Plate mechanical arm with separating function

Abstract

The invention relates to the technical field of mechanical arms, in particular to a plate mechanical arm with a separation function. Comprising a plate mechanical arm; the controller is mounted on the plate mechanical arm; the fixing blocks are symmetrically connected to the top of the mounting plate of the plate mechanical arm; the first electric push rod is mounted on the fixed block; the mounting block is connected to a telescopic rod of the first electric push rod; the second electric push rod is mounted on the mounting block; the pressure sensor is mounted on a telescopic rod of the second electric push rod; and the guide rod is slidably connected to the mounting block. Through the flexible adjusting function of the first electric push rod, the third electric push rod and the inserting plate, plates of different sizes and thicknesses can be adapted, specifically, the first electric push rod can adjust the position of the hollow frame according to the size of the plates, and the third electric push rod can adjust the height of the inserting plate according to the thickness of the plates; by means of the flexible adjusting mechanism, the efficient and stable separation performance can be kept when the plate mechanical arm treats plates of various specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a sheet material mechanical arm with a sheet separation function. Background Art

[0002] In modern industrial production, sheet metal processing is one of the important links in many manufacturing fields. With the continuous development of automation technology, robotic arms are increasingly used in sheet metal handling and processing, especially in the process of sheet metal stacking and material collection. Robotic arms can gradually replace traditional manual operations with their high efficiency and precision.

[0003] At present, most robotic arms used for flexible materials such as plastics use suction cups as the main material picking tool, and pick up the stacked plates from top to bottom in sequence through adsorption. However, in actual operation, since the surface of such plates is usually very flat and smooth, there is almost no air circulation between two adjacent plates during the stacking process, and the external atmospheric pressure will make the two plates fit tightly together. In this case, when the robotic arm tries to pick up the material, it often sucks up multiple plates at a time, which will not only cause disruption to the subsequent processing steps, but may also cause equipment failure or material waste.

[0004] In order to solve this problem, the prior art usually adopts an airflow-blowing type separator to assist the robot arm in completing the separation operation. The separator helps to separate the fitted plates by introducing airflow between the plates, thereby ensuring that the robot arm can accurately take only one plate at a time. However, this method has obvious limitations: 1. The existing separators have poor adaptability. Different separators may need to be matched for plates of different sizes and thicknesses, which requires frequent replacement of equipment, increases operational complexity, and affects work efficiency; 2. When the separation operation is performed only by wind blowing, since the two adjacent plates are closely fitted together, it is difficult for the airflow to smoothly enter between the two plates, and the separation effect achieved is unstable. Summary of the invention

[0005] In view of this, the present invention provides a sheet material mechanical arm with a sheet material separation function, which can overcome the shortcomings of existing sheet material separators that cannot adapt to sheets of different sizes and thicknesses and that the effect of sheet material separation is unstable if it only relies on wind blowing.

[0006] Technical solution: A sheet material robot arm with sheet separation function, comprising: a sheet material robot arm; a controller, installed on the sheet material robot arm; a fixed block, symmetrically connected to the top of the mounting plate of the sheet material robot arm; a first electric push rod, installed on the fixed block; a mounting block, connected to the telescopic rod of the first electric push rod; a second electric push rod, installed on the mounting block; a pressure sensor, installed on the telescopic rod of the second electric push rod; a guide rod, slidably connected to the mounting block; a lifting block, connected to the lower end of the guide rod, and the top of the lifting block is connected to the bottom of the pressure sensor; a fixed tube, connected to the bottom of the lifting block; a universal ball, rotatably installed at the lower end of the fixed tube; a hollow frame, connected to the bottom of the universal ball, and the bottom of the hollow frame is separated by a first strip hole; an air suction component, arranged on the top of the mounting plate, used to control the hollow frame to suck the sheet material; a toggle component, arranged on the side of the lifting block, used to toggle and separate the sheets stuck together; a fixing mechanism, arranged on the lifting block, used to fix the stacked sheets.

