, and the motor connecting plate is mounted on the bottom of the gripper connecting plate. There are several bearings, and the bearings and the motor connecting flange are both mounted on the motor connecting plate. The motor is mounted on the motor connecting flange, and the power gear is mounted on the output shaft of the motor.

[0008] The transmission mechanism includes a transmission gear, a first transmission arm, a second transmission arm, a quick connection flange, a quick upper side, and a third transmission arm. The transmission gear is fixedly installed on the top of the first transmission arm through a rotating shaft and meshes with the power gear. The first transmission arm and the third transmission arm are both rotatably connected to the motor connecting plate through bearings. The second transmission arm is located below the first transmission arm and the third transmission arm. The bottom ends of the first transmission arm and the third transmission arm are both rotatably connected to the second transmission arm through the rotating shaft. The quick connection flange is installed at the bottom of the second transmission arm, and the quick upper side is installed at the bottom of the quick connection flange.

[0009] The actuator includes a quick lower side, a rotary cylinder flange, a rotary cylinder, a rotary cylinder connecting plate, a suction cup bracket, a cylinder, a suction cup connecting plate, and a suction cup. The rotary cylinder is installed on the top of the rotary cylinder connecting plate, the rotary cylinder flange is located between the quick lower side and the rotary cylinder, the quick lower side and the rotary cylinder are respectively installed on the top and bottom of the rotary cylinder flange, the suction cup bracket is installed on the bottom of the rotary cylinder connecting plate, the suction cup connecting plate is installed on the bottom of the suction cup bracket, the cylinder is installed on the suction cup connecting plate, and the suction cup is installed on the bottom end of the output shaft of the cylinder.

[0010] Furthermore, there is a pair of the motors, which are respectively located at the front and rear sides of the motor connecting plate, and the pair of motors are distributed in a centrally symmetrical manner.

[0011] Furthermore, dustproof plates are arranged around the gripper connecting plate.

[0012] Furthermore, a through hole is provided on the quick connection flange.

[0013] Furthermore, the cylinders are distributed in a linear array, and each of the cylinders and the suction cup operates independently.

[0014] A method for using a universal sorting gripper for plate materials after laser cutting is implemented by using the universal sorting gripper for plate materials after laser cutting, and comprises the following steps:

[0015] S1. The suction cup is driven up and down by the cylinder. When the suction cup contacts the plate, the suction force of the suction cup can be used to grab and sort the plate.

[0016] S2, by driving the rotary cylinder, the entire actuator together with each cylinder and the suction cup is driven to rotate, so that the two actuators can cooperate to grab narrow parts, and can also cooperate to grab wide parts;

[0017] S3. Two independent motors are used to control the transmission mechanisms on both sides respectively, so that the actuators on both sides can be driven to perform displacement movements respectively, so that the distance between the two actuators can be adjusted as needed, so that small plates can be grabbed independently or large plates can be grabbed cooperatively.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) When in use, the universal sorting gripper for plate materials after laser cutting in the present invention can control the transmission mechanisms on both sides respectively through two independent motors, so that the two actuators can drive the actuators on both sides to perform displacement movements respectively, so that the distance between the two actuators can be adjusted as needed, so that small plates can be grasped independently or large plates can be grasped cooperatively. By driving the rotary cylinder, the entire actuator together with each cylinder and the suction cup can be driven to rotate, so that the two actuators can cooperate to grasp narrow pieces or wide pieces;

[0020] (2) Compared with the existing gripper library structure, the universal sorting gripper used for plate laser cutting in the present invention does not need to be equipped with multiple grippers and switch between multiple grippers when in use. It not only reduces the overall footprint of the unit and saves space, but also avoids frequent switching of grippers that affects the sorting rhythm, thereby greatly improving the overall work efficiency.

