Automatic holding fork blanking locating device for laser cutting
By using photoelectric sensors on the laser cutting machine to determine the position of the fork structure drops in advance, the problem that traditional mechanical clamps are prone to impact the cutting table is solved, and a more efficient and safer automatic loading and unloading process is achieved.
Patent Information
- Application Number
- CN202510069881.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-16
- Publication Date
- 2025-03-11
AI Technical Summary
During the loading and unloading of laser cutting machines, traditional mechanical clamps are prone to impacting the cutting table and require a visual system to judge the position, resulting in high equipment costs.
A laser cutting automatic fork-cutting positioning device is designed, and the photoelectric emission and reception sensors are used to determine in advance whether the fork structure will hit the serrated support bar, thereby avoiding impact and reducing dependence on the visual system.
It effectively solves the impact problem caused by inaccurate position of the fork, reduces equipment costs, and improves the accuracy and safety of automated loading and unloading.
Smart Images
Figure CN119589179A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of automated machinery, in particular to an automatic fork-holding material unloading and positioning device for laser cutting. Background Art
[0002] At present, with the widespread application of laser cutting machines in the sheet metal industry, the traditional manual loading and unloading is difficult to recruit and employ workers, and frequent safety accidents occur. If a mechanical structure is used for loading and unloading, a clamping structure is required to clamp the workpiece. Manually controlled clamping structure is prone to collision with the sawtooth bar of the cutting table. If a visual system is used to determine the position, a large amount of data collection and analysis is required, which will incur additional equipment costs and high costs, and it is urgently needed to be improved. Therefore, we propose an automatic fork unloading and positioning device for laser cutting. Summary of the invention
[0003] The purpose of the present invention is to provide an automatic fork-holding material unloading and positioning device for laser cutting, which solves the problems raised in the background technology.
[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic fork unloading and positioning device for laser cutting, comprising a laser cutting table, a plurality of serrated support bars are fixedly arranged at equal intervals on the inner side of the laser cutting table, a gantry is fixedly arranged on the top of the laser cutting table, a gantry walker is arranged at the center position of the top of the gantry, a telescopic frame is fixedly arranged at the bottom of the gantry walker, the telescopic frame comprises a top seat and a sleeve-type telescopic rod, a platform seat is fixedly arranged at the bottom of the sleeve-type telescopic rod, a large hydraulic cylinder for driving the platform seat to rise and fall is arranged at the bottom of the top seat of the telescopic frame, double sliding rod brackets are fixedly arranged on both sides of the vertical end surface of the front end of the platform seat, and the double sliding rod brackets on both sides are respectively connected to the left fork structure and the right fork structure through double-hole sliders The structure is slidably connected, the left fork structure comprises a left swing arm, the bottom end of the vertical arm of the left swing arm is fixedly installed with a left fork bar by bolts, the right fork structure comprises a right swing arm, the bottom end of the vertical arm of the right swing arm is fixedly installed with a right fork bar by bolts, a number of fork grooves are equidistantly provided at the bottom ends of the left and right fork bars, a servo motor for driving the cross arms of the left and right swing arms to move synchronously laterally is fixedly provided in the middle of the platform seat, the cross arms of the left and right swing arms are both provided with micro hydraulic cylinders, a photoelectric transmitting sensor is provided at the bottom of the micro hydraulic cylinder of the left swing arm, a photoelectric receiving sensor is provided at the bottom of the micro hydraulic cylinder of the right swing arm, and the number of the photoelectric transmitting sensors and the number of the photoelectric receiving sensors are both three.
[0005] Furthermore, the three photoelectric emitting sensors are respectively arranged to be horizontally aligned with the three photoelectric receiving sensors, and the distance between two adjacent photoelectric emitting sensors is consistent with the distance between two adjacent sawtooth support bars.
[0006] Furthermore, the three photoelectric transmitting sensors and the three photoelectric receiving sensors are staggered with the corresponding fork slots.
[0007] Furthermore, tooth grooves are provided at the bottom end of the horizontal arm of the left swing arm and the top end of the horizontal arm of the right swing arm, and the motor shaft of the servo motor is coaxially connected with a gear, and the gear is meshed with the tooth grooves of the left swing arm and the right swing arm at the same time.
[0008] Furthermore, the gantry includes two parallel track bodies, and the gantry walker includes a shell, a drive motor and a drive wheel. The drive wheels are distributed on both sides of the shell, and the drive wheels are in rolling contact with the track bodies.