[0007] In addition, it is particularly preferred that the air suction component includes: a first air pump, symmetrically installed on the top of the mounting plate; a first annular tube, connected to the air inlet of the first air pump and kept connected; a fixed plate, respectively connected to the first electric push rod and the mounting block; a first connecting tube, connected to the fixed plate, and the two ends of the first connecting tube are respectively connected to the hollow frame and the first annular tube and kept connected.

[0008] In addition, it is particularly preferred that the toggle assembly includes: a connecting plate connected to the side of the lifting block; a mounting frame connected to the connecting plate; a brushless motor installed on the mounting frame; and a bristle brush cylinder installed on the brushless motor.

[0009] In addition, it is particularly preferred that the fixing mechanism includes: a sliding block, which is slidably connected to the lifting block; a third electric push rod, which is installed on the sliding block; an insert plate, which is connected to the telescopic rod of the third electric push rod, and an air outlet is opened inside the insert plate; and a moving component, which is arranged on the side of the lifting block and is used to drive the sliding block to move.

[0010] In addition, it is particularly preferred that the moving assembly includes: a fixed seat connected to the side of the lifting block; a fourth electric push rod installed on the fixed seat, and the telescopic rod of the fourth electric push rod is connected to the sliding block.

[0011] In addition, it is particularly preferred that it also includes: a second air pump, symmetrically installed on the top of the mounting plate; a second annular tube, connected to the air outlet of the second air pump and kept connected; a second connecting tube, connected to the fixed plate, and the two ends of the second connecting tube are respectively connected to the second annular tube and the plug plate and kept connected.

[0012] In addition, it is particularly preferred that it further includes: a rubber pad connected to the bottom of the hollow frame, and the rubber pad is provided with second strip holes corresponding to the first strip holes one by one.

[0013] In addition, it is particularly preferred that it further includes: a return spring, which is arranged in the fixing tube, and the two ends of the return spring are respectively connected to the lifting block and the universal ball.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The present invention can adapt to plates of different sizes and thicknesses through the flexible adjustment functions of the first electric push rod, the third electric push rod and the plug plate. Specifically, the first electric push rod can drive the mounting block to move and adjust the position of the hollow frame to adapt to the corners of plates of different sizes. At the same time, the third electric push rod can adjust the height of the plug plate according to the thickness of the plate to ensure that the plug plate can be accurately inserted between the upper and lower layers of plates. This flexible adjustment mechanism enables the plate robot arm to maintain efficient and stable sheet separation performance when processing plates of various specifications, without the need to replace special equipment or tools, which can significantly improve the versatility and applicability of the equipment.

[0015] 2. The present invention can control the four corners of the upper plate to slightly tilt up through the cooperation of the second electric push rod, the pressure sensor, the rubber pad and the suction assembly. Without damaging the plate, the close fitting state between the two plates can be initially broken. Then, the lower plate can be brushed downward by the rotation of the hard-bristle brush barrel to automatically separate the upper and lower plates, thereby improving the sheet separation effect.

[0016] 3. The present invention can achieve effective fixation and separation of the lower sheet material through the coordinated action of the plug plate, the second air pump and the third electric push rod. After the upper sheet material is tilted at the corner, the fourth electric push rod will drive the plug plate to be inserted between the upper and lower sheets. Subsequently, the second air pump will blow air to the air outlet of the plug plate through the second annular tube and the second connecting tube to further separate the two sheets. At the same time, the third electric push rod drives the plug plate to move downward, which can press the lower sheet material to prevent it from shifting or shaking due to external force. This multi-step separation method can improve the reliability and stability of the separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0018] Figure 2 The figure is a schematic diagram of the installation of the fixing block, the first electric push rod, the mounting block and the air suction assembly of the present invention.

[0019] Figure 3 The figure is a schematic diagram of the installation of the pressure sensor, lifting block, fixing tube and universal ball of the present invention.

[0020] Figure 4 It is a bottom view of the hollow frame of the present invention.

