Rotary composite gripper device for loading and unloading of counter-gravity centering table

Abstract

The invention discloses a rotary composite gripper device for feeding and discharging of a counter-gravity centering table, belongs to the technical field of machining, and is used for a numerical control plate flanging flexible machining unit. The device is mainly composed of a rotary driving device, an air cylinder overturning assembly, a suction cup frame assembly and a gravity centering table device. The rotary driving device achieves overall rotation, the air cylinder overturning assembly controls overturning, the suction cup frame assembly grabs plates, and the gravity centering table device guarantees the positioning precision of the plates. All the components are unique in structural design, for example, T-shaped connection supports are adopted, and polytetrafluoroethylene friction plates are arranged on outer rings of self-lubricating bearings. The working process comprises feeding and discharging, and during feeding, grabbing, steering, gravity centering, secondary grabbing and rotary feeding are sequentially completed; and during discharging, positioning adsorption, reverse rotation, gravity centering, secondary grabbing and discharging operation are carried out. The device is light and compact in structure, stable and efficient in operation and capable of ensuring accurate plate positioning and effectively improving the flexibility and the intelligent level of a production line.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly to a rotary composite gripper device for loading and unloading with a gravity centering table. Background Art

[0002] The gripper device is specifically applied to a numerically controlled sheet metal hemming flexible machining unit. Cooperating with the hemming main machine, it can perform functions of loading, centering, and unloading, realizing the full-automatic operation of the numerically controlled sheet metal hemming flexible machining unit. This device has a light and compact structure and stable and efficient operation. Through investigation, it is understood that currently in the sheet metal processing industry, each sheet metal intelligent manufacturing enterprise is seeking a more economical and efficient automatic loading and unloading device. The truss-type hemming loading and unloading device has functions of loading, centering, and unloading, and can also be equipped with mechanisms such as turning over, and can adapt to large-sized panel materials and heavy-load working conditions, as well as having great economic advantages and simple and mature control programs, and can be used as a supplement to the automatic unit. The rotary composite gripper device is the most important part of the truss-type hemming loading and unloading device. Most devices rely on a cylinder to flip the centering table to position the sheet material. However, since the cylinder action is easily affected by the load change, the sheet material tilts or shifts, affecting the subsequent hemming processing accuracy. Summary of the Invention

[0003] The purpose of the present invention is to provide a rotary composite gripper device for loading and unloading with a gravity centering table to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A rotary composite gripper device for loading and unloading with a gravity centering table, including a rotary drive device, a cylinder flipping assembly, and a suction cup frame assembly; The rotary drive device includes a connection support, a servo motor fixed on the connection support, a reducer connected to the lower end of the servo motor, and a rotating shaft connected to the reducer. The rotating shaft is supported by a bearing seat. A is provided at the lower end of the bearing seat and is installed on a rotating block through a bolt with a self-lubricating bearing. The rotating block is fixed on the bottom plate through bolts. The side of the rotating shaft is connected to the cylinder flipping assembly through a mounting seat; The cylinder flipping assembly includes a cylinder, an air pressure induced check valve and an exhaust throttle valve provided on the air hole of the cylinder. The lower end of the cylinder is connected through a hinged connection seat, and a ball eye joint is provided at the front end of the telescopic rod of the cylinder, and the ball eye joint is hinged to the rotating shaft; The suction cup frame assembly includes aluminum profile A, a bottom plate fixed in the middle of the upper surface of aluminum profile A, and a suction cup combination installed on the bottom cross beam of aluminum profile A. An overpressure protection is installed on the longitudinal beam of aluminum profile A; The sheet material adsorbed by the suction cup combination is placed on the gravity centering table device. The gravity centering table device includes aluminum profile B, a retaining edge provided on the side and bottom of aluminum profile B, and a foot cup provided at the bottom of aluminum profile B.