[0009] Furthermore, a convex strip is provided on the surface of the track body, and a groove which is inlaid and matched with the convex strip is provided in the middle of the driving wheel.
[0010] Furthermore, the double-hole slider has two through holes vertically formed therein, and the double-sliding rod bracket includes two sliding rods vertically arranged in parallel, and the sliding rods are inlaid and slidably matched with the through holes.
[0011] Compared with the prior art, the present invention has the following beneficial effects: The technical solution of the present application lowers the photoelectric transmitting and receiving sensors in advance before the fork is lowered, and uses the photoelectric transmitting and receiving sensors to determine whether the fork structure will collide with the serrated support bar when it descends. This can easily solve the problem of inaccurate position of the fork and easy collision with the serrated support bar when the fork is held, and also saves the high equipment cost of using a visual system to determine the position for large-scale data collection and analysis. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a three-dimensional diagram of the automatic fork-holding material unloading and positioning device for laser cutting; Figure 2 It is a schematic diagram of the structure of the left fork holding structure, the right fork holding structure and the servo motor; Figure 3 It is a structural schematic diagram of the gantry walker.
[0013] In the figure: 1. laser cutting table; 101. serrated support bar; 2. gantry; 3. gantry walker; 4. large hydraulic cylinder; 5. telescopic frame; 6. platform seat; 7. gear; 701. servo motor; 8. left swing arm; 9. photoelectric transmitting sensor; 10. left fork bar; 1001. fork groove; 11. right swing arm; 1101. tooth groove; 12. photoelectric receiving sensor; 13. right fork bar; 14. micro hydraulic cylinder; 15. double-hole slider; 16. double slide rod bracket. DETAILED DESCRIPTION
[0014] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.
[0015] Embodiment 1, as Figure 1-3 As shown, the present invention provides a technical solution: a laser cutting automatic fork unloading and positioning device, comprising a laser cutting table 1, a plurality of serrated support bars 101 are fixedly arranged at equal intervals on the inner side of the laser cutting table 1, a gantry 2 is fixedly arranged on the top of the laser cutting table 1, a gantry walker 3 is arranged at the top center of the gantry 2, a telescopic frame 5 is fixedly arranged at the bottom of the gantry walker 3, the telescopic frame 5 comprises a top seat and a sleeve-type telescopic rod, a platform seat 6 is fixedly arranged at the bottom end of the sleeve-type telescopic rod, and a large-scale lifting device for driving the platform seat 6 to rise and fall is arranged at the bottom of the top seat of the telescopic frame 5 Hydraulic cylinder 4, the sleeve-type telescopic rod is composed of a sleeve and a rod body, the rod body slides in the sleeve, a limit ring is set at the bottom end of the sleeve to limit the rod body from leaving the sleeve, the bottom end of the rod body is connected to the platform seat 6, the sleeve is fixed on the top seat, and double sliding rod brackets 16 are fixedly set on both sides of the vertical end surface of the front end of the platform seat 6. The double sliding rod brackets 16 on both sides are respectively connected to the left fork structure and the right fork structure through double-hole sliders 15. The left fork structure includes a left swing arm 8. The bottom end of the vertical arm of the left swing arm 8 is fixedly installed with a left fork bar 10 by bolts. The right fork structure includes a right swing arm 11, the bottom end of the vertical arm of the right swing arm 11 is fixed with a right fork bar 13 by bolts, and the bottom ends of the left fork bar 10 and the right fork bar 13 are equidistantly provided with a plurality of fork grooves 1001, and the middle part of the platform seat 6 is fixed with a servo motor 701 for driving the cross arm of the left swing arm 8 and the cross arm of the right swing arm 11 to move horizontally synchronously, and the cross arm of the left swing arm 8 and the cross arm of the right swing arm 11 are both provided with a micro hydraulic cylinder 14, and the bottom of the micro hydraulic cylinder of the left swing arm 8 is provided with a photoelectric transmitting sensor 9, and the bottom of the micro hydraulic cylinder of the right swing arm 11 is provided with a photoelectric receiving sensor The gantry 2 includes two parallel track bodies, the gantry walker 3 includes a shell, a drive motor and a drive wheel, and the drive wheels are distributed on both sides of the shell. The three photoelectric emitting sensors 9 are horizontally aligned with the three photoelectric receiving sensors 12, and the spacing between two adjacent photoelectric emitting sensors is consistent with the spacing between two adjacent serrated support bars. The three photoelectric emitting sensors 9 and the three photoelectric receiving sensors 12 are staggered with the corresponding fork grooves 1001.