[0021] Figure 5 It is a schematic diagram of the installation of the toggle assembly of the present invention.

[0022] Figure 6 It is a schematic diagram of the installation of the fixing mechanism of the present invention.

[0023] Figure 7 It is a schematic diagram of the specific structure of the sliding block and the fourth electric push rod of the present invention.

[0024] Figure 8 It is a cross-sectional view of the plug board of the present invention.

[0025] Fig. 9 It is a schematic diagram of the installation of the second air pump, the second annular pipe and the second connecting pipe of the present invention.

[0026] Fig.10 It is a schematic diagram of the installation of the rubber pad and the return spring of the present invention.

[0027] Wherein: 1. plate robot arm, 101. mounting plate, 102. controller, 2. fixing block, 3. first electric push rod, 4. mounting block, 5. second electric push rod, 6. pressure sensor, 7. guide rod, 8. lifting block, 9. fixing tube, 10. universal ball, 11. hollow frame, 1101. first strip hole, 12. first air pump, 13. first annular tube, 14. fixing plate, 15. first connecting tube, 16. connecting plate, 1601. mounting frame, 17. brushless motor, 18. bristle brush cylinder, 19. sliding block, 20. third electric push rod, 21. plug plate, 2101. air outlet, 22. fixing seat, 23. fourth electric push rod, 24. second air pump, 25. second annular tube, 26. second connecting tube, 27. rubber pad, 2701. second strip hole, 28. reset spring. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0029] Embodiment: A sheet material robot arm with sheet separation function, such as Figure 1-Figure 8As shown, it includes a plate robot arm 1, a controller 102, a fixed block 2, a first electric push rod 3, a mounting block 4, a second electric push rod 5, a pressure sensor 6, a guide rod 7, a lifting block 8, a fixed tube 9, a universal ball 10, a hollow frame 11, a suction component, a toggle component and a fixing mechanism. The plate robot arm 1 is installed with a controller 102, and the four sides of the top, front, back, left and right of the mounting plate 101 of the plate robot arm 1 are connected with fixed blocks 2, and the bottom of the mounting plate 101 is equipped with suction cups. The four fixed blocks 2 are installed with first electric push rods 3, and the telescopic rods of the four first electric push rods 3 are connected with mounting blocks 4. The four mounting blocks 4 are installed with second electric push rods 5, and the bottom of the telescopic rod of each second electric push rod 5 is Pressure sensors 6 are installed on each of the four mounting blocks 4. Guide rods 7 are slidably connected to each of the four mounting blocks 4. A lifting block 8 is connected to the lower end of each guide rod 7. The lifting blocks 8 correspond to the pressure sensors 6 one by one, and the tops of the lifting blocks 8 are connected to the bottoms of the corresponding pressure sensors 6. A fixed tube 9 is connected to the bottom of each lifting block 8. A universal ball 10 is rotatably installed at the lower end of each fixed tube 9. A hollow frame 11 is connected to the bottom of each universal ball 10. A plurality of first strip holes 1101 are evenly spaced at the bottom of each hollow frame 11. The suction component is used to control the suction of the hollow frame 11 to absorb the sheet material. The toggling component is used to toggle and separate the sheets stuck together. The fixing mechanism is used to fix the stacked sheets.

[0030] like Figure 2 and Figure 3 As shown, the air suction component includes a first air pump 12, a first annular tube 13, a fixing plate 14 and a first connecting tube 15. The first air pump 12 is installed on the right side of the top of the mounting plate 101. The air inlet of the first air pump 12 is connected to the first annular tube 13 and maintained in communication. Each first electric push rod 3 and each mounting block 4 are connected to a fixing plate 14. The two fixing plates 14 on the same side are a group. The tops of the four hollow frames 11 are connected to the first annular tube 13 and maintained in communication with each other. The four first connecting tubes 15 correspond to the four groups of fixing plates 14 one by one. Figure 2 As shown, the first connecting tube 15 slides through the two corresponding fixing plates 14, and the shape of the first connecting tube 15 located between the two fixing plates 14 is spiral. When the hollow frame 11 moves away from the mounting plate 101 or moves downward, the spiral portion of the first connecting tube 15 can be straightened. When the hollow frame 11 moves toward the mounting plate 101 or moves upward, the spiral portion of the first connecting tube 15 will recover due to its own elasticity.

