Self-adaptive mechanical plate grabbing and clamping discharging equipment

Abstract

The invention relates to the field of plate blanking, in particular to self-adaptive mechanical grabbing and clamping plate blanking equipment which comprises a loading body, a first driving air cylinder, a matching mechanism, an end part, a clamping jaw mechanism and an opposite support, wherein the first driving air cylinder is arranged in the loading body and is perpendicular to the gravity center of the ground and is used for controlling the loading body to be close to or far away from an assembly line; the clamping jaw mechanism is arranged in the matching mechanism and used for assisting in grasping a plate on the assembly line, the stepping mechanism is arranged in the matching mechanism and used for controlling the clamping jaw mechanism to clamp the plate, and through arrangement of the clamping jaw mechanism, the stepping mechanism and the edge abutting mechanism, when the plate is located on the conveying belt, an edge abutting block can make contact with the surface of the conveying belt firstly; afterwards, the conveying belt can be sunken to a certain degree, due to the fact that the conveying belt has certain flexibility, after the edge abutting block bodies move downwards again, the edge abutting block bodies can be concentrically tightened and buckled inwards, the face, making contact with the conveying belt, of the plate is bottomed, grabbed and clamped, and then the plate is taken out.

Description

Technical Field

[0001] The invention relates to the field of plate blanking, in particular to a self-adaptive mechanical gripping and clamping plate blanking device. Background Art

[0002] Adaptive mechanical gripping and plate unloading equipment is widely used in various plate processing industries, such as wood processing, metal manufacturing, plastic mold injection, etc. In the wood processing industry, it is mainly used for the handling and cutting of wooden boards on automated production lines; in the metal manufacturing industry, it is widely used in processes such as steel shearing production lines, and can quickly and accurately complete the loading and unloading of steel plates; in the injection molding process of plastic molds, it can automatically grab the material and send it into the mold cavity for molding. In addition, in some modern warehousing and logistics centers, this equipment is also used for operations such as sorting and packaging of goods; The equipment can accurately locate the position of the plate through adaptive mechanical gripping, automatically grab the plate, and then move it to the designated processing location or storage area. This type of equipment is usually equipped with advanced sensors and control systems to ensure the accuracy and safety of operation; Currently, when the mechanical claw of the device is clamped on the assembly line to convey the plate, it is difficult to grasp the edge of the plate, and the plate has space to move on the conveyor belt, causing the plate to deviate during the clamping process. Therefore, an adaptive mechanical clamping plate unloading device is needed. Summary of the invention

[0003] In view of the problem in the above or prior art that there is space for the plate to move on the conveyor belt, which causes the plate to deviate during the clamping process, the present invention is proposed.

[0004] Therefore, the object of the present invention is to provide an adaptive mechanical gripping sheet material unloading device.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptive mechanical clamping plate material unloading equipment, comprising: a loading body, a first driving cylinder, which is arranged inside the loading body vertically with the center of gravity of the ground, and is used to control the loading body to approach or move away from the assembly line, a matching mechanism, which is arranged at the end of the loading body, a clamping mechanism, and a support is arranged on the surface of the matching mechanism, which is used to assist in grasping the plate on the assembly line, a stepping mechanism, which is arranged inside the matching mechanism, and is used to control the clamping mechanism to clamp the plate, and an edge mechanism, which is arranged on the surface of the clamping mechanism, and tightens the edges and corners of the plate when in working state.

[0006] As a preferred solution of the adaptive mechanical gripping and clamping sheet material unloading equipment of the present invention, the matching mechanism includes a protective rod arranged at the end of the loading body, a positioning body is arranged at the end of the protective rod, and a second driving cylinder is arranged inside the positioning body.

[0007] As a preferred solution of the adaptive mechanical gripping and clamping sheet material unloading equipment of the present invention, wherein: the clamping mechanism includes an oriented block arranged on the surface of the positioning body, two groups of first mounting rods are arranged inside the oriented block, the surface of the first mounting rods is rotatably connected with two groups of connecting rods, the inside of the connecting rods is provided with a second mounting rod, the surface of the second mounting rod is rotatably connected with a claw block, limiting bodies are arranged on both sides of the claw block, control blocks are rotatably connected on both sides of the claw block near the limiting bodies, a double-rod connecting cylinder is arranged inside the control block, and a spring is arranged on the double-rod connecting cylinder near the inner top of the control block.