[0016] In a specific embodiment of the present invention, the driving wheels on both sides of the gantry walker 3 are driven by a driving motor, there are four driving wheels, the driving motor drives the driving wheels to rotate through a reduction gear structure and a shaft, the driving motor is controlled by a separate motor encoder, and the three photoelectric transmitting sensors 9 and the photoelectric receiving sensors 12 are divided into three groups, each group includes a horizontally aligned photoelectric transmitting sensor 9 and a photoelectric receiving sensor 12, each group of transmitting and receiving sensors are electrically connected to the PLC controller, and the photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12 are respectively The photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12 correspond to the insertion rod of the left holding fork bar 10 and the insertion rod of the right holding fork bar 13, and the insertion rod is narrow and the width of the fork groove 1001 is large, so that the fork groove 1001 of the left holding fork bar 10 and the fork groove 1001 of the right holding fork bar 13 can be engaged with the sawtooth support bar 101, and then the left holding fork bar 10 and the right holding fork bar 13 move inward to clamp the workpiece on the surface of the sawtooth support bar 101; The PLC controller sets the PLC program, and the program running steps are as follows: the micro hydraulic cylinder 14 drives the three photoelectric transmitting sensors 9 and the photoelectric receiving sensors 12 to synchronously descend to the set position. When there is an obstruction between the photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12, the serrated support bar 101 is detected, that is, the insertion rods of the left and right fork bars are vertically aligned with the serrated support bar 101. At this time, the left and right fork bars will descend and hit the serrated support bar 101, then the program controls the gantry walker 3 to walk the set distance and then stop. If the obstruction signal between the photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12 disappears, that is, the insertion rods of the left and right fork bars are staggered with the serrated support bar 101, when the left and right fork bars descend, the fork groove 1001 of the left fork bar 10 and the fork groove 1001 of the right fork bar 13 can be engaged with the serrated support bar 101 to prevent the fork from hitting the serrated support bar 101.
[0017] In the preferred technical solution, tooth grooves 1101 are provided at the bottom end of the horizontal arm of the left swing arm 8 and the top end of the horizontal arm of the right swing arm 11. The motor shaft of the servo motor 701 is coaxially connected with the gear 7. The gear 7 is meshed with the tooth grooves 1101 of the left swing arm 8 and the right swing arm 11 at the same time. When the gear 7 rotates clockwise, the left swing arm 8 moves toward the right and the right swing arm 11 moves toward the left. When the gear 7 rotates counterclockwise, the left swing arm 8 moves toward the left and the right swing arm 11 moves toward the right, thereby realizing the action of clamping and releasing the workpiece by the fork structure.
[0018] In the preferred technical solution, the driving wheel is in rolling contact with the track body, a convex strip is provided on the surface of the track body, and a groove is provided in the middle of the driving wheel to be inlaid with the convex strip. The driving wheel and the track body cooperate through the convex strip and the groove to enable the driving wheel to move straight and stably along the track body.
[0019] In the preferred technical solution, the double-hole slider 15 has two through holes vertically opened, and the double-slide rod bracket 16 includes two vertically parallel sliding rods, which are inlaid and slidably matched with the through holes. The double-slide rod bracket 16 cooperates with the double-hole slider 15, so that the left swing arm 8 and the right swing arm 11 can move laterally smoothly and stably.
[0020] Working principle: two micro hydraulic cylinders 14 are synchronously controlled by a controller, and the synchronous controller controls the two micro hydraulic cylinders 14 to synchronously extend a set distance. When there is an obstruction between the photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12, that is, the sawtooth support bar 101 is detected, that is, the insertion rods of the left and right fork bars are vertically aligned with the sawtooth support bar 101, at this time, the left and right fork bars will fall and hit the sawtooth support bar 101, and the PLC program will run. The PLC controller controls the gantry walker 3 to walk the set distance and then stop. If the obstruction signal between the photoelectric transmitting sensor 9 and the photoelectric receiving sensor 12 disappears, that is, the insertion rods of the left and right fork bars are staggered with the sawtooth support bar 101, at this time, when the left and right fork bars fall, the left fork bar The fork groove 1001 of 10 and the fork groove 1001 of the right fork bar 13 can be engaged with the serrated support bar 101, and the descent of the left fork bar 10 and the right fork bar 13 is controlled by the large hydraulic cylinder 4, and the large hydraulic cylinder 4 is controlled by an independent controller. When the push rod of the large hydraulic cylinder 4 is extended, the telescopic sleeve of the telescopic frame 5 is unfolded, and at this time the platform seat 6 sinks as a whole, and the left fork bar 10 and the right fork bar 13 are lowered accordingly, and then the servo controller of the servo motor 701 rotates forward, and when the gear 7 rotates clockwise, the left swing arm 8 moves toward the right and the right swing arm 11 moves toward the left. At this time, the fork structure clamps the workpiece, and then the push rod of the large hydraulic cylinder 4 retracts, the platform seat 6 is lifted as a whole, and the workpiece is clamped and separated from the serrated support bar 101.