[0031] like Figure 5As shown, the toggle assembly includes a connecting plate 16, a mounting frame 1601, a brushless motor 17 and a bristle brush cylinder 18. The four lifting blocks 8 are connected to the connecting plate 16 on one side away from the mounting plate 101. Each connecting plate 16 is connected to a mounting frame 1601. Each mounting frame 1601 is installed with a brushless motor 17. The four brushless motors 17 are installed with bristle brush cylinders 18.

[0032] like Figure 6-Figure 8 As shown, the fixing mechanism includes a sliding block 19, a third electric push rod 20, a plug plate 21 and a moving component. The lower part of each lifting block 8 is slidably connected to the sliding block 19, and the third electric push rod 20 is installed on the end of each sliding block 19 away from the mounting plate 101. The telescopic rod of each third electric push rod 20 is connected to the plug plate 21, and each plug plate 21 has an air outlet 2101 inside. The top and bottom sides of the four plug plates 21 close to the mounting plate 101 are both inclined surfaces, and the moving component is used to drive the sliding block 19 to move; the moving component includes a fixed seat 22 and a fourth electric push rod 23. Each lifting block 8 is connected to the fixed seat 22 on the side away from the connecting plate 16, and a fourth electric push rod 23 is installed on each fixed seat 22, and the telescopic rod of the fourth electric push rod 23 is fixedly connected to the sliding block 19.

[0033] like Fig. 9 As shown, it also includes a second air pump 24, a second annular tube 25 and a second connecting tube 26. The second air pump 24 is installed on the left side of the top of the mounting plate 101. The second annular tube 25 is connected to the air outlet of the second air pump 24 and maintained in communication. The second annular tube 25 is located above the first annular tube 13. The four plug plates 21 are connected to the second annular tube 25 with the second connecting tube 26 and maintained in communication. The four second connecting tubes 26 correspond to the four groups of fixed plates 14 one by one. The second connecting tube 26 slides through the two corresponding fixed plates 14. The second connecting tube 26 is located above the first connecting tube 15. The shape of the part of the second connecting tube 26 located between the two fixed plates 14 is also spiral.

[0034] like Fig.10 As shown, a rubber pad 27 and a return spring 28 are also included. The bottom of each hollow frame 11 is connected to a rubber pad 27, and the rubber pad 27 is provided with a second strip hole 2701 corresponding to the first strip hole 1101. A return spring 28 is arranged in each fixed tube 9, and the two ends of the return spring 28 are respectively connected to the bottom of the lifting block 8 and the top of the universal ball 10.