[0008] As a preferred solution of the adaptive mechanical gripping and clamping sheet material unloading equipment of the present invention, the stepping mechanism includes a movable cylinder sliding inside the positioning body, the surface of the movable cylinder is evenly distributed with installation arcs with the movable cylinder as the center, and the interior of the installation arc is rotatably connected to a long arc rod through a third installation rod.

[0009] As a preferred solution of the adaptive mechanical gripping and clamping sheet material blanking equipment of the present invention, wherein: the end of the movable cylinder away from the mounting arc is fixedly connected to the output end of the second driving cylinder.

[0010] As a preferred solution of the self-adaptive mechanical gripping and clamping sheet material blanking equipment of the present invention, wherein: the end of the arc-surface long rod away from the installation arc body is rotatably connected to one of the connecting rods.

[0011] As a preferred solution of the adaptive mechanical gripping and clamping sheet material unloading equipment of the present invention, wherein: the edge-contact mechanism includes a first loading rod body arranged on the surface of the claw block, the surface of the first loading rod body is rotatably connected to an arc block body, the interior of the arc block is rotatably connected to a second loading rod body, and the interior of the second loading rod body is rotatably connected to an edge-contact block body.

[0012] As a preferred solution of the self-adaptive mechanical gripping and clamping sheet material blanking equipment of the present invention, wherein: the surface of the arc block is fixedly connected to the end of the double-rod connecting cylinder.

[0013] As a preferred solution of the self-adaptive mechanical gripping and clamping sheet material blanking equipment of the present invention, wherein: the edge block is chamfered at a portion close to the center of the movable cylinder, and the surface of the edge block is covered with rubber.

[0014] As a preferred solution of the adaptive mechanical gripping sheet material unloading equipment of the present invention, wherein: the limiting body and the control block are in the same horizontal plane, and the height of the first loading rod is lower than the horizontal plane of the limiting body and the control block.

[0015] The beneficial effects of the adaptive mechanical gripping and plate unloading equipment of the present invention are as follows: through the setting of the clamping mechanism, the stepping mechanism and the edge mechanism, when the plate is on the conveyor belt, the edge block will first contact the surface of the conveyor belt, and then the conveyor belt will have a certain degree of depression. Because the conveyor belt has a certain flexibility, at the same time, after the edge block moves downward again, it will be concentrically tightened and buckled inward, so as to support and grip the surface of the plate in contact with the conveyor belt, and then take the plate out. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of 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.

[0017] Figure 1 This is a schematic diagram of the structure to be installed of the adaptive mechanical gripping and plate unloading equipment.

[0018] Figure 2 This is a second perspective schematic diagram of the adaptive mechanical gripping sheet material unloading equipment.

[0019] Figure 3 It is a schematic diagram of the coordination mechanism structure of the adaptive mechanical gripping and plate unloading equipment.

[0020] Figure 4 It is a schematic diagram of the stepping mechanism structure of the adaptive mechanical gripping and plate unloading equipment.

[0021] Figure 5 It is a schematic diagram of the structure of the clamping mechanism of the adaptive mechanical clamping plate blanking equipment.

[0022] Figure 6 This is a first-person structural diagram of the clamping mechanism of the adaptive mechanical clamping sheet material unloading equipment.

[0023] Figure 7 This is a schematic diagram of the second-angle structural view of the clamping mechanism of the adaptive mechanical clamping sheet material unloading equipment.

[0024] Figure 8 It is a schematic diagram of the structure of the edge-retaining mechanism of the adaptive mechanical gripping and plate-cutting equipment.