[0021] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the gripper library structure of the prior art;

[0024] Figure 2 It is a structural schematic diagram of a universal sorting gripper for plate materials after laser cutting according to the present invention;

[0025] Figure 3 It is a structural schematic diagram of the power mechanism in the present invention;

[0026] Figure 4 It is a structural schematic diagram of the transmission mechanism in the present invention;

[0027] Figure 5 It is a structural schematic diagram of the actuator in the present invention.

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1. Power mechanism; 2. Transmission mechanism; 3. Actuator; 4. Gripper connecting flange; 5. Gripper bracket; 6. Gripper connecting plate; 7. Motor connecting plate; 8. Bearing; 9. Motor connecting flange; 10. Motor; 11. Power gear; 12. Transmission gear; 13. First transmission arm; 14. Second transmission arm; 15. Quick connection flange; 16. Quick upper side; 17. Third transmission arm; 18. Quick lower side; 19. Rotary cylinder flange; 20. Rotary cylinder; 21. Rotary cylinder connecting plate; 22. Suction cup bracket; 23. Cylinder; 24. Suction cup connecting plate; 25. Suction cup. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "relative", "one end", "inside", "lateral", "end", "two ends", "both sides", "front", "one end face", "the other end face" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0032] See also Figure 1-5 As shown, a universal sorting gripper for plate materials after laser cutting of the present invention comprises a power mechanism 1, a transmission mechanism 2, and an actuator 3;

[0033] The power mechanism 1 includes a gripper connecting flange 4, a gripper bracket 5, a gripper connecting plate 6, a motor connecting plate 7, a bearing 8, a motor connecting flange 9, a motor 10, and a power gear 11. The gripper connecting flange 4 and the gripper connecting plate 6 are respectively mounted on the top and bottom of the gripper bracket 5, the motor connecting plate 7 is mounted on the bottom of the gripper connecting plate 6, there are several bearings 8, and the bearings 8 and the motor connecting flange 9 are both mounted on the motor connecting plate 7, the motor 10 is mounted on the motor connecting flange 9, and the power gear 11 is mounted on the output shaft of the motor 10;

[0034] The transmission mechanism 2 includes a transmission gear 12, a first transmission arm 13, a second transmission arm 14, a quick connection flange 15, a quick upper side 16, and a third transmission arm 17. The transmission gear 12 is fixedly installed on the top of the first transmission arm 13 through a rotating shaft and meshes with the power gear 11. The first transmission arm 13 and the third transmission arm 17 are both rotatably connected to the motor connecting plate 7 through a bearing 8. The second transmission arm 14 is located below the first transmission arm 13 and the third transmission arm 17. The bottom ends of the first transmission arm 13 and the third transmission arm 17 are both rotatably connected to the second transmission arm 14 through a rotating shaft. The quick connection flange 15 is installed at the bottom of the second transmission arm 14, and the quick upper side 16 is installed at the bottom of the quick connection flange 15.

[0035] The actuator 3 includes a quick lower side 18, a rotary cylinder flange 19, a rotary cylinder 20, a rotary cylinder connecting plate 21, a suction cup bracket 22, a cylinder 23, a suction cup connecting plate 24, and a suction cup 25. The rotary cylinder 20 is installed on the top of the rotary cylinder connecting plate 21, the rotary cylinder flange 19 is located between the quick lower side 18 and the rotary cylinder 20, the quick lower side 18 and the rotary cylinder 20 are respectively installed on the top and bottom of the rotary cylinder flange 19, the suction cup bracket 22 is installed on the bottom of the rotary cylinder connecting plate 21, the suction cup connecting plate 24 is installed on the bottom of the suction cup bracket 22, the cylinder 23 is installed on the suction cup connecting plate 24, and the suction cup 25 is installed on the bottom end of the output shaft of the cylinder 23.