[0035] First, install the plate robot arm 1 at the designated position, and then place the stacked plates on the side of the plate robot arm 1. Then, the mounting plate 101 on the plate robot arm 1 can be controlled to move to the top of the plate. Then, according to the size of the plate, the first electric push rod 3 is controlled by the controller 102 to drive the mounting block 4 to move away from the mounting plate 101. The mounting block 4 can drive the hollow frame 11 to move away from the mounting plate 101, so that the four hollow frames 11 can be moved to the top of the four corners of the top of the plate respectively. Then, the mounting plate 101 on the plate robot arm 1 can be controlled to move downward, so that the suction cup on the mounting plate 101 sucks the top of the uppermost plate. Then, according to the thickness of the plate, the third electric push rod 20 is controlled by the controller 102 to drive the plug plate 21 The second electric push rod 5 is used to drive the pressure sensor 6 to move downward, so that the end of the plug plate 21 is aligned with the gap between the second plate from the top and the uppermost plate, so that the height difference between the plug plate 21 and the rubber pad 27 can be adjusted to adapt to plates of different thicknesses. Then, the second electric push rod 5 drives the pressure sensor 6 to move downward, which can drive the lifting block 8, the fixed tube 9, the universal ball 10, the hollow frame 11 and the rubber pad 27 to move downward. When the bottom of the rubber pad 27 contacts the top of the uppermost plate, the lifting block 8, the fixed tube 9, the universal ball 10, the hollow frame 11 and the rubber pad 27 will stop moving downward. As the second electric push rod 5 drives the pressure sensor 6 to continue to move downward, the pressure sensor 6 will be subjected to the thrust from the second electric push rod 5. When the thrust detected by the pressure sensor 6 is greater than When the preset value is reached, it means that the bottom of the rubber pad 27 is in close contact with the top of the uppermost plate. At this time, the pressure sensor 6 will send a signal. After receiving the signal, the controller 102 will control the first air pump 12 to extract the air in the hollow frame 11 through the first annular tube 13 and the first connecting tube 15, so that suction is generated at the first strip hole 1101 and the second strip hole 2701, so that the four rubber pads 27 can respectively absorb the four corners of the top of the uppermost plate. Then the controller 102 will control the second electric push rod 5 to drive the pressure sensor 6 to move upward, which can drive the lifting block 8, the fixing tube 9, the universal ball 10, the hollow frame 11 and the rubber pad 27 to move upward. The rubber pad 27 can drive the four corners of the top of the uppermost plate to move upward and tilt. At this time, the universal ball Under the action of 10, the universal ball 10, the hollow frame 11 and the rubber pad 27 can rotate and tilt with the tilting of the corner of the plate, and the reset spring 28 is stretched. At the same time, the controller 102 controls the brushless motor 17 to drive the bristle brush barrel 18. At this time, if the second plate from the top is adhered to the bottom of the uppermost plate, the bristle brush barrel 18 can brush the second plate from the top downward, and the uppermost plate is sucked by the rubber pad 27, so the uppermost plate is not affected by the bristle brush barrel 18, so that the four corners of the top of the second plate from the top can be separated from the bottom of the uppermost plate. Then the controller 102 drives the sliding block 19 through the fourth electric push rod 23 to drive the plug plate 21 to move towards the mounting plate 101.The plug board 21 can be inserted between the second plate from the top and the plate on the uppermost side, and then the controller 102 will control the third electric push rod 20 to drive the plug board 21 to move downward to press the top of the second plate from the top to the bottom to prevent the lower plate from shifting, and at the same time start the second air pump 24 to inject air into the plug board 21 through the second annular tube 25 and the second connecting tube 26, so that the air outlet 2101 of the plug board 21 can blow air to the middle position between the second plate from the top and the plate on the uppermost side, so as to assist in separating the second plate from the top and the plate on the uppermost side; then the mounting plate 101 on the plate robot arm 1 can be controlled to move upward, and after the uppermost plate is driven to move upward for a certain distance by the suction cup, the brushless motor 17, the first air pump 12 and the second air pump 24 will be controlled by the controller 102 to stop working, so that the bristle brush cylinder 18 stops rotating The air outlet 2101 of the plug plate 21 no longer blows air, and the hollow frame 11 no longer absorbs the corner of the top of the plate. The corner of the top of the plate can return to its original state due to its own elasticity, and the reset spring 28 will return to its original state, driving the universal ball 10, the hollow frame 11 and the rubber pad 27 to rotate and return to their original state, ensuring that the hollow frame 11 and the rubber pad 27 return to a horizontal state. At the same time, the controller 102 will control the third electric push rod 20 to drive the plug plate 21 to move upward and reset, and control the fourth electric push rod 23 to drive the sliding block 19 to move away from the mounting plate 101. The sliding block 19 will drive the third electric push rod 20 and the plug plate 21 to move away from the mounting plate 101, so that the plug plate 21 is away from the bottom of the plate, so as not to affect the subsequent transportation of the plate to the processing equipment for processing by the plate robot 1. In this way, the stacked plates can be taken away one by one in turn.