[0025] In the figure: 100, carrier; 200, first driving cylinder; 300, matching mechanism; 301, protection rod; 302, positioning body; 303, second driving cylinder; 400, clamping mechanism; 401, orientation block; 402, first mounting rod; 403, connecting rod; 404, second mounting rod; 405, claw block; 406, limiting body; 407, control block; 408, double-rod connecting cylinder; 500, stepping mechanism; 501, movable cylinder; 502, mounting arc body; 503, arc long rod; 600, edge-contact mechanism; 601, first loading rod body; 602, arc block body; 603, second loading rod body; 604, edge-contact block body. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0027] Reference Figure 1 to Figure 8 , which is the first embodiment of the present invention, is an adaptive mechanical clamping plate material unloading equipment, including, a loading body 100, a first driving cylinder 200, which is vertically arranged inside the loading body 100 with the center of gravity of the ground, and is used to control the loading body 100 to be close to or away from the assembly line, a matching mechanism 300, which is arranged at the end of the loading body 100, a clamping mechanism 400, which is arranged on the surface of the matching mechanism 300 to assist in grasping the plate on the assembly line, a stepping mechanism 500; arranged inside the matching mechanism 300, and is used to control the clamping mechanism 400 to clamp the plate, and an edge mechanism 600; arranged on the surface of the clamping mechanism 400, and in the working state, to buckle the edges and corners of the plate.

[0028] The matching mechanism 300 includes a protection rod 301 disposed at the end of the carrier 100 , a positioning body 302 is disposed at the end of the protection rod 301 , and a second driving cylinder 303 is disposed inside the positioning body 302 .

[0029] Reference Figure 1 to Figure 8 The end of the first driving cylinder 200 is installed on the conveying plate conveyor line above the conveyor belt. The carrier 100 is used to protect the output end of the first driving cylinder 200 for distance control on the conveyor belt. The protection rod 301 is used to protect the second driving cylinder 303 to avoid collision damage. The output end of the second driving cylinder 303 is used to drive the movable cylinder 501 to work.

[0030] The clamping mechanism 400 includes an orienting block 401 arranged on the surface of the positioning body 302, two groups of first mounting rods 402 are arranged inside the orienting block 401, the surfaces of the first mounting rods 402 are rotatably connected with two groups of connecting rods 403, second mounting rods 404 are arranged inside the connecting rods 403, the surfaces of the second mounting rods 404 are rotatably connected with claw blocks 405, limiting bodies 406 are arranged on both sides of the claw block 405, control blocks 407 are rotatably connected on both sides of the claw block 405 near the limiting bodies 406, a double-rod connecting cylinder 408 is arranged inside the control block 407, and a spring is arranged on the double-rod connecting cylinder 408 near the inner top of the control block 407.

[0031] Reference Figure 1 to Figure 8 The directional block 401 is fixed on the surface of the positioning body 302, and the output end of the second driving cylinder 303 controls the movable cylinder 501. The end of the movable cylinder 501 is connected to the mounting arc 502. When the movable cylinder 501 moves, each mounting arc 502 will work with the arc surface long rod 503, and the arc surface long rod 503 will work with the connecting rod 403 on the directional block 401. The connecting rod 403 pulls the claw block 405 through the second mounting rod 404 to perform concentric tightening or expansion movement. The claw block 405 is conical in the initial state, and opens into a semi-spherical shape in the working state.

[0032] The stepping mechanism 500 includes a movable cylinder 501 sliding inside the positioning body 302, and the surface of the movable cylinder 501 is evenly distributed with mounting arcs 502 with the movable cylinder 501 as the center. The interior of the mounting arc 502 is rotatably connected to a curved long rod 503 through a third mounting rod.

[0033] Reference Figure 1 to Figure 8 The movable cylinder 501 on the stepping mechanism 500 can be expanded or locked and tightened through the output end of the second driving cylinder 303. The movable cylinder 501, the mounting arc 502, and the arc surface long rod 503 are all made of rigid materials.

[0034] The end of the movable cylinder 501 away from the mounting arc 502 is fixedly connected to the output end of the second driving cylinder 303 .

[0035] The second driving cylinder 303 drives the movable cylinder 501 to rise and fall.

[0036] The end of the arc-surface long rod 503 away from the mounting arc body 502 is rotatably connected to one of the connecting rods 403 .

[0037] The arc-surface long rod 503 is rotatably connected to the connecting rod 403 to control its motion trajectory and activity range.