[0005] Further, the aluminum profile A is evenly provided with sliding grooves, and the suction cup assembly is mounted on the aluminum profile A through a support, and the suction cup assembly can be slidably adjusted on the aluminum profile A.

[0006] Further, two groups of solenoid valves are fixed on the bottom plate, and the solenoid valves are connected to the suction cup assembly through air pipes.

[0007] Further, the connecting support is a T-shaped support frame, its upper end is fixedly connected to the housing of the servo motor through bolts, and the lower end is rigidly connected to the reducer through a flange; the outer ring of the self-lubricating bearing is embedded with a polytetrafluoroethylene friction plate to reduce the friction and wear between the rotating shaft and the connecting seat; the rotating block is made of cast iron, and its upper surface is provided with a groove matching the shape of the bottom of the connecting seat, and the connecting seat is hinged on the rotating block through countersunk bolts. Waist-shaped holes are provided at the four corners of the rotating block to adapt to bottom plates of different thicknesses.

[0008] Further, the connecting seat is an L-shaped bracket, one end of which is hinged to the cylinder block of the cylinder through bolts, and the other end is connected to the mounting seat of the rotating shaft through a pin shaft; the air pressure induced check valve is embedded in the air inlet hole at the rear end of the cylinder, and the spring steel ball inside it seals the valve port under the action of air pressure. The exhaust throttle valve is connected to the exhaust port of the cylinder through a quick connector for adjusting the telescopic speed of the cylinder; the fish-eye joint is a ball socket type universal joint, and its ball head is threadedly connected to the end of the telescopic rod of the cylinder.

[0009] Further, the bottom of the support of the suction cup assembly is provided with a slider matching the T-shaped sliding groove and is locked and fixed through a set screw; the solenoid valve is communicated with the vacuum pipeline of the suction cup assembly through an air pipe quick connector; the overpressure protection is a pressure switch, and its sensor probe is embedded inside the longitudinal beam of the aluminum profile A and is connected to the control system through a wire. When the suction cup assembly adsorbs the board, if the pressure value exceeds the preset threshold, an alarm signal is triggered.

[0010] Further, the edge guard is an L-shaped stainless steel plate and is fixed on the aluminum profile B through bolts. The foot cup is of adjustable height, and its bottom is fixed to the bottom frame of the aluminum profile B through an inner hexagon bolt. The exposed lengths of the adjusting screws of the foot cups are the same to ensure that the flatness deviation of the tabletop of the center table due to gravity is ≤0.5 mm / m.

[0011] Further, the suction cup assembly includes at least four vacuum suction cups. The suction cups are made of silica gel, and their adsorption surfaces are in a corrugated structure. The suction cups are connected to the vacuum pipeline through quick-change connectors.

[0012] Further, a polyurethane buffer strip is provided on the inner surface of the edge guard and is bonded to the inner side of the edge guard through double-sided tape. The surface of the buffer strip is provided with a V-shaped guide groove matching the shape of the edge of the board; reinforcing rib plates are provided at the four corners of the aluminum profile B and are fixed to the frame of the aluminum profile B through bolts.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the linkage of the servo motor and the precision reduction gear, the present invention realizes the ±0.1° angle control of the rotating shaft, ensures the repeatability accuracy of sheet metal grasping, flipping and positioning, and meets the strict requirements of the numerical control flanging machine for the workpiece position; the cylinder cooperates with the air pressure induced check valve and the exhaust throttle valve to accurately adjust the flipping speed and angle, and compensates for the installation error of ±10° through the ball socket structure of the spherical eye joint, avoiding the slipping or positioning deviation of the sheet metal caused by inertia. The suction cup gripper component can rotate freely and can be pressed down by 15° to dock with the gravity centering table; The overpressure protection monitors the adsorption pressure of the suction cup combination in real time and triggers an alarm when overpressure occurs, avoiding the deformation of the sheet metal caused by excessive adsorption; the magnetic encoder of the rotating shaft and the servo motor form a closed-loop control to ensure that the rotation angle is accurately traceable. The gravity centering table structure replaces the ordinary cylinder flipping centering table, which can avoid problems such as the deviation of the sheet metal accuracy after the centering table flips, and ensure the positioning accuracy of the loaded sheet metal; The entire device frame is made of aluminum profile material, and the gripper is an aluminum alloy suction cup frame, with a simple, light and compact structure, and is easy to install. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the rotating composite gripper device in the present invention; Figure 2 is a schematic diagram of the rotation drive device of the present invention; Figure 3 is a schematic diagram of the installation of the suction cup combination of the present invention; Figure 4 is a schematic structural diagram of the gravity centering table.

[0015] In the figure: 1. Servo motor; 2. Reduction gear; 3. Connection support; 4. Bearing seat; 5. Rotating shaft; 6. Connection seat; 7. Self-lubricating bearing; 8. Rotating block; 9. Cylinder; 10. Spherical eye joint; 11. Connection seat; 12. Air pressure induced check valve; 13. Exhaust throttle valve; 14. Aluminum profile A; 15. Bottom plate; 16. Solenoid valve; 17. Suction cup combination; 18. Overpressure protection; 19. Aluminum profile B; 20. Baffle; 21. Foot cup. DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0017] Please refer to Figures 1-4 , the present invention provides a technical solution: a rotating composite gripper device for loading and unloading with a gravity centering table, including a rotation drive device, a cylinder flipping assembly and a suction cup frame assembly; The rotary drive device includes a connecting support 3, a servo motor 1 fixed on the connecting support 3, a speed reducer 2 connected to the lower end of the servo motor 1, and a rotating shaft 5 connected to the speed reducer 2. The rotating shaft 5 is supported by a bearing block 4. There is a 6 provided at the lower end of the bearing block 4, and the 6 is installed on a rotating block 8 through a bolt with a self-lubricating bearing 7. The rotating block 8 is fixed on a bottom plate 15 through bolts. The side of the rotating shaft 5 is connected with a cylinder flipping assembly through a mounting seat; The cylinder flipping assembly includes a cylinder 9, a pneumatic induction check valve 12 and an exhaust throttle valve 13 provided on the air hole of the cylinder 9. The lower end of the cylinder 9 is connected through a hinged connecting seat 11. A ball eye joint 10 is provided at the front end of the telescopic rod of the cylinder 9, and the ball eye joint 10 is hinged to the rotating shaft 5; The suction cup frame assembly includes an aluminum profile A14, a bottom plate 15 fixed in the middle of the upper surface of the aluminum profile A14, and a suction cup combination 17 installed on the bottom cross beam of the aluminum profile A14. An overpressure protection 18 is installed on the longitudinal beam of the aluminum profile A14; The plate adsorbed by the suction cup combination 17 is placed on a gravity centering table device. The gravity centering table device includes an aluminum profile B19, a baffle 20 provided on the side and bottom of the aluminum profile B19, and a foot cup 21 provided at the bottom of the aluminum profile B19.

[0018] The aluminum profile A14 is evenly provided with sliding grooves, and the suction cup combination 17 is installed on the aluminum profile A14 through a support. The suction cup combination 17 can be slidably adjusted on the aluminum profile A14.

[0019] Two groups of electromagnetic valves 16 are fixed on the bottom plate 15. The electromagnetic valves 16 are connected to the suction cup combination 17 through air pipes. The electromagnetic valves 16 are communicated with the vacuum pipelines of the suction cup combination 17 through air pipe quick connectors. This connection method enables the electromagnetic valves 16 to quickly and accurately control the adsorption and release actions of the suction cup combination 17. When the electromagnetic valve 16 is opened, the vacuum pipeline is connected, and the suction cup combination 17 generates suction force to adsorb the plate; when the electromagnetic valve 16 is closed, the vacuum pipeline is disconnected, and the suction cup combination 17 releases the plate.

[0020] The connecting support 3 is a T-shaped support frame. Its upper end is fixedly connected to the shell of the servo motor 1 through bolts, and the lower end is rigidly connected to the speed reducer 2 through a flange; The outer ring of the self-lubricating bearing 7 is embedded with a polytetrafluoroethylene friction plate to reduce the friction and wear between the rotating shaft 5 and the connecting seat 6; The rotating block 8 is made of cast iron. A groove matching the shape of the bottom of the connecting seat 6 is provided on its upper surface. The connecting seat 6 is hinged on the rotating block 8 through countersunk head bolts. Waist-shaped holes are provided at the four corners of the rotating block 8 to adapt to bottom plates 15 of different thicknesses.

[0021] The connecting seat 11 is an L-shaped bracket. One end of it is hinged to the cylinder block of the air cylinder 9 through a bolt, and the other end is connected to the mounting seat of the rotating shaft 5 through a pin shaft; the pneumatic induction check valve 12 is embedded in the air inlet hole at the rear end of the air cylinder 9, and the spring steel ball inside it seals the valve port under the action of air pressure. The exhaust throttle valve 13 is connected to the exhaust port of the air cylinder 9 through a quick connector to adjust the telescopic speed of the air cylinder 9; the ball eye joint 10 is a ball socket type universal joint, and its ball head is threadedly connected to the end of the telescopic rod of the air cylinder 9.

[0022] The bottom of the support of the suction cup assembly 17 is provided with a slider matching the T-shaped chute and is locked and fixed by a set screw; the overpressure protection 18 is a pressure switch, and its sensor probe is embedded inside the longitudinal beam of the aluminum profile A14 and is connected to the control system through a wire. When the suction cup assembly 17 adsorbs the plate, if the pressure value exceeds the preset threshold, an alarm signal is triggered.

[0023] The edge stop 20 is an L-shaped stainless steel plate and is fixed on the aluminum profile B19 through bolts. The foot cup 21 is of adjustable height type, and its bottom is fixed to the bottom frame of the aluminum profile B19 through an inner hexagon bolt. The exposed lengths of the adjusting screws of the foot cup 21 are the same to ensure that the flatness deviation of the tabletop of the middle platform caused by gravity ≤ 0.5 mm / m.

[0024] The suction cup assembly 17 includes at least four vacuum suction cups. The suction cups are made of silica gel, and their adsorption surfaces are in a corrugated structure. The suction cups are connected to the vacuum pipeline through quick change joints.

[0025] The inner surface of the edge stop 20 is provided with a polyurethane buffer strip, which is bonded to the inner side of the edge stop 20 through double-sided tape. The surface of the buffer strip is provided with a V-shaped guide groove, which matches the shape of the edge of the plate; reinforcing rib plates are arranged at the four corners of the aluminum profile B19 and are fixed to the frame of the aluminum profile B19 through bolts.

[0026] The raw material is initially placed on the raw material positioning table, which is precisely calibrated to ensure the accuracy of the raw material placement position. During loading, the loading lifting frame drives the entire rotating composite gripper device to move downward. During the movement, the position of the rotating composite gripper device is monitored in real time through a sensor. When it moves to the appropriate position, the control system issues an instruction to control the solenoid valve 16 to open. After the solenoid valve 16 is opened, the suction cup assembly 17 is connected to the vacuum source to generate suction force and adsorb the plate. The suction cup assembly 17 includes at least four vacuum suction cups. The suction cups are made of silica gel, and their adsorption surfaces are in a corrugated structure. This structural design increases the friction and adsorption force between the suction cups and the plate, ensuring that the plate will not slip during the adsorption process.

[0027] After sucking the sheet material, the loading and lifting frame drives the rotary composite gripper device to move upward for a certain distance, which is precisely calculated to avoid collision with other components during the turning process. Subsequently, under the action of the driving device, the rotary composite gripper device moves towards the flanging main machine during the turning process. During the turning process, the servo motor 1 and the reducer 2 of the rotary driving device work together to ensure the smoothness and accuracy of the rotary motion.

[0028] When it moves above the gravity centering table, the control system issues an instruction to control the cylinder 9 to extend. After the cylinder 9 extends, it drives the entire gripper device to flip by 15°. At this time, the rotary composite gripper device moves downward as a whole. When the sheet material approaches the gravity centering table, the control system controls the solenoid valve 16 to close, and the suction cup combination 17 releases the sheet material. Due to the special structure of the gravity centering table device, under the action of gravity, the sheet material slides along the surface of the aluminum profile B19 and realizes precise gravity positioning under the restriction of the edge stop 20. After the gravity positioning is completed, the control system controls the solenoid valve 16 to open again, and the suction cup combination 17 grabs the sheet material.

[0029] The loading and lifting frame drives the rotary composite gripper device to move upward to a fixed position. Then, the servo motor 1 of the rotary driving device starts, drives the rotary shaft 5 to rotate through the reducer 2, and rotates the entire rotary composite gripper device by 90°, accurately sending the sheet material to the position required by the flanging main machine, completing the loading function of the sheet material. During the entire loading process, each component cooperates closely, and through precise control and monitoring, the efficiency and accuracy of the loading operation are ensured.

[0030] Unloading process: When unloading, the rotary composite gripper device first rotates to the unloading position of the flanging main machine under the action of the rotary driving device. After reaching the unloading position, the control system controls the solenoid valve 16 to open, so that the suction cup combination 17 adsorbs the processed sheet material. During the adsorption process, the overpressure protection 18 monitors the pressure of the suction cup combination 17 in real time to ensure the safety and reliability of the adsorption process.

[0031] After the adsorption is completed, the rotary composite gripper device rotates 90° in the reverse direction and moves above the gravity centering table. At this time, the cylinder 9 acts, drives the gripper device to flip by 15°, and moves downward to make the sheet material approach the gravity centering table. The control system controls the solenoid valve 16 to close and releases the sheet material for gravity centering positioning. During the gravity centering process, the edge stop 20 and the polyurethane buffer strip work together to ensure that the sheet material can be accurately positioned on the gravity centering table device.

[0032] After the positioning is completed, the control system controls the solenoid valve 16 to open again, and the suction cup combination 17 grabs the sheet material. Then, under the action of the driving device, the rotary composite gripper device transports the sheet material to the specified unloading position, completing the unloading operation. During the entire unloading process, through precise control and monitoring as well, the smooth progress of the unloading operation is ensured.

Claims

1. A rotating composite gripper device for loading and unloading materials on a counterweight centering platform, characterized in that: It includes a rotary drive device, a cylinder flip assembly and a suction cup frame assembly; The rotary drive device comprises a connecting support (3), a servo motor (1) fixed on the connecting support (3), a reducer (2) connected to the lower end of the servo motor (1), and a rotating shaft (5) connected to the reducer (2), wherein the rotating shaft (5) is supported by a bearing seat (4), a (6) is provided at the lower end of the bearing seat (4), and (6) is mounted on a rotating block (8) by bolts with a self-lubricating bearing (7), the rotating block (8) is fixed to a base plate (15) by bolts, and a cylinder turning assembly is connected to the side of the rotating shaft (5) via a mounting seat; The cylinder tilting assembly comprises a cylinder (9), an air pressure induction check valve (12) and an exhaust throttle valve (13) arranged on an air hole of the cylinder (9); the lower end of the cylinder (9) is connected via a hinged connection seat (11); a fisheye joint (10) is arranged at the front end of the telescopic rod of the cylinder (9); and the fisheye joint (10) is hingedly connected to the rotating shaft (5); The suction cup frame assembly comprises an aluminum profile A (14), a bottom plate (15) fixed in the middle of the upper surface of the aluminum profile A (14), and a suction cup assembly (17) installed on the bottom crossbeam of the aluminum profile A (14), and an overpressure protection (18) is installed on the longitudinal beam of the aluminum profile A (14); the plate adsorbed by the suction cup assembly (17) is placed on a gravity centering platform device, and the gravity centering platform device comprises an aluminum profile B (19), a retaining edge (20) arranged on the side and bottom of the aluminum profile B (19), and a foot cup (21) arranged on the bottom of the aluminum profile B (19).

2. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The aluminum profile A (14) is evenly provided with sliding grooves, and the suction cup assembly (17) is mounted on the aluminum profile A (14) via a support, and the suction cup assembly (17) can be slidably adjusted on the aluminum profile A (14).

3. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: Two groups of solenoid valves (16) are fixed on the bottom plate (15), and the solenoid valves (16) are connected to the suction cup assembly (17) via air pipes.

4. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The connecting support (3) is a T-shaped support frame, the upper end of which is fixedly connected to the housing of the servo motor (1) by bolts, and the lower end is rigidly connected to the reducer (2) by a flange. The outer ring of the self-lubricating bearing (7) is embedded with a polytetrafluoroethylene friction plate to reduce the friction and wear between the rotating shaft (5) and the connecting seat (6). The rotating block (8) is made of cast iron, and a groove matching the shape of the bottom of the connecting seat (6) is opened on its upper surface. The connecting seat (6) is hinged to the rotating block (8) by countersunk bolts. The four corners of the rotating block (8) are provided with waist-shaped holes to adapt to base plates (15) of different thicknesses.

5. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The connecting seat (11) is an L-shaped bracket, one end of which is hinged to the cylinder body of the cylinder (9) by bolts, and the other end is connected to the mounting seat of the rotating shaft (5) by a pin shaft; the air pressure induction check valve (12) is embedded in the air inlet hole at the rear end of the cylinder (9), and the spring steel ball inside the check valve seals the valve port under the action of air pressure; the exhaust throttle valve (13) is connected to the exhaust port of the cylinder (9) by a quick plug connector, and is used to adjust the extension and retraction speed of the cylinder (9); the fisheye joint (10) is a ball and socket type universal joint, and its ball head is threadedly connected to the end of the telescopic rod of the cylinder (9).

6. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The bottom of the support of the suction cup assembly (17) is provided with a sliding block matching the T-shaped sliding groove and is locked and fixed by a set screw; the solenoid valve (16) is connected to the vacuum pipeline of the suction cup assembly (17) through an air pipe quick connector; the overpressure protection (18) is a pressure switch, and its sensor probe is embedded in the inner side of the longitudinal beam of the aluminum profile A (14) and is connected to the control system through a wire. When the suction cup assembly (17) adsorbs the plate, if the pressure value exceeds a preset threshold, an alarm signal is triggered.

7. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The retaining edge (20) is an L-shaped stainless steel plate, which is fixed to the aluminum profile B (19) by bolts. The foot cup (21) is of adjustable height type, and its bottom is fixed to the bottom frame of the aluminum profile B (19) by hexagon socket bolts. The exposed length of the adjusting screw of the foot cup (21) is consistent to ensure that the horizontal deviation of the gravity centering table is ≤0.5mm / m.

8. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The suction cup assembly (17) comprises at least four vacuum suction cups, each of which is made of silicone material and has a wavy suction surface. The suction cup is connected to a vacuum pipeline via a quick-change joint.

9. The rotating composite gripper device for loading and unloading materials on the counterweight centering platform according to claim 1 is characterized in that: The inner surface of the retaining edge (20) is provided with a polyurethane buffer strip, which is bonded to the inner side of the retaining edge (20) by double-sided adhesive, and the surface of the buffer strip is provided with a V-shaped guide groove, which matches the shape of the edge of the plate; the four corners of the aluminum profile B (19) are provided with reinforcing rib plates, which are fixed to the frame of the aluminum profile B (19) by bolts.

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