[0036] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A sheet material robot arm with sheet separation function, comprising: a sheet material robot arm (1); characterized in that: The invention also comprises: a controller (102) mounted on the plate mechanical arm (1); a fixing block (2) symmetrically connected to the top of the mounting plate (101) of the plate mechanical arm (1); a first electric push rod (3) mounted on the fixing block (2); a mounting block (4) connected to the telescopic rod of the first electric push rod (3); a second electric push rod (5) mounted on the mounting block (4); a pressure sensor (6) mounted on the telescopic rod of the second electric push rod (5); a guide rod (7) slidably connected to the mounting block (4); a lifting block (8) connected to the lower end of the guide rod (7), and the top of the lifting block (8) is in contact with the pressure sensor (6). The force sensor (6) is connected to the bottom of the lifting block (8); the fixing tube (9) is connected to the bottom of the lifting block (8); the universal ball (10) is rotatably mounted on the lower end of the fixing tube (9); the hollow frame (11) is connected to the bottom of the universal ball (10), and the bottom of the hollow frame (11) is spaced apart with a first strip hole (1101); the suction component is arranged on the top of the mounting plate (101) and is used to control the hollow frame (11) to suck the plate; the toggle component is arranged on the side of the lifting block (8) and is used to toggle and separate the plates that are stuck together; the fixing mechanism is arranged on the lifting block (8) and is used to fix the stacked plates.

2. A sheet material mechanical arm with sheet separation function according to claim 1, characterized in that: The air suction assembly comprises: a first air pump (12) symmetrically mounted on the top of a mounting plate (101); a first annular tube (13) connected to the air inlet of the first air pump (12) and maintained in communication; a fixing plate (14) respectively connected to the first electric push rod (3) and the mounting block (4); a first connecting tube (15) connected to the fixing plate (14), and the two ends of the first connecting tube (15) are respectively connected to the hollow frame (11) and the first annular tube (13) and maintained in communication.

3. A sheet material mechanical arm with sheet separation function according to claim 2, characterized in that: The toggle assembly comprises: a connecting plate (16) connected to the side of the lifting block (8); a mounting frame (1601) connected to the connecting plate (16); a brushless motor (17) mounted on the mounting frame (1601); and a bristle brush cylinder (18) mounted on the brushless motor (17).

4. A sheet material mechanical arm with sheet separation function according to claim 3, characterized in that: The fixing mechanism comprises: a sliding block (19) slidably connected to the lifting block (8); a third electric push rod (20) mounted on the sliding block (19); a plug plate (21) connected to the telescopic rod of the third electric push rod (20), and an air outlet (2101) is provided inside the plug plate (21); and a moving component arranged on the side of the lifting block (8) and used for driving the sliding block (19) to move.

5. A sheet material mechanical arm with sheet separation function according to claim 4, characterized in that: The moving assembly comprises: a fixed seat (22) connected to the side of the lifting block (8); a fourth electric push rod (23) installed on the fixed seat (22), and a telescopic rod of the fourth electric push rod (23) connected to the sliding block (19).

6. A sheet material mechanical arm with sheet separation function according to claim 5, characterized in that: It also includes: a second air pump (24) symmetrically mounted on the top of the mounting plate (101); a second annular tube (25) connected to the air outlet of the second air pump (24) and maintained in communication; a second connecting tube (26) connected to the fixing plate (14), and the two ends of the second connecting tube (26) are respectively connected to the second annular tube (25) and the plug plate (21) and maintained in communication.

7. A sheet material mechanical arm with sheet separation function according to claim 6, characterized in that: It also includes a rubber pad (27) connected to the bottom of the hollow frame (11), and the rubber pad (27) is provided with second strip holes (2701) corresponding one-to-one to the first strip holes (1101).

8. A sheet material mechanical arm with sheet separation function according to claim 7, characterized in that: It also includes: a return spring (28) which is arranged in the fixed tube (9), and the two ends of the return spring (28) are respectively connected to the lifting block (8) and the universal ball (10).

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