Claims
1. A laser cutting automatic fork unloading and positioning device, comprising a laser cutting table (1), wherein a plurality of sawtooth support bars (101) are fixedly arranged at equal intervals on the inner side of the laser cutting table (1), characterized in that: A gantry (2) is fixedly arranged at the top of the laser cutting table (1), a gantry walker (3) is arranged at the center of the top of the gantry (2), a telescopic frame (5) is fixedly arranged at the bottom of the gantry walker (3), the telescopic frame (5) comprises a top seat and a telescopic rod, a platform seat (6) is fixedly arranged at the bottom end of the telescopic rod, a large hydraulic cylinder (4) for driving the platform seat (6) to rise and fall is arranged at the bottom of the top seat of the telescopic frame (5), double sliding rod brackets (16) are fixedly arranged on both sides of the vertical end surface of the front end of the platform seat (6), the double sliding rod brackets (16) on both sides are slidably connected to the left fork structure and the right fork structure through double-hole sliders (15), the left fork structure comprises a left swing arm (8), the bottom end of the vertical arm of the left swing arm (8) is fixedly installed with a left fork bar (10) through bolts, the The right fork structure comprises a right swing arm (11), the bottom end of the vertical arm of the right swing arm (11) is fixedly mounted with a right fork bar (13) by means of bolts, the bottom ends of the left fork bar (10) and the right fork bar (13) are both provided with a plurality of fork grooves (1001) at equal intervals, a servo motor (701) for driving the cross arm of the left swing arm (8) and the cross arm of the right swing arm (11) to move synchronously laterally is fixedly arranged in the middle of the platform seat (6), the cross arm of the left swing arm (8) and the cross arm of the right swing arm (11) are both provided with a micro hydraulic cylinder (14), the bottom of the micro hydraulic cylinder of the left swing arm (8) is provided with a photoelectric transmitting sensor (9), and the bottom of the micro hydraulic cylinder of the right swing arm (11) is provided with a photoelectric receiving sensor (12), and the number of the photoelectric transmitting sensor (9) and the number of the photoelectric receiving sensor (12) are both three.
2. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 1 is characterized in that: The three photoelectric emitting sensors (9) are respectively arranged horizontally aligned with the three photoelectric receiving sensors (12), and the distance between two adjacent photoelectric emitting sensors (9) is consistent with the distance between two adjacent sawtooth support bars (101).
3. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 2 is characterized in that: The three photoelectric transmitting sensors (9) and the three photoelectric receiving sensors (12) are respectively arranged staggered with respect to the corresponding fork grooves (1001).
4. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 1 is characterized in that: The bottom end of the horizontal arm of the left swing arm (8) and the top end of the horizontal arm of the right swing arm (11) are both provided with tooth grooves (1101); the motor shaft of the servo motor (701) is coaxially connected with a gear (7); the gear (7) is meshed with the tooth grooves (1101) of the left swing arm (8) and the right swing arm (11) at the same time.
5. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 1 is characterized in that: The gantry (2) comprises two track bodies arranged in parallel, and the gantry walker (3) comprises a housing, a drive motor and drive wheels, wherein the drive wheels are distributed on both sides of the exterior of the housing, and the drive wheels are in rolling contact with the track bodies.
6. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 5 is characterized in that: The surface of the track body is provided with convex strips, and the middle part of the driving wheel is provided with a groove which is inlaid and matched with the convex strips.
7. The automatic fork-holding material unloading and positioning device for laser cutting according to claim 1 is characterized in that: The double-hole slider (15) has two through holes vertically formed therein, and the double-sliding rod bracket (16) comprises two sliding rods vertically arranged in parallel, and the sliding rods are inlaid and slidably matched with the through holes.