[0036] Among them, there is a pair of motors 10, which are respectively located on the front and rear sides of the motor connecting plate 7, and the pair of motors 10 are distributed symmetrically around the center. The two independent motors 10 can control the transmission mechanisms 2 on both sides respectively, so that they can drive the actuators 3 on both sides to perform displacement movements respectively, so as to adjust the distance between the two actuators 3 as needed, so that small plates can be grasped independently, or large plates can be grasped cooperatively, without the need to equip multiple grippers and switch between multiple grippers.

[0037] Among them, dustproof plates are arranged around the gripper connecting plate 6, and the dustproof plates can cover the relevant electrical components to play a dustproof role, thereby effectively preventing dust from adhering to the surface of the electrical components and affecting their normal operation and service life.

[0038] The quick connection flange 15 is provided with a through hole, and the wires connected to the electrical components can pass through the through hole. The through hole can be used to limit the position to prevent the wires from being entangled and twisted.

[0039] Among them, the cylinders 23 are distributed in a linear array, and each cylinder 23 and the suction cup 25 operate independently. The suction cup 25 can be driven to move up and down by driving the cylinder 23. When the suction cup 25 contacts the plate, the suction force of the suction cup 25 can be used to grab and sort the plate. By driving the rotary cylinder 20, the entire actuator 3 together with each cylinder 23 and the suction cup 25 can be driven to rotate, so that the two actuators 3 can cooperate to grab narrow parts, and can also cooperate to grab wide parts, thereby adapting to complex and diverse plate grabbing and sorting.

[0040] A method for using a universal sorting gripper for plate materials after laser cutting is implemented by using the universal sorting gripper for plate materials after laser cutting, and comprises the following steps:

[0041] S1. The suction cup 25 is driven to move up and down by the driving cylinder 23. When the suction cup 25 contacts the plate, the suction force of the suction cup 25 can be used to grab and sort the plate;

[0042] S2, by driving the rotary cylinder 20, the entire actuator 3 together with each cylinder 23 and the suction cup 25 is driven to rotate, so that the two actuators 3 can cooperate to grab narrow parts, and can also cooperate to grab wide parts;

[0043] S3. The transmission mechanisms 2 on both sides are controlled by two independent motors 10 respectively, so that the actuators 3 on both sides are driven to perform displacement movements respectively, so as to adjust the distance between the two actuators 3 as needed, so that small plates can be grabbed independently or large plates can be grabbed cooperatively.

[0044] The circuits, electronic components and chip modules involved in the present invention are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0045] The standard parts used in the application documents can all be purchased on the market. All the components in this application document can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art. The electrical components appearing in this article are all electrically connected to the external main controller and 220V AC power, and the main controller is a conventional known device that can play a control role.

[0046] The working principle of the present invention is:

[0047] When the present invention is in use, the cylinder 23 can be driven to drive the suction cup 25 to move up and down. When the suction cup 25 contacts the plate, the suction force of the suction cup 25 can be used to grab and sort the plate. By driving the rotary cylinder 20, the entire actuator 3 together with each cylinder 23 and the suction cup 25 can be driven to rotate, so that the two actuators 3 can cooperate to grab narrow parts or wide parts. The transmission mechanisms 2 on both sides can be controlled respectively by two independent motors 10 to drive the actuators 3 on both sides to perform displacement movements respectively, so that the distance between the two actuators 3 can be adjusted as needed, so that small plates can be grabbed independently or large plates can be grabbed cooperatively. Compared with the existing gripper library structure, there is no need to equip multiple grippers and switch between multiple grippers, which not only reduces the overall footprint of the unit and saves space, but also avoids frequent switching of grippers to affect the sorting rhythm, thereby greatly improving the overall work efficiency.

[0048] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A universal sorting gripper for sheet metal after laser cutting, characterized in that: It comprises a power mechanism (1), a transmission mechanism (2), and an actuator (3); The power mechanism (1) comprises a gripper connecting flange (4), a gripper bracket (5), a gripper connecting plate (6), a motor connecting plate (7), a bearing (8), a motor connecting flange (9), a motor (10), and a power gear (11); the gripper connecting flange (4) and the gripper connecting plate (6) are respectively mounted on the top and bottom of the gripper bracket (5); the motor connecting plate (7) is mounted on the bottom of the gripper connecting plate (6); there are a plurality of bearings (8), and the bearings (8) and the motor connecting flange (9) are both mounted on the motor connecting plate (7); the motor (10) is mounted on the motor connecting flange (9); and the power gear (11) is mounted on the output shaft of the motor (10); The transmission mechanism (2) comprises a transmission gear (12), a first transmission arm (13), a second transmission arm (14), a quick connection flange (15), a quick upper side (16), and a third transmission arm (17); the transmission gear (12) is fixedly mounted on the top of the first transmission arm (13) via a rotating shaft and meshes with the power gear (11); the first transmission arm (13) and the third transmission arm (17) are both rotatably connected to the motor connection plate (7) via a bearing (8); the second transmission arm (14) is located below the first transmission arm (13) and the third transmission arm (17); the bottom ends of the first transmission arm (13) and the third transmission arm (17) are both rotatably connected to the second transmission arm (14) via the rotating shaft; the quick connection flange (15) is mounted on the bottom of the second transmission arm (14); and the quick upper side (16) is mounted on the bottom of the quick connection flange (15); The actuator (3) comprises a quick lower side (18), a rotary cylinder flange (19), a rotary cylinder (20), a rotary cylinder connecting plate (21), a suction cup bracket (22), a cylinder (23), a suction cup connecting plate (24), and a suction cup (25). The rotary cylinder (20) is mounted on the top of the rotary cylinder connecting plate (21). The rotary cylinder flange (19) is located between the quick lower side (18) and the rotary cylinder (20). The quick lower side (18) and the rotary cylinder (20) are respectively mounted on the top and bottom of the rotary cylinder flange (19). The suction cup bracket (22) is mounted on the bottom of the rotary cylinder connecting plate (21). The suction cup connecting plate (24) is mounted on the bottom of the suction cup bracket (22). The cylinder (23) is mounted on the suction cup connecting plate (24). The suction cup (25) is mounted on the bottom end of the output shaft of the cylinder (23).

2. A universal sorting gripper for sheet metal after laser cutting according to claim 1, characterized in that: The motors (10) are in a pair and are located at the front and rear sides of the motor connecting plate (7) respectively, and the pair of motors (10) are distributed in a centrally symmetrical manner.

3. The universal sorting gripper for plate laser cutting according to claim 1 is characterized in that: Dust-proof plates are arranged around the gripper connecting plate (6).

4. The universal sorting gripper for plate laser cutting according to claim 1 is characterized in that: The quick connection flange (15) is provided with a through hole.

5. The universal sorting gripper for plate laser cutting according to claim 1 is characterized in that: The cylinders (23) are distributed in a linear array, and each of the cylinders (23) and the suction cup (25) operates independently.

6. The method for using a universal sorting gripper after plate laser cutting according to claim 1 is characterized in that: The method is implemented by using a universal sorting gripper for sheet metal after laser cutting as described in any one of claims 1 to 5, comprising the following steps: S1, driving the suction cup (25) to move up and down by driving the air cylinder (23), when the suction cup (25) contacts the plate, the suction force of the suction cup (25) can be used to grab and sort the plate; S2, driving the rotary cylinder (20) to drive the entire actuator (3) together with the cylinders (23) and the suction cup (25) to perform a rotational motion, so that the two actuators (3) can cooperate to grasp a narrow piece, or can cooperate to grasp a wide piece; S3. The transmission mechanisms (2) on both sides are controlled by two independent motors (10) respectively, so that the two actuators (3) on both sides are driven to perform displacement movements respectively, so that the distance between the two actuators (3) can be adjusted as needed, so that small plates can be grasped independently, or large plates can be grasped cooperatively.

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