[0038] The edge-contact mechanism 600 includes a first loading rod 601 disposed on the surface of the claw block 405 , the surface of the first loading rod 601 is rotatably connected to an arc block 602 , the interior of the arc block 602 is rotatably connected to a second loading rod 603 , and the interior of the second loading rod 603 is rotatably connected to an edge-contact block 604 .

[0039] Reference Figure 1 to Figure 8 The connecting rod 403 pulls the claw block 405 through the second mounting rod 404 to perform concentric tightening or expansion movement. When the claw block 405 falls on the conveyor belt, the edge mechanism 600 starts to operate, and the edge block 604 first contacts the surface of the conveyor belt. Then, due to the toughness of the conveyor belt, the edge block 604 is tightened concentrically inward, and the arc block 602 is in an arc state. Therefore, when the first loading rod 601 drives the arc block 602 to work, the arc block 602 will first be restricted by the restriction body 406, prohibiting the arc block 602 from expanding outward, and the edge block 604 is inward. The tightening movement is performed, and the control block 407 rotates on both sides of the surface of the claw block 405. The double-rod connecting cylinder 408 installed by the control block 407 assists in controlling the arc block 602, and at the same time limits the edge block 604. When the edge block 604 does not control the plate, the double-rod connecting cylinder 408 will retract the arc block 602, and the arc block 602 drives the edge block 604 to reset. It should be noted that when the device is in use, it cannot clamp slabs or stones weighing more than half a ton, and the pulling force must not exceed the pushing force of the double-rod connecting cylinder 408.

[0040] The surface of the arc block 602 is fixedly connected to the end of the double-rod connecting cylinder 408 .

[0041] The edge-contacting block 604 is chamfered at a portion close to the center of the movable cylinder 501 , and a rubber sleeve is provided on the surface of the edge-contacting block 604 .

[0042] The limiting body 406 and the control block 407 are in the same horizontal plane, and the height of the first loading rod 601 is lower than the horizontal plane of the limiting body 406 and the control block 407 .

[0043] When the device is working, when the edge block 604 does not control the plate, the double-rod connecting cylinder 408 will retract the arc block 602, and the arc block 602 drives the edge block 604 to reset. When the device is in use, it cannot clamp stone slabs or stones weighing more than half a ton, and the pulling force must not exceed the pushing force of the double-rod connecting cylinder 408, so the force it is subjected to is smaller than the transmission force of the conveyor belt.

[0044] refer to Figure 8, the height of the first loading rod 601 is lower than the horizontal plane of the limiting body 406 and the control block 407. When the device is in operation, the activity force in the interval in which it is located should be controlled. The fixed size of small boards varies depending on the type of board and the application field. The following are some common small boards and their fixed sizes: MDF board (medium density fiberboard) length: 2440mm, width: 1220mm, thickness: 3mm25mm, solid wood board length: 2440mm, width: 1220mm, thickness: 3mm~50mm, plywood length: 2440mm (some say 1220mm), width: 1220mm (some say 2440mm), thickness: 3mm~40mm (common specifications are 3, 5, 9, 12, 15, 18mm, etc.), (including but not limited to the transportation of these small and medium-sized boards). Specific implementation method: The output end of the second driving cylinder 303 controls the movable cylinder 501, and the end of the movable cylinder 501 is connected to the mounting arc 502. When the movable cylinder 501 moves, each mounting arc 502 will work with the arc surface long rod 503, and the arc surface long rod 503 works with the connecting rod 403 on the directional block 401. The connecting rod 403 pulls the claw block 405 through the second mounting rod 404 to perform concentric tightening or expansion movements. When the claw block 405 falls on the conveyor belt, the edge mechanism 600 starts to operate, and the edge block 604 first contacts the surface of the conveyor belt. Then, due to the toughness of the conveyor belt, the edge block 604 is tightened concentrically inward, and the arc block 602 is in an arc state, so the first loading rod 601 drives When the arc block 602 is working, first, the arc block 602 will be restricted by the restriction body 406, prohibiting the arc block 602 from expanding outward, and the edge block 604 will tighten inward. The control block 407 rotates on both sides of the surface of the claw block 405, and the double-rod connecting cylinder 408 installed through the control block 407 assists in controlling the arc block 602 and limits the edge block 604 at the same time. When the edge block 604 does not control the plate, the double-rod connecting cylinder 408 will retract the arc block 602, and the arc block 602 drives the edge block 604 to reset. It should be noted that when the device is in use, it cannot clamp slabs or stones weighing more than half a ton, and the pulling force must not exceed the pushing force of the double-rod connecting cylinder 408.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An adaptive mechanical gripping and clamping sheet material unloading device, characterized in that: include; Load carrier (100); A first driving cylinder (200) is disposed inside the loading body (100) perpendicular to the center of gravity of the ground, and is used to control the loading body (100) to move closer to or farther from the assembly line; A matching mechanism (300) is arranged at an end of the carrier (100); A clamping claw mechanism (400) is arranged on the surface of the matching mechanism (300) to assist in grasping the plate on the assembly line; A stepping mechanism (500) is arranged inside the matching mechanism (300) and is used to control the clamping mechanism (400) to clamp the plate; The edge-butting mechanism (600) is arranged on the surface of the clamping mechanism (400) and fastens the edges and corners of the plate in a working state.

2. The self-adaptive mechanical gripping and clamping sheet material unloading equipment according to claim 1, characterized in that: The matching mechanism (300) comprises a protection rod (301) arranged at the end of the carrier (100), a positioning body (302) is arranged at the end of the protection rod (301), and a second driving cylinder (303) is arranged inside the positioning body (302).

3. The self-adaptive mechanical gripping and clamping sheet material unloading device according to claim 2, characterized in that: The clamping mechanism (400) comprises an orientation block (401) arranged on the surface of a positioning body (302), two groups of first mounting rods (402) are arranged inside the orientation block (401), the surfaces of the first mounting rods (402) are rotatably connected to two groups of connecting rods (403), second mounting rods (404) are arranged inside the connecting rods (403), the surfaces of the second mounting rods (404) are rotatably connected to a claw block (405), limiting bodies (406) are arranged on both sides of the claw block (405), control blocks (407) are rotatably connected to both sides of the claw block (405) near the limiting bodies (406), a double-rod connecting cylinder (408) is arranged inside the control block (407), and a spring is arranged on the inner top of the double-rod connecting cylinder (408) near the control block (407).

4. The self-adaptive mechanical gripping and clamping sheet material unloading device as claimed in claim 3, characterized in that: The stepping mechanism (500) comprises a movable cylinder (501) sliding inside a positioning body (302), the surface of the movable cylinder (501) being evenly distributed with mounting arcs (502) with the movable cylinder (501) as the center, and the interior of the mounting arc (502) being rotatably connected to a long arc rod (503) via a third mounting rod.

5. The self-adaptive mechanical gripping and sheet material unloading device according to claim 4, characterized in that: The end of the movable cylinder (501) away from the mounting arc (502) is fixedly connected to the output end of the second driving cylinder (303).

6. The self-adaptive mechanical gripping sheet material unloading device according to claim 5, characterized in that: The end of the arc-surface long rod (503) away from the mounting arc body (502) is rotatably connected to one of the connecting rods (403).

7. The self-adaptive mechanical gripping and sheet material unloading device according to claim 6, characterized in that: The edge-contacting mechanism (600) comprises a first loading rod (601) arranged on the surface of a claw block (405); the surface of the first loading rod (601) is rotatably connected to an arc block (602); the interior of the arc block (602) is rotatably connected to a second loading rod (603); the interior of the second loading rod (603) is rotatably connected to an edge-contacting block (604).

8. The self-adaptive mechanical gripping and clamping sheet material unloading device according to claim 7, characterized in that: The surface of the arc block (602) is fixedly connected to the end of the double-rod connecting cylinder (408).

9. The self-adaptive mechanical gripping and sheet material unloading device according to claim 8, characterized in that: The edge-contacting block (604) is chamfered at a portion close to the center of the movable cylinder (501), and a rubber sleeve is provided on the surface of the edge-contacting block (604).

10. The self-adaptive mechanical gripping sheet material unloading device according to claim 9, characterized in that: The limiting body (406) and the control block (407) are located at the same horizontal plane, and the height of the first loading rod body (601) is lower than the horizontal plane of the limiting body (406) and the control block (